JPH0549304A - Device for maintaining horizontal or set angle of tractor working machine - Google Patents

Abstract

PURPOSE:To more accurately carry out horizontal control by installing a sensor for detecting the tilt on the side of a working machine through a sensor carrier on the side of a mobile machine body and controlling the sensor carrier through a differential operating unit by relative movement of a lifting cylinder. CONSTITUTION:A sensor for detecting tilt on the working machine side is installed through a sensor carrier 12 on the side of a mobile car body. The sensor carrier is controlled by transmitting relative movement of a lifting cylinder through a wire to a differential operating unit 15 having an interlocking member 15-2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal or set angle maintaining device for a tractor working machine having a working device such as a tillage rotary.

[0002]

2. Description of the Related Art Conventionally, in order to provide a lateral inclination detection sensor necessary for horizontally (angle) controlling a working device of a tractor working machine, this inclination detection sensor is attached to the working device side or the traveling vehicle side. There is something attached to.

[0003]

However, in the former case, when the working device is replaced with that of another model, the inclination detection sensor must be replaced one by one, and this replacement work requires a lot of trouble. In the latter case, the indirect horizontal (angle) control for calculating the left-right inclination posture of the working device from the left-right inclination angle of the traveling body and correcting the left-right posture of the working device with respect to the traveling body based on the calculation result. Since it is a means, it not only complicates the horizontal (angle) control system, but also has a drawback that it is costly and expensive.

Therefore, there has been a strong demand for a system in which a mechanism provided with an inclination detection sensor on the working device side and a mechanism provided with an inclination detection sensor on the traveling vehicle body side are combined.

[0005]

According to the present invention, there is provided a working machine-side tilt detection sensor for detecting a tilt angle of a working device in the left-right direction and interlocking the control so as to hold the work device in a horizontal or set angle posture.
It is provided on the side of the traveling vehicle body to which the working device is connected through a sensor platform, which is pivotally supported by a fulcrum shaft in the longitudinal direction of the machine body, and works by the work machine side inclination detection sensor and a control lift cylinder. While maintaining the device in a horizontal state or in a set angle posture, the relative movement of the lift cylinder is transmitted to an actuation body having an interlocking member via a wire, and the actuation body controls the sensor platform. A horizontal or set angle maintaining device for a tractor working machine is provided.

Further, a working machine-side tilt detection sensor for detecting the tilt angle of the working device in the left-right direction is provided on the sensor platform of the traveling vehicle body, and the vehicle body-side tilt detection for detecting the lateral inclination angle of the traveling vehicle body. Another feature is that a sensor is separately provided, and the tilt angle of the working device is controlled by calculation of both the working machine side tilt detection sensor and the vehicle body side tilt detection sensor.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings. 1 is a tractor working machine, which comprises a traveling vehicle body 2 and a working device 3 which is a rotary tiller. Reference numeral 4 denotes a lift arm provided at the rear left and right positions of the traveling vehicle body 2, which is vertically rotatable by a lifting hydraulic cylinder 5.
Reference numeral 6 is a lower link for connecting both lower sides of the traveling vehicle body 2 and the working device 3 in an interlocking manner, and is connected to the lift arms 4, 4 via left and right lift links 7-1, 7-2. Further, among the lift links 7-1 and 7-2, the left lift link 7-1 is formed in a rod shape, while the right lift link 7-2 has an extendable lift cylinder 7-3.

Reference numeral 8 is a top link that connects the rear portion of the traveling vehicle body 2 and the upper portion of the work device 3, 9 is a cylinder case that is the upper portion of the lift cylinder 7-3, and 10 is the same lift cylinder.
A lower part of the rod 7-3 is connected to the right lower link 6.

Reference numeral 11 denotes a working machine side inclination detection sensor, which is arranged on a sensor mount 12 provided on the traveling vehicle body 2 side.

Further, the sensor mount 12 is pivotally mounted on a fulcrum shaft 13 whose base is provided in the longitudinal direction of the machine body and is swingable about the fulcrum shaft 13. 14 is the fulcrum shaft 13
An arm-shaped actuating body 15 for swinging the sensor mounting base 12 is attached to the tip of the sensor bracket for supporting the sensor mounting base 12. Reference numeral 16 is a return spring that biases the sensor mounting base 12 downward. 15-1 is a support shaft that supports the base of the actuating body 15, 15-2 is a lever-shaped interlocking member fixed to the support shaft 15-1, and 15-3 is an interlocking pin provided at the tip of the interlocking member 15-2. The sensor platform 12 is in contact with the lower side of the sensor platform 12, and the sensor platform 12 can be vertically swung while the motion of the actuating body 15 is reduced to reduce the motion.

Numeral 20 is a wire which operates in accordance with the relative movement amount of the cylinder case 9 of the lift cylinder 7-3 and the rod 10. The tip of the wire 20 is connected to the tip of the actuating body 15. There is.

