JPS60227601A - Rolling control apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention provides a method for maintaining a constant lateral posture even when the towing machine tilts from side to side, so that, for example, a leveling effect can be maintained at all times. This invention relates to a rolling control device that controls the expansion and contraction of one lift rod of a three-point linkage mechanism that connects a ground-based work machine so that the expansion and contraction of one side of the lift rod is constant.

Conventional technology If rolling control is continued even when the ground work equipment is raised during turning movements during work near headlands, the universal joint shaft that transmits power from the traction machine to the ground work equipment However, due to the influence of both the horizontal and vertical inclinations of the ground work equipment with respect to the towing machine, the universal part of the ground work machine is significantly bent, and this wide bend angle prevents the smooth movement of the universal joint shaft. Conventionally, in order to prevent the rotation from being hindered, which accelerates the wear and tear of the parts, and also by emitting loud noises and reducing efficiency, when the equipment is raised to a certain height,
A known technique is to disable the function of the left/right tilt sensor and instead input a constant reference voltage to the control device, thereby returning the ground work machine to the basic fishing attitude parallel to the towing machine.

However, with this known method, when the ground work equipment is raised once while the towing machine is tilted left and right, the lift rod suddenly makes a large expansion and contraction movement, and this expansion and contraction movement causes dog-gearing. The impact force acts on the ground work equipment and the towing machine, and the ground work equipment also tilts sharply in the same direction as the towing machine, so the impact force and this inclination compete with each other, resulting in a lack of lateral stability. Moreover, when returning to the working position from this state, the lift cylinder suddenly returns to the controlled state and operates again, so there is still the problem that a sharp impact force is generated.

Problems to be Solved by the Invention The present invention aims to prevent the above-mentioned deterioration of stability, and for this purpose, the following technical means are combined to improve the stability of the ground which is raised and lowered by the hydraulic lifting mechanism 11υ. Work equipment (2),
Based on the left and right tilt angle (θ) of the left and right tilt sensor (Sl), one side σ) of the three-point linkage mechanism (9) is moved to the lift rod (5).
In a rolling control device that controls expansion and contraction to maintain a constant ground posture, a lift value sensor (S
3) is provided, and the lift value detected by the lift value sensor (S3) (
When α) exceeds the set lift value (ji), the traction machine (1)
This rolling control device is characterized in that the above-mentioned ground attitude control is performed by limiting the horizontal inclination of the ground working machine (2) to within a certain value.

Embodiment Next, an embodiment of the present invention will be explained based on the drawings. 1st
As shown in the figure, a rotary tilling device as an example of a ground work machine (2) is attached to the bright part of a tractor as a towing machine (1), and a left and right lift is attached to a pair of left and right lift arms (3) (3). The left and right lower links (6) swing downward via the rods (4) and (5) (and the central top link (8)
This three-point linkage mechanism (9) is connected by a three-point linkage mechanism (9) consisting of the lift arm f3) (3).
+ is a lift cylinder using hydraulic pressure (hydraulic lifting mechanism (lifting and lowering by 1υ) that uses hydraulic pressure to move up and down, and also lifts and lowers the ground work machine (2) as the traction machine (1) tilts in the left and right direction. The left and right inclination angle (θ) is set to the towing machine (1) (
Alternatively, one of the lift rods (5) can be extended or retracted by the lift rod cylinder (121) by detecting it with a left/right tilt sensor (S+) of a bubble type or a weight type installed on the ground work machine. Therefore, a rolling control mechanism (13) is provided that automatically adjusts the horizontal position of the ground work equipment (2) so that it becomes, for example, a horizontal position. It is detected by a lift rod sensor (S2) consisting of a potentiometer.

The illustrated hydraulic elevating mechanism (111) is based on an instruction value (ψ) instructed by, for example, a rotational operation of a position lever as an elevating/lowering instruction member (14), and this instruction value ((to) The lift arm (3) f3) is configured such that it reaches a height corresponding to the height of the cylinder. An arm qη is fixedly attached to the case (position shirt 151), which controls the supply and discharge of pressure oil to the control pulp (181 spool ((9) and a position link (9) connecting the lower part with a pin (20)). 2 to the arm (1η) and the lift shaft (2) integrated with the lift arm 13 (3).
3) and the arm (24) fixed to the position link (2).
1) are connected by a pin (19@) and a feedback link mechanism to form a position link mechanism (28),
The position shaft +1611C is rotated to a predetermined position by a fixed lifting/lowering instruction member (14). For example, when the hj upper holding position is held, the spool (Igl
is stationary at the neutral position shown in FIG. 3, and if the lifting/lowering instruction member (1 pillow name) rotates counterclockwise, position shirt HI61 rotates counterclockwise in FIG. 3, position link t21 ) rotates counterclockwise around pin Q9, and spool 1!1 moves to the right, thereby draining the pressure oil in lift cylinder 00 into the tank and lowering lift arms (3) (3). It starts rotating and then the arm? 4) also moves downward, and the feedback link (27) begins to move to the left in Figure 3, and the position link (21) rotates clockwise around pin +22) as a fulcrum, and the spool 0!1 The lift arm (
3) When (3) reaches a predetermined height, the spool head returns to the neutral position shown in FIG. 3, so that the ejection operation from the lift cylinder 00 is stopped.

