JPS61132107A - Pto drive alarm apparatus in before and behind posture controller of earth working machine - 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 PTO drive warning device in a longitudinal attitude control device for a ground work machine such as a rotary plow connected to a tractor. The top link is used to control the forward and backward inclination of the ground work machine to improve the performance of the plowing machine when rotating and hoisting it, or when plowing is working. Smooth rotation of the universal joint shaft for power transmission between the tractor and ground work equipment during contraction or extension operations? P is devised to automatically notify the driver when there is a danger of a lack of safety.
We propose a TO-driven alarm system.

[Conventional technology]

The length of the top link is controlled manually or automatically to extend and contract the length of the top link to ensure a sufficient lifting height, or to raise the tillage height. ? A control device for lifting and lowering a working machine is known as Japanese Unexamined Patent Publication No. 14710/1983.

When working with a ground-based work machine, the vehicle is driven by a universal joint shaft that connects the PTO shaft of the tractor and the input shaft of the ground-based work machine. The folding angle will vary depending on the lifting height and the above-mentioned longitudinal posture. If the folding angle becomes too large, problems such as damage to the joint bin will rapidly increase, so it is difficult to raise and lower the ground work machine. When operating the top link and when fully extending and retracting the top link, it must be ensured that the folding angle of the joint part 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 cost will be excessive.

[Problem that the invention seeks to solve]

This invention provides that the folding angle of the universal joint shaft may become excessive depending on the lifting height of the ground work machine and its front and rear inclination angles, and as a result, damage to the receiving portion of the universal joint shaft may become large. This is to solve the problem of noise. Is the universal joint shaft in a smooth rotation range? can be easily and accurately determined,
Fortunately, the driver is not notified.

[Friendly technical means to solve problems]

To solve the above problems, this invention provides the following technical means.

That is, the ground working machine (2) is connected to the tractor (11) so as to be able to rise and fall through the left and right lower links (5), (5) and the extendable central top link +61 m.
It is provided so as to be driven by a flexible joint shaft αS connected to the PTO shaft αJ of the tractor (1), and the longitudinal attitude of the ground work equipment (2) is controlled by the expansion and contraction operation of the top link (6). , this top link +61+-!
, ) In a longitudinal attitude control device configured to perform expansion/contraction control to a correction instruction value (ΔL) instructed by the operation of a twin link length correction switch (Sl), a tractor (IIK: 2) Based on the inclination angle in the longitudinal direction and the length of the top link (6), is the universal joint shaft a9 in the smooth rotation range?PTO safety check means 4 to judge, and the state where it is out of the above smooth rotation range r This is a PTO drive alarm device in a longitudinal attitude control device for a ground-based work machine, characterized in that it has a PTO alarm means (2) for reporting ?11.

[Example and operation]

Next, the liI of this invention! This will be explained based on an example meeting diagram.

As shown in Fig. 4, the rotary plowing device, which is an example of a ground work machine (2), is attached to the rear of the tractor (1) to a pair of left and right lift arms (31, (3)), and a left and right lift rod f.
4) , (41? b that swings up and down through the left and right lower links (51, +5), and the top link at the top center (
6) are connected by a three-point linkage mechanism (7), and this three-point linkage mechanism (7) c, its lift arm (31,
+31 k, the lifting and lowering operation is performed by a hydraulic lifting mechanism that uses hydraulic pressure to move up and down using a 211 foot cylinder (8). The top link (6) is formed to be extendable and retractable by the top link cylinder (91) and the piston (9a), and the top link cylinder of the pressure oil of the oil pump is operated by the telescopic drive mechanism consisting of something like an electromagnetic switching valve. (9) Supply/discharge control to ground-based work equipment (
2) is the rear connecting bin an, α1) of the lower link (51, L5)? The PTON (13 and
It is connected to the input shaft a4 of the ground work machine (2) by a universal joint and a tilting shaft.

PTOll (the fold angle of the universal joint shaft 0 with respect to 13) and the fold angle of the universal joint shaft a9 with respect to the input shaft a4 (
The station is.

As shown in Fig. 5, the height of the ground work equipment (2) relative to the tractor (1) varies depending on the lifting height and the forward/backward posture. It has been found that α = β should be the condition for the smoothest rotation with the least amount of unreasonable force.
FIG. 6 shows the most desirable standard curves (At) and (Ah), respectively.

Then, the conditions for sufficiently safe rotation are α + β × 4
00 and α-β<50, and the former is used as the safety curved door (5t1), (Sh,).

