JPH078015A - Apparatus for controlling posture of tractor corresponding to traveling speed - Google Patents

Abstract

PURPOSE:To obtain an apparatus for controlling the lateral inclination of a working machine attached to the back of a tractor and capable of properly reacting even at an increased traveling speed of the tractor. CONSTITUTION:The lateral inclination of the front wheel shaft of a tractor T is detected by an inclination angle sensor S1 attached to a laterally swivelable front wheel shaft case 2, the traveling speed of the tractor is detected by a speed sensor S2 attached to the main body of the tractor and the detection value of the front wheel inclination angle is stored. The posture of a working machine R is controlled by extending or contracting a posture controlling cylinder 8 based on the stored detection value of the front wheel inclination angle when the working machine R reaches the detection position of the front wheel based on the stored detection value of the traveling speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure of a posture control device for properly controlling the posture of a working machine even when a tractor is working at high speed.

[0002]

2. Description of the Related Art Conventionally, there is known a tractor provided with a sensor for detecting a left / right inclination of a rear part of a tractor or a working machine, and having a posture control device for correcting the left / right inclination of the working machine based on detection of a tilt angle of the sensor. Has become. In the attitude control device, for example, one of the lift rods connecting a lift arm and a lower link in a work machine mounting three-point link is composed of a hydraulic cylinder, and the lateral tilt of the work machine is corrected by expansion and contraction of the hydraulic cylinder. Is publicly known.

[0003]

It takes a certain period of time from the detection of the left-right inclination by the sensor to the driving of the actuator including the hydraulic cylinder of the attitude control device to perform the desired attitude control. However, as in the conventional structure, in the structure in which the posture is controlled based on the detection of the tilt of the rear part of the tractor or the working machine, the detected position is in the vicinity of the working machine. Since the response time is delayed, accurate posture control cannot be performed, and conversely, high-speed work is impossible because of that.

[0004]

The present invention uses the following means in order to solve the above problems. That is, in a tractor having a posture control device that corrects the left and right inclination of the working machine, in a structure that can swing the front wheels to the left and right, the left and right inclination of the front wheel axle is detected by an inclination angle sensor attached to the front wheel axle case, The vehicle speed is measured by a vehicle speed sensor installed in the tractor body, the detected value of the front wheel inclination angle is stored, and the stored front wheel inclination is stored at a predetermined time until the working machine comes to the front wheel position based on the measured vehicle speed value. Based on the detected value of the angle, a vehicle speed-compatible attitude control device that drives the attitude control device is configured.

[0005]

[Operation] The tilt angle is detected at the front wheel position in front of the tractor, and then the time until the working machine reaches the front wheel position is judged from the vehicle speed to determine the drive time of the attitude control device (the extension time of the hydraulic cylinder). ) Is taken into consideration, the posture control device is driven by the time the work machine arrives, and the work machine that has reached the front wheel position is appropriately posture-controlled at that position.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the configuration of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic side view of a tractor equipped with a vehicle speed adaptive attitude control device of the present invention, and FIG. 2 is a schematic front view of the same.
FIG. 3 is a schematic rear view of the same.

A configuration of a posture control device for correcting the horizontal inclination angle of the working machine R when the working machine R is mounted on the tractor T will be described with reference to FIGS. 1 and 3. Top link 5 and left and right lower links 6 at the rear of the tractor T.
A three-point link consisting of 6 is provided so as to project, the rear end of the link is pivotally attached to the front part of the working machine R, and the tractor side PT
It is transmitted from the O-axis to the drive shaft of the work machine R via a universal joint. Further, a hydraulic lifting housing 4 is fixedly provided at the rear part of the tractor, and a hydraulic device in the hydraulic lifting housing 4 causes the left and right lift arms 7, 7 to rotate up and down. One of the left and right lift arms 7 and 7 is connected to the lower link 6 on the same side by a lift rod 9, and the other is connected to a posture control cylinder 8 which is a hydraulic cylinder for correcting the left and right inclination of the working machine. Is connected to the lower link 6 on the same side. Thus, the hydraulic lifting housing 4
The lift arms 7 and 7 are rotated up and down by a hydraulic device therein, and the lower links 6 and 6 are moved up and down via the posture control cylinder 8 and the lift rod 9 to move up and down the work machine R to be mounted. Further, by extending and contracting the attitude control cylinder 8 with another hydraulic device, the lower link 6
-The difference in the vertical position between 6 is corrected and the lateral inclination of the work implement R is corrected.

