JPS61132102A - Before and behind posture control apparatus of earth workingmachine - 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 relates to a longitudinal attitude control device for a ground work machine such as a rotary or a plow connected to a tractor.
When hoisting the working part of the ground working machine while it is rotating, or during plowing work, the top link can be reduced to control the forward and backward inclination of the ground working machine, or to improve the plowing performance during plowing. In order to safely rotate the universal joint shaft for transmitting power between the tractor and ground work equipment during each extension operation, the extension and contraction movements of the top link are limited. This is what we propose.

[Conventional technology]

Lifting height? In order to ensure a sufficient amount of plowing performance or to fully improve plowing performance, there is a work equipment elevation control device that controls the length of the top link by manual or automatic operation to fully control the posture of the ground work equipment in the longitudinal direction with respect to the tractor. , is known as Japanese Unexamined Patent Publication No. 59-14710.

The working part of the ground work machine is driven by a universal joint shaft that connects the PTO shaft of the tractor and the input shaft of the ground work machine, but the bending angle of the joint part of the universal joint shaft with respect to the PTOll or input shaft is The lifting height will vary depending on the above-mentioned longitudinal posture, and if the hoist becomes too large, problems such as damage to the joint bottle will rapidly increase, so please be careful when lifting and lowering the ground work machine. When extending or contracting the top link, it must be confirmed that the folding angle of the joint is within a safe range and does not become excessive. However, since conventionally known control devices do not have such confirmation means, there is a risk that the bending angle will become excessive.

[Problem that the invention seeks to solve]

This invention aims to solve the problem that depending on the lifting height of the ground work machine and its angle of inclination in the longitudinal direction, the folding angle of the universal joint shaft becomes excessive, making it difficult to check the angle. be. □ [Technical means for solving all the problems] In order to solve the above problems, this invention utilizes the following technical means.

That is, the tractor (
Connected to 11 so that it can be raised and lowered
A flexible joint shaft connected to the PTO shaft 0 of the tractor (1)! Ground work equipment (2)
The longitudinal attitude of the ground working machine is controlled by the extension and contraction movement of the top link (6), and the longitudinal attitude control device of the ground working machine detects the inclination angle of the ground working machine (2) in the longitudinal direction with respect to the tractor (1). Tilt angle sensor (S6L-
) Top link senna (S) that detects the length of the top link (6) and the universal joint shaft +
Calculate the standard top link length (L,) for which the fold angle of 15 is the most preferable value, and calculate the safety top link length (Lmin) for which the fold angle is within the safe range.
The calculation means αl calculates Lmar'i, and adds the correction instruction value instructed by operating the top link length correction switch (sl) to the standard top link length La) to obtain the target top link length La)' Correction means to seek -, top link (6) wo, match the target top link length La) when the above target top link length La) is within the safe top link length (Lmin), (LmaK) When the target top link length La) exceeds the safety top link lengths Lmin) and (Lmax), each comparison command means QD commands the length to match the nearest safety top link length. This is a longitudinal attitude control device for a ground work machine characterized by having a control unit (Iet-) consisting of a control unit (Iet-).

[Example and operation]

Next is the number 11 of this invention! This will be explained based on an example meeting diagram.

As shown in Fig. 3, at the rear of the tractor (1), there are a pair of left and right lift arms (3), (31), and left and right lift rods ( 4), (4)' are connected by a three-point link mechanism (7) consisting of left and right lower links (5), +5) that swing up and down, and a top link (6) at the upper center. The point linkage mechanism (7) makes noise when moving up and down by a hydraulic lifting mechanism that lifts and turns the lift arm (31, (3)'t) up and down using a lift cylinder (8) using hydraulic pressure.

The top link (6) is formed to be extendable and retractable by the top link cylinder (9) and the piston (9a), and the top of the pressure oil of the oil pump is moved by the operation of the telescoping drive unit α consisting of something like an electromagnetic switching valve. By controlling supply and discharge to the link cylinder (9), the ground work machine (2) can connect the lower link (5) and the rear connecting bin u an of (5).
The working part α21r, which functions as a full fulcrum and rotates in the front-back direction, is like a tiller body of the ground-based work machine (2): In order to drive, the PTO axis 0 of the tractor (1) and the ground-based work machine (2)
The input shaft (14?) is connected by a universal joint shaft α9.

Universal joint axis a for PTO axis αJ! 9's bending angle (ω) and the bending angle of the universal joint axis α9 with respect to the input axis I (β is,
As shown in the example in Figure 4 →←→, the universal joint axis a! 9 is the curve (At
) and (Ah), respectively.