Also, the latter? The safety songs fij[(St2) and (Sh2) are respectively shown.

Here, the top link (6) in Fig. 6 (vi) is located at a lower position of the top link mounting frame αe of the tractor (11) than shown in Fig. 4, and furthermore, is located at the rear of the rack.
, lift arm angle (θ) in case of special 3P link installed through top link bracket
Figure 6 (b) shows the relationship between the top link length υ and the top link length υ.
Is the top link (6) located above and in front of the 17 link installation position? Relationship between the lift arm angle (θ) and the top link length ■ in the case of a standard 3P link that is installed (for example, directly installed at a high position on the top link mounting framework e without using the top link bracket anyt in Fig. 4) It's a friend.

A tilt angle sensor (SJ), such as a rotary potentiometer, is configured to detect, for example, a toe arm angle (θ) as a tilt angle in the longitudinal direction of the ground work machine (2) with respect to the tractor (1). A top link sensor (6) consisting of a linearly moving potentiometer, for example, is provided to detect the length of the top link (6).
SJ)? A tilt angle sensor (SJ) is installed to measure the lift arm angle (based on human power).

The calculation means a[
The lift arm angle (standard top link length La with respect to θ1), safety top link length Lmin), and (Lmax) are calculated respectively.

That is, the calculation means a9 has the standard curves a (At), (Ah), safety curves m (stl), (
st, ), (Shl), and (Sh,) are stored respectively, and the 3P link mode changeover switch (Sm
Since some of the special 3P links or standard 3P links are specified by ), the standard top link length Lll corresponding to the detected precise lift arm angle (191
) etc. will be output from the calculation means α value, and will be input to the next stage correction means (a).

The correction means (7) includes a top link senna (top link length υ from S), and as shown in FIG. 7,
Near the driver's seat (SJ) are the correction instruction value (Body electric shock) by the top link length correction switch (S8) and the extension/contraction instruction value (Δ/) by the top link extension/contraction step switch (S2). , respectively to calculate the target top link length (La) M- to be controlled by the top link (6).

That is, the top link length correction switch (S,)i.

It functions only when the top 11 link control changeover switch (S, )' is automatically switched, and the standard top link length at that time varies depending on the operating position.
8:) correction instruction value for VC (pe,) all correction means -
Enter.

The top link telescopic step switch (S,) H and the top link control changeover switch (S,) function regardless of the switching position, and from the neutral position shown in FIG. 7, that is, the off position, to the arrow line If you tilt it to the on position in the direction of the arrow (10), conversely, if you tilt it to the on position in the arrow Y direction, you will be instructed to H? , X direction vc, If you repeat [,], the expansion/contraction command value (, U), which is three times that of one operation, will be input to the correction means □□□. In the correction means, the top link control changeover switch (7') is shown as 70-chart in FIG.
SJ) manually sets the target top link length to IJ).
The top link expansion/contraction step switch (S,
)? If you operate it and then hold it in the neutral position, it will act to add the previous expansion/contraction instruction value (4) I-(to), and the target top link length (LIL) will return to its original value. I have to.

That is, this top link telescopic step switch (S,)
By turning off e off operation, one pulse with the pulse length set in advance is generated, and the correction means (to) delays the fall of this pulse by a certain period of time after the fall of this pulse. , a pulse-like output with a length proportional to the number of on/off operations will be output as the expansion/contraction instruction value ΔW. When held in the off position, the extension/contraction command head C#) is set to O, and in this case, the target top link length La) is (, S
+ΔL. 'Whether PTO axis 0 is rotating'kPTO axis sensor (s4)
When it is detected that the PTO shaft a is not rotating,
Target top link length La)=L+ΔL.

When the PTO axis αj is rotating, the correction instruction value (41) and the extension/contraction instruction value (
4)? , the standard top link length La) is added to the target top link length IJ), and by holding the top link telescoping step switch (S,) in the neutral position, the telescoping instruction winding up to that point is , it will be canceled.

In this way, the target top link length La) and the safety top link length Lmin), (
Lm- and the top link length are the comparison command means eυ
It is checked whether the target top link length (LA) is between the safe top link length (Lmin) and (Lma), and if the target top link length (LA) is between the safe top link length (Lmin) and (Lma), The target top link length (La) is corrected to the safety top link length that is close to the safety top link length.