Reference numeral 21 is an outer wire into which the wire 20 is inserted.
The base is attached to the lower position of the cylinder case 9.

The rear end of the outer wire 21 is the traveling vehicle body 2.
Is provided on the side part of and corresponding to the actuation body 15.

Further, in FIG. 5, reference numeral 22 is a controller connected to the working machine side inclination detection sensor 11, and 23 is a drive valve such as a solenoid valve for guiding the working oil to the lift cylinder 7-3.

Further, 11A is a vehicle body side inclination detection sensor,
It is provided on the traveling vehicle body 2 separately from the working machine side inclination detection sensor 11.

The output of the vehicle body side inclination detection sensor 11A is subtracted from the output of the working machine inclination detection sensor 11 to control the horizontal or set angle of the work device 3 by both calculations.

Further, 24 is an inclination setting device for inclining the working device 3 with respect to the traveling vehicle body 2 at a constant angle, 25 is an elevation position sensor, 26-1 is a comparator, and 26-2 is a thickening device. ..

The embodiment of the present invention is configured as described above. Therefore, when the traveling vehicle body 2 to which the working device 3 is connected is driven into a field for rotary tilling work, the traveling vehicle body 2 is tilted in the left-right direction. When traveling is started in this state, the working machine side inclination detection sensor 11 detects this and inputs the detection result to the controller 22.

The controller 22 controls the drive valve 23 that guides hydraulic oil to the lift cylinder 7-3 to extend or contract the lift cylinder 7-3.

In this case, when the traveling vehicle body 2 is tilted to the left, the working machine side tilt detection sensor 11 detects this and extends the lift cylinder 7-3 via the controller 22 and the drive valve 23. As a result, the rod 10 descends and the right lower link 6 is rotated downward to move the working device 3
Keeps it horizontal.

At the same time, the lift cylinder 7-3
When is extended, the wire 20 connected to the rod 10 is pulled downward, and the actuating body 15 connecting the tip of the wire 20 is rotated. Then, the interlocking member 15-2 integrally connected to the actuating body 15 is rotated to operate the sensor mount 12.

Therefore, the stroke of the lift cylinder 7-3 is reduced, and the working machine side tilt detection sensor 11 on the sensor mount 12 is accurately controlled, and the tilt detection sensor on the sensor mount 12 is controlled. It controls in conjunction with 11 until it becomes horizontal.

As described above, according to the above embodiment, the stroke of the lift cylinder 7-3 is set to the operating body 15 and the interlocking member 15-2.
The work machine side inclination detection sensor 11 can be accurately operated in order to reduce the size and transmit it to the sensor mounting base 12.

FIG. 6 shows another embodiment showing the mounting state of the tilt detecting sensor. In the figure, 30 is a sensor box provided on the side of the traveling vehicle body 2 and has a built-in swing sensor 31 capable of detecting left and right tilt. is doing. 32 is a sensor bracket on which the swing sensor 31 is suspended, and 33 is a pivot pin. In addition, the rear end of a feedback wire 35 that feeds back the movement amount of the lift cylinder 34 is connected to the upper part of the sensor bracket 32, and the lift cylinder 34 operates via the controller and the drive valve according to the detection result of the swing sensor 31. Then, in conjunction with this, the sensor bracket 32 is controlled until it is in a vertical state.

In the above embodiment, the sensor box
The 30 can be attached anywhere on the traveling vehicle body, and if it is attached to the working device side, the feedback wire 35 is unnecessary. In addition, it can be attached as a sensor of this machine regardless of the working device, and when used for different models, it can be handled by changing the link ratio of the sensor bracket. Further, the structure of the three-point hitch portion connecting the traveling vehicle body and the working device is configured compactly.

FIGS. 7 and 8 show another embodiment of the interlocking device for the lower link and the inclination detecting sensor. In the figures, 40 is a rod for detecting the vertical movement of the lower link 41, the lower end of which is shown in FIG. While being pivotally supported by the lower link 41, the upper part is slidably fitted to the joint body 42-1 provided at the central position of the base of the operating lever 42. A swing sensor 43 is swingably mounted on the side of the traveling vehicle body 44, and is linked to the operating lever 42 via a connecting rod 45.

Further, 46 is a lift arm, 47 is a lift link connecting the lift arm 46 and the lower link 41, and 48 is a lift cylinder.

Then, the lift sensor 48 is operated by the action of the swing sensor 43, and one lower link 41 is rotated upward or downward to control the working device in a horizontal state. Linked with this, the rod attached to the lower link 41
The actuating lever 42 is rotated by 40, and the swing sensor 43 is controlled via the connecting rod 45 until it becomes vertical.

FIG. 9 and FIG. 10 show another embodiment of the control method for making the inclination detection sensor horizontal.
In the figure, reference numeral 50 denotes an inclination detection sensor for detecting the inclination of the work device, which is mounted on a sensor mount 51 provided on the traveling vehicle body. 52 is the hydraulic cylinder side for lifting the work machine and the wire
A rotating plate connected by 53, and the rotating plate 52 is a fulcrum shaft.
One side 52-1 is configured to be short around 54, and the same side 52-1 is interlocked with the tip of the sensor mounting base 51.