Then, as a condition for sufficiently safe rotation, α+β〈4
0o, and α-β, and the former total safety curve (Stx), (shl), and
The latter are shown as safety curves (Stz) and (-), respectively.

Here, the tractor (Fig. 5) is used as shown in Fig. 3.
Attach the top link (6
) wo, lift arm angle (θ) in case of special 3P link installed via top link bracket αη
Figure 5 (B) clearly shows the relationship between D and top link length D, and although illustration is omitted, the above special 3 P
Is the top link (6) located above and in front of the link installation position? Attachment (for example, attaching the top link bracket αft in Figure 3 directly to the top link mounting frame (l)
This figure shows the relationship between the lift arm angle (θ) and the top link length υ in the case of a standard 3P17 link (mounted at a high position).

For example, what is the lift arm angle (θ) as the inclination angle of the ground work machine (2) in the longitudinal direction with respect to the tractor (1)?
A tilt angle sensor (Sθ) fr is provided, which is configured to detect the length of the top link (6), such as a rotary potentiometer, and a top link sensor, which is configured to detect the length of the top link (6), is configured to include a linear potentiometer, for example. (
Sl,)? Based on the lift arm angle inputted from the tilt angle sensor, the calculation means α9 of the control unit, which is made up of, for example, a microcomputer, shown in the control block diagram in FIG. Lift arm angle (standard top link length L3), safety top link length Lmin) and (Lrnax)
is calculated.

That is, the calculation means α91C calculates the standard curve (At), (Afi), safety curve (Sti),
(StJ, (Sht) - (ShJ are each stored in advance and the 3P link mode changeover switch (Sm)
Since the number of special 3P links or standard 3P IJ links is specified by , the standard top link length Ls corresponding to the foot arm angle (θ) is detected.
) etc. will be output from the calculation means a and will be input to the correction means (2) of the first stage.

The correction means (a) includes a top link sensor (color of top link length from S) and, as illustrated in FIG. 6,
The correction instruction value (Δ
0'f, respectively, to calculate the target top link length (La) 1 m to be controlled by the top link (6).

That is, top link length correction switch (31) tj:
, top link control changeover switch (S,) t - Functions only when switched to automatic (6), depending on the operating position, the standard top link length at that time Ls)
The correction instruction value (to) for the total correction means (1) is input manually.

Top link telescopic step switch (S,) fd, top link control changeover switch (S,) switching position? It functions regardless of how it works, and if you tilt it from the neutral position shown in Figure 6 in the arrow
If you instruct , and repeat the tilting operation in the x direction three times at short intervals, the amount will be three times that of one operation (+ expansion/contraction instruction value (Δe) will be input to the correction means ■) It turns out.

Furthermore, in the correction means (2), as shown in the flow chart in FIG. Indication value (
4) f, the current top link length), and if you operate the top link extension/retraction step switch (S) and then hold it in the neutral position, the previous extension/retraction instruction value (4) becomes ( ) to return the target top link length to the original value.

kPT whether PTO axis αJ is used.

It is detected by the shaft sensor (S) that when the PTO shaft α3 is not used, the target top link length is set to LA)=L+
Let it be ΔL.

When the PTO axis αJ is used, the correction instruction value (to), the extension instruction value (lJ)'fr, the standard In addition to the top link length LA), the target top link length La) is obtained, and by holding the top link telescopic step switch (S, ) in the neutral position, the telescopic command value (ΔA) d up to that point is
, it will be canceled.

And in this way, 4o, lira fL7 is set to the target top link length La) and -safety top link length Lmi
n)! (, [, max) and the top link length υ are input to the comparison command means 3υ, and it is determined whether the target top link length IJ) is within the safe top link length Lmin) to CLmax). If checked, the outer n7' (in the case - the target top link length La to the nearest safety top link length) is corrected from this n.
, Next, when the top link length ■ exceeds the safe top link length σ1ni n) or i(Lmax)r, then PT
O When the auto-off switch is turned on, the PTO axis (
[Command to stop 3? , a command is given from the comparison command section clchin to the telescoping drive section αO in order to output to the PTO drive force and make the top link length c match the total target top link length La).