And, the PTI provided in this comparison command means Q1J)
In the safety check means 4, the smooth rotation range in which the universal joint shaft a9 can rotate smoothly, that is, the safety of μ(ol) -M(St□), (St, )3(is (group ρ) , (Sh
, )
Anba between m■).

It is determined that the universal joint axis αS is in the smooth rotation range, and the top link length D is checked using the top link length range checking means (to) as shown in Figure 3. Saku IJ is outside the smooth rotation range - A7?
: When the PTO shaft (13) is rotating or has started rotating, a PTO alarm is sent to the PTO drive unit (to) via the PTO axis control means and via the alarm control means @. The following commands are given for each stage of the alarm.

That is, PTO drive f! i@deni,)'TOIltll(
13 is already rotating, the PTO shaft stopping means [
3 PTO axes u are stopped by n1
or.

When PTO axis α3 is about to start rotating, PTO
By means of the shaft intermittent rotation means, PTOm(13?) is rotated intermittently within a certain initial time, i.e.
A pulse-like connection command that connects the PTO clutch intermittently is given, and the PTO alarm means (2) lights up an alarm lamp, sounds an alarm buzzer, and issues an alarm. It is configured to drive the tape ω or perform intermittent rotation of the PTO shaft (13), either individually or in combination.

On the other hand, in order to make the top link length υ match the target top link length La), the comparison command unit 12υ
There are four instructions for the α value of the telescopic drive unit.

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) is then set as AK-. As shown, from the comparison command unit Qυ to the lifting drive unit (
In this case, the standard top II link length Ls) corresponding to the target lift arm angle is specified.
, safety top link length Lmin).

(Lma The intermediate standard top link length and intermediate safety top link length corresponding to the intermediate target lift arm angle are calculated, and based on these, the following correction and control are performed as described above. Rapid expansion and contraction control of top link (6)? Furthermore, when the lift arm angle (θ1 approaches the target arm angle up to a certain value), a pulse-like command, for example, is sent from the comparison command unit +211 to the telescopic drive lE!I part a. For example, depending on the electromagnetic switching valve, the expansion and contraction movement of the top link (6) will be slowed down, and the angle (αl, (/) of the universal joint shaft (is) will be reduced.
1. Avoids sudden fluctuating sounds.

The control block diagram in Figure 1 also shows the basic configurations of plowing resistance index control and automatic plowing depth control, but other functions such as left and right attitude control of ground work equipment 2) are also shown 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 work machine (2) in the longitudinal direction with respect to the tractor (11), in addition to the toe arm (3) mentioned above, a weight type or lower Various methods can be used, such as a method of detecting the longitudinal inclination of the link (5).

〔Effect of the invention〕

The PTO drive warning device in the longitudinal attitude control device for a ground-based work machine according to the present invention is configured as described above, and has the following features: Based on the length of the link (6), the PTO safety check means automatically and quickly determines whether or not the universal joint shaft α9 is in the smooth rotation range, and based on this determination result, the PTO alarm means ) but accurate alert? The driver will be notified of the length of the top link (6) with peace of mind. By adjusting the extension M, it is now possible to control the ground work machine (2) to a desired longitudinally inclined state.

[Brief explanation of the drawing]

Is the figure an example of this invention? Fig. 1 is a control circuit block diagram, Fig. 2 is a control flowchart, Fig. 3 is a detailed view of the main part of Fig. 1, Fig. 4 is a side view in a working state, and Fig. 5 is a control circuit block diagram.
Is the figure showing the tilt of the universal joint axis? Explanatory diagrams shown in Figure 6 (A), (
b) is a characteristic diagram showing the desirable length of the top link, No. 7
The figure is a perspective view of the main parts of the tractor. Code explanation (1)...Tractor (2)...
・Ground work equipment (5)...Lower link (6
)...Top link q3...PTO axis a...Universal joint shaft @...PT
O Safety check means @・・・PTO alarm means

Claims (1)

[Claims] The ground working machine is connected to the tractor via the left and right lower links and the extendable top link at the upper center, and is connected to the tractor so that it can be raised and lowered, and is driven by a universal joint shaft connected to the PTO shaft of the tractor. The front-back posture of
Provided to be controlled by the expansion and contraction movement of the top link,
The top link is controlled to expand and contract according to the correction instruction value specified by the operation of the top link length correction switch. ,
PTO safety check means for determining whether the universal joint shaft is in a smooth rotation range based on the length of the top link;
1. A PTO drive warning device in a longitudinal attitude control device for a ground-based work machine, comprising: a PTO warning means for warning of a state outside the smooth rotation range.