The other side 52-2 of the rotary plate 52 is long and has a wire 53 connected thereto. 55 is a sensor platform 51
A potentiometer provided on the pivot shaft 56 of the above, which can detect the angle of the sensor mounting base 51.

11 and 12 show another embodiment of the means for detecting the amount of movement of the lower link, in which 60 is a lower link, the base portion of which is pivotally attached to the lower link pin 61.

Reference numeral 62 denotes a fixed bracket which fits the lower link 60 at the forked portion, and supports the outer wire 63.
64 is an inner wire, the tip of which is fixed to a mounting pin 65 protruding from the lower link 60.

The rear end of the inner wire 64 is connected so that an inclination detection sensor for detecting the inclination angle of the working device in the left-right direction can be controlled.

[0034]

According to the present invention, the working machine-side tilt detection sensor is mounted on the traveling vehicle body side to detect the tilting angle of the working device in the left-right direction and controlly interlock it so as to maintain it in the horizontal or set angle posture. The sensor mounting base is pivotally supported by a fulcrum shaft in the longitudinal direction of the machine body, and the working machine side inclination detection sensor and the control lift cylinder maintain the working device in a horizontal state and in a set angle posture. The relative movement of the lift cylinder is transmitted via a wire to an actuator having an interlocking member, and the actuator controls the sensor platform while reducing the stroke of the lift cylinder. The sensor can be controlled accurately.

Further, even when the working machine side inclination detection sensor is held in the set angle posture, it can be set by a simple operation, and therefore the whole structure is simple,
Various operations can be performed efficiently.

Further, according to the present invention, the working machine side inclination detection sensor is provided on the sensor mounting base on the traveling vehicle body side, and a vehicle body side inclination detection sensor for detecting a lateral inclination angle of the traveling vehicle body is separately provided. Since the tilt angle of the working device is relatively controlled by the calculation of both the machine-side tilt detection sensor and the vehicle-body-side tilt detection sensor, the work device can be horizontally controlled or the set angle can be maintained more accurately. It is something.

[Brief description of drawings]

FIG. 1 is an overall side view of a tractor work machine.

FIG. 2 is a perspective view showing a main part of the present invention.

FIG. 3 is a rear view showing a mounting state of the tilt detection sensor.

FIG. 4 is a side view of the same.

FIG. 5 is a block diagram of a control device.

FIG. 6 is a perspective view showing another embodiment in which the tilt detection sensor is attached.

FIG. 7 is a side view showing another embodiment showing the control method of the tilt detection sensor.

FIG. 8 is a sectional view of the main part.

FIG. 9 is a side view showing an embodiment of a method for controlling the tilt detection sensor.

FIG. 10 is a plan view of the same.

FIG. 11 is a plan view showing another embodiment of the method for detecting the movement amount of the lower link.

FIG. 12 is a sectional view of the same main part.

[Explanation of symbols]

 2 Traveling vehicle 3 Working device 7-3 Lift cylinder 11 Work machine side tilt detection sensor 11A Car body side tilt detection sensor 12 Sensor platform 13 Support shaft 15 Actuator 15-2 Interlocking member 20 Wire

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Eiki Kamiyama 1-32, Chayamachi, Kita-ku, Osaka City, Osaka Prefecture Yanmar Diesel Co., Ltd. Within

Claims (2)

[Claims] 1. A traveling vehicle body 2 that connects the working device 3 with a working-machine-side tilt detection sensor 11 that is interlocked with the working device 3 to detect the tilt angle of the working device 3 in the left-right direction and hold it horizontally or in a set angle posture. Is installed on the side of the machine via a sensor platform 12, and the sensor platform 12 is pivotally supported by a fulcrum shaft 13 in the longitudinal direction of the machine body, and the working machine side tilt detection sensor 11 and a lift cylinder 7-3 for control work equipment. 3 is maintained in a horizontal state or in a set angle posture, and the relative movement of the lift cylinder 7-3 is transmitted to the actuating body 15 having the interlocking member 15-2 via the wire 20, and the actuating body 15 senses the sensor. Stand 12
A horizontal or set angle maintaining device for a tractor working machine, characterized by controlling the. 2. A working machine-side tilt detection sensor 11 for detecting a tilt angle of the working device 3 in the left-right direction is provided on a sensor platform 12 on the running body 2 side, and detects the tilt angle of the running body 2 in the left-right direction. A horizontal inclination of the tractor working machine characterized by separately providing a vehicle body side inclination detection sensor 11A and controlling the inclination angle of the working device 3 by calculating both the working machine side inclination detection sensor 11 and the vehicle body side inclination detection sensor 11A. Or a set angle maintaining device.