In a tractor T having such a work machine mounting structure and a work machine attitude control device, the front wheels 1.1
Also, the rear wheels 3.3 are suspended, and the rear wheels 3.3 are driven by the engine output to run. Each axle of the left and right front wheels 1 and 1 is inserted into a front wheel axle case 2 at the center, and the front wheel axle case 2 can be horizontally swung by a swing fulcrum shaft 2a as shown in FIG. There is. A front wheel inclination angle sensor S1 is fixedly mounted on the front wheel axle case 9. Further, a vehicle speed sensor S2 for detecting the number of rotations of the rear wheel 3 is arranged near the rear wheel 2. Note that S3
Is a tilt angle sensor disposed at the rear of the tractor, which has been used for controlling the attitude of a conventional work machine.

As described above, in the structure in which the front wheel inclination angle sensor S1 is arranged in the front wheel axle case 2 and the vehicle speed sensor S2 is arranged in the vicinity of the rear wheel 3, the front wheel inclination angle sensor S1 is moved by the traveling of the tractor T. The left / right inclination of the case 2 is detected, and the detected value is stored in a controller (not shown). On the other hand, the vehicle speed at that time is detected by detecting the rear wheel rotation speed of the vehicle speed sensor S2. The front-rear distance L from the front wheel axle case 2 to the rotary shaft position of the working machine R
Is constant, and at what time the work implement R detects the tilt angle of the front wheel tilt angle sensor S1 based on the front-rear distance L and the vehicle speed detected by the vehicle speed sensor S3. The controller calculates whether to reach the position. When the posture can be controlled most efficiently by taking into account the extension / contraction drive time of the posture control cylinder 8 within the time calculated in this way, the posture control cylinder 8 is extended / retracted so that the work machine R can move the front wheel axle case. The right and left inclination is properly corrected when the value reaches 2.

Incidentally, the traveling speed of the tractor is not always constant from the detection of the front wheel inclination angle sensor S1 to the arrival of the working machine R at that position. Therefore, an acceleration sensor S4 that detects a change in the number of revolutions is arranged near the front wheel 1 or the rear wheel 3, and the vehicle speed detection value by the vehicle speed sensor S2 detected when the front wheel inclination angle sensor S1 detects the acceleration sensor S4. The arrival time to the position of the front wheel axle case 2 of the work machine R is calculated in consideration of the measured value. Thus, the posture of the working machine can be properly controlled even when the traveling speed is changed.

[0011]

The present invention has the following effects by being configured as described above. That is, the tilt angle sensor attached to the front wheel axle case in front of the tractor detects the left and right inclination of the front part of the tractor, and at the same time detects the vehicle speed with the vehicle speed sensor. It is possible to drive the attitude control device of the working machine at the most appropriate time until reaching, and correct the lateral inclination of the working machine when the working machine reaches the position.
Since the response drive of the attitude control device is not delayed at any vehicle speed, the lateral inclination of the working machine can always be corrected properly, so that good field work can be obtained and high-speed work is possible. This leads to a reduction in working time.

[Brief description of drawings]

FIG. 1 is a schematic side view of a tractor equipped with a vehicle speed-compatible attitude control device of the present invention.

FIG. 2 is a schematic front view of the same.

FIG. 3 is a schematic rear view of the same.

[Explanation of symbols]

 T tractor R work machine S1 front wheel inclination angle sensor S2 vehicle speed sensor 1 front wheel 2 front wheel axle case 3 rear wheel 6 lower link 7 lift arm 8 attitude control cylinder

Claims (1)

[Claims] 1. A tractor having a posture control device for correcting the left-right inclination of a working machine, wherein the front-wheel axle has a structure in which the front-wheel can be swung left and right, and the left-right inclination of the front-wheel axle is detected by an inclination-angle sensor attached to the front-wheel axle case. In addition, the vehicle speed is measured by a vehicle speed sensor provided in the tractor body, the detected value of the front wheel inclination angle is stored, and stored at a predetermined time until the working machine comes to the front wheel position by judging from the measured value of the vehicle speed. A posture control device for a vehicle speed of a tractor, characterized in that the posture control device is driven based on a detected value of the front wheel inclination angle.