In order to detect the height of the three-point linkage mechanism (9), a detection shaft of, for example, a rotary potentiometer is connected to the pivot base of the lift arm (3) to serve as a lift value sensor (Ss).
The tilt reference value (θ0) is the expansion/contraction control of the lift rod cylinder (12) based on the left/right tilt angle (θ) detected by the left/right tilt sensor (Sl) (for example, if the horizontal position is controlled, O1 is 10° upward to the right, +10 ) is corrected to the south of the bias value to be controlled by the bias clearing output circuit (30), and the bias voltage (V?) corresponding to this bias value (7+) is determined by the lift rod sensor (S2). The length of the lift rod 5), the rod voltage α gradient relative to the UE, and the lift value 83)
In order to limit the detected lift value (αl) of the lift arm (3) [corresponding lift voltage (■)] and the difference in left-right inclination of the ground work equipment (2) with respect to the traction machine (1) to within a certain value, this left-right inclination is The length of the lift rod (5) when the difference is 00, the constant lift voltage ("Vdo), and the microcomputer (
33) is input to the multiplexer C34), converted into a digital signal by the A/D converter (3), and in the correction amount calculator (a), the lift voltage (to)) is lower than the set lift voltage (to)). state, the unbalanced voltage (V?) (Tanotogi operates the reduction drive circuit (137), and the lift rod (5) is
so that the bias voltage (Vθ) becomes 0, or when the bias voltage (-) is (-1), operate the extension drive circuit (3 lines) to reduce the bias voltage (Vθ). The lift rod (5) is extended by
When the maximum value of the rod voltage CJE) is equal to or higher than the expansion voltage (V10+Δ
1) or (VJo - AJ).

The operation of the invention, that is, the working state in which the ground working machine (2) is being lowered, and the state in which the ground working machine (2) is operated to the set lift value (in addition) to obtain the operating height necessary for turning operation. In either case, the correction amount calculator (36) basically issues a command to control the ground work machine (2) to the reference attitude (5), but if the correction amount calculator (36) is operated to the set lift value ( In some cases, the lift rod (5) is restricted from being extended or contracted beyond its maximum or minimum length, thereby reducing the side-to-side inclination angle of the ground implement (2) relative to the towing machine (1). The correction amount calculator (36) operates so that the value is within a certain value.

In the above-mentioned embodiment, the detected lift value (in particular, the rotation angle of the lift arm (3) is detected by the lift value sensor (Ss), but in addition, for example, the hydraulic lifting mechanism (11)
The instruction value (α) is the operating angle of the elevation instruction member (I4) of
is the detected lift value (α) as the lift value sensor (Ss)
[Therefore, there is no problem in detecting it.]

Effects of the Invention The rolling control device according to the present invention is configured as described above, and includes a lift value sensor (S) that detects the operating height of the hydraulic lifting mechanism (11) or the three-point link mechanism (9).
s) is provided, and the lift value f detected by the lift value sensor (Ss) is
When α) exceeds the set lift value (Kan), the traction machine (1)
Since the above-mentioned ground attitude control is performed by restricting the horizontal inclination of the ground work machine (2) to within a certain value, when the towing machine (1) is significantly tilted left and right, Even if the ground work equipment (2) is raised for turning movement, etc., the amount of extension or contraction of the lift rod (5) is limited and will not exceed a certain value. Since the expansion and contraction movements will not be excessive, the impact force during expansion and contraction will be small and will not have a negative impact on the aircraft and the crew.
The towing machine (1) is not parallel to the towing machine (1).
Since it has a delay angle with respect to the inclination direction of 1), stability in the left-right direction is increased.

Even while the ground-based work equipment (2) is held in the raised position, when the left-right inclination of the towing machine (1) is small, the ground-based work equipment (2) is in a rolling control state. There is no discomfort at all in the transient state when rolling control is continued by the subsequent descending operation, and ground work using rolling control can be continued extremely smoothly.

[Brief explanation of drawings]

The figures show one embodiment of the invention, with Figure 1 being an overall side view;
FIG. 2 is a perspective view of the main parts, FIG. 3 is a vertical sectional side view of the position link mechanism, FIG. 4 is a rear view, and FIG. 5 is a block diagram of the control device. Description of symbols (1)...Tow machine (2)...Ground work equipment (5)...Lift rod (9)...
... Three-point linkage mechanism (11) ... Hydraulic lifting mechanism (14) ... Lifting instruction member (Sl) ... Left and right tilt sensor (S3) ... Lift value sensor (α )・
...Detection lift value (■) ...Setting lift value (
... Left and right tilt angle patent Applicant: Iseki Agricultural Machinery Co., Ltd. Special Opening UGO-227601 (6)

Claims (1)

[Claims] A ground-based working machine connected to a towing machine via a three-point linkage mechanism and raised and lowered by a hydraulic lifting mechanism is controlled to extend and retract on one lift rod of the three-point linkage based on the left-right tilt angle of a left-right tilt sensor. In a rolling control device that maintains a constant ground attitude, a lift value sensor is provided to detect the operating height of a hydraulic lifting mechanism or a three-point linkage mechanism, and when the detected lift value of the lift value sensor exceeds a set lift value, A rolling control device characterized in that the above-mentioned ground attitude control is performed by restricting the horizontal inclination of the ground working machine with respect to the towing machine to within a certain value.