Then, the lifting/lowering instructions for the ground work equipment (2) are given by the lifting position setting device (I,) as a target lift arm angle corresponding to the instructed height, and the lift arm angle (θ) matches this. From the comparison command unit Q9 to the lifting drive unit @
However, in this case, the standard top link length Ls), safety top link length Lmin), and (Lmg) corresponding to the target lift arm angle are not immediately displayed, but the target lift arm angle is An intermediate standard top link length corresponding to this intermediate target lift arm angle is selected, with the current lift arm angle (the phrase plus or subtracted by one scale angle, e.g., r),
After the intermediate safety top link length is calculated, the above-mentioned correction and control are performed based on these, so that sudden expansion and contraction control of the top link (6) is completely avoided, Furthermore, when the lift arm angle (peak approaches the target lift arm angle up to a certain value), the comparison command unit Qυ
For example, a pulse-like command is given to, for example, the electromagnetic switching valve of the telescopic drive unit a1, and the telescopic operation of the top link (6) is decelerated. This avoids sudden fluctuations in β.

The control block diagram in Figure 1 also shows the basic configurations of automatic tilling resistance control and automatic tilling depth control, but other functions such as left-right attitude control of the ground work machine (2) can also be used at the same time. In addition, auxiliary circuits such as AD and DA converters are omitted in the figure.

In order to detect the inclination angle of the ground working machine (2) in the longitudinal direction with respect to the tractor (1), in addition to the above-mentioned foot arm (3), the YCX weight or lower link (5) attached to the ground working machine (2) is used. Various methods can be used, such as a method of detecting the entire front and rear inclinations of the vehicle.

〔Effect of the invention〕

The longitudinal attitude control device for a ground-based work machine according to the present invention is configured as described above, and has a flexible joint for each inclination angle in the longitudinal direction of the ground-based work machine (2), that is, for each vertical position. Safety top link length L that allows axis a to rotate safely
Always top link from min) to (Lmax) (6)
Since the length of the joint shaft (5) is maintained, the front and rear bending angles of the universal joint shaft (5) are 01. (This eliminates problems such as damage to the joints caused by excessive β.

In addition, when the longitudinal posture of the ground work machine (2) is tilted forward greatly to lift it high, when it is tilted forward at a low position to improve backward flight performance, or when it is tilted forward at a low position to improve plowing performance. When tilting backward for improvement, by operating the top link length correction switch (Sl), the extension and contraction of the top link (6) is controlled around the desired standard top link length (LA)'. In this way, the forward and backward posture of the ground work machine (2) is automatically adjusted so that the universal joint shaft (US) can be driven without any force. This allows safe and trouble-free ground work to be performed without requiring special skill in operating the work.

[Brief explanation of drawings]

The figures show an entire embodiment of the present invention, Fig. 1 is a control circuit block diagram, Fig. 2 is a control flowchart, Fig. 3 is a side view in the working state, and Fig. 4 is the inclination of the universal joint shaft. Figures 5 (-) and (b) are characteristic diagrams showing the desirable length of the top link, and Figure 6 is a perspective view of the main parts of the tractor. ...Tractor (2)...
・Ground work equipment (5)...Lower link (6
)...Top link αF...PTO axis
a9... Universal joint axis αa... Control unit Han... Calculation means (4)...
・・Correction means I2υ・・・・・Comparison command means (Sθ)・・・・・Tilt angle sensor (SA)・・・Top link sensor (L8)・
・・・・・・Standard top link length S）・・・・・・
Top link length correction switch (Lmin), (L
max)...Safety top link length Patent applicant: Iseki Agricultural Machinery Co., Ltd. (r) Representative patent attorney: Takayoshi Hayashi !-゛su+continued amendment Showa 6t'2A2ah

Claims (1)

[Claims] A ground work machine is connected to the tractor via the left and right lower links and the extendable top link at the top of the center, so that it can be raised and lowered, and is driven by a universal joint shaft connected to the PTO shaft of the tractor. A longitudinal attitude control device for a ground-based work equipment configured to control the longitudinal attitude of the work equipment by an expansion/contraction operation of a top link, comprising: an inclination angle sensor that detects an inclination angle of the ground-based work equipment in the longitudinal direction with respect to a tractor; A top link sensor detects the length of the top link, and for each inclination angle, the standard top link length is calculated so that the bending angle of the universal joint shaft is the most preferable value, and the bending angle is within a safe range. A calculation means for calculating the safety top link length, a correction means for calculating the target top link length by adding the correction instruction value instructed by the operation of the top link length correction switch to the standard top link length, and a correction means for calculating the target top link length. , when the target top link length is within the safety top link length, match the target top link length, and when the target top link length exceeds the safety top link length, match the nearest safety top link length. What is claimed is: 1. A longitudinal attitude control device for a ground-based work machine, comprising a control section each comprising a comparison command means for respectively instructing the lengths to match.