JPS6119405A - 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 relates to a rolling control device for maintaining a ground working machine, such as a rotary tiller, in a constant horizontal posture regardless of the slope of the field. .

Conventional technology This type of rolling control device is equipped with a towing machine lateral pressure left/right tilt sensor, which is convenient when the ground work equipment being used is replaced. Japanese Patent Laid-Open No. 58-21 (58-21) discloses a configuration in which the expansion and contraction of the lift rod is controlled based on the expansion and contraction control amount converted into and corrected to the expansion and contraction control amount.
It is known as No. 603.

However, this device requires an expensive detector to detect the length of the lift rod, and the longitudinal posture of the link mechanism changes as it moves up and down. It must be further corrected depending on the position, thus.

The number of correction steps for the control amount increases, making the control mechanism and operation extremely complicated.

Problems to be Solved by the Invention The present invention aims to simplify control by not using the amount of expansion and contraction of the lift rod as a controlled variable, eliminating the need for a lift rod detector.

Means for Solving the Problems In order to solve the above problems, the present invention has taken the following technical means.

That is, the ground working machine (2), which is connected to the traction machine (1) via the link mechanism (9) and is raised and lowered by the hydraulic lifting mechanism fill, is moved based on the horizontal tilt detection value of the horizontal tilt sensor (Sl). One lift rod (
5) In a rolling control device that controls expansion and contraction to maintain a constant ground attitude, one end of the traction machine (1) is moved so that the left and right tilt sensor (Mal) can be rotated up and down within the left and right plane. Attached to the pivoted link a9, link mechanism (9)
The vertical movement of the lower link (7) connected to the telescopic lift rod (5) is linked to the link (151), and the horizontal inclination is detected based on the vertical position of the hydraulic lifting mechanism aυ or the link mechanism (9). The lateral tilt control amount is corrected based on the value, and the lateral attitude control is performed using the corrected control amount.

Examples and effects Next, one embodiment of the present invention will be described based on the drawings.

Ru. As shown in Figure 1, a rotary tilling device, which is an example of a ground work device (2), is attached to the rear of a tractor as a towing machine (1), and is attached to a pair of left and right lift arms (31 (3)). A link mechanism such as a three-point link mechanism (
9), and this link mechanism (9) is connected by a hydraulic lifting mechanism (111K) in which the lift arm (3) (31) is raised and lowered by a lift cylinder aCj using hydraulic pressure.
Therefore, it moves up and down, and one lift rod (5) is formed in the lift rod cylinder Q2 and is detected by the expansion and contraction movement of the lift rod (5).

The lateral inclination sensor (Sl) inclines with the lateral inclination of the towing machine (1) and the ground work machine (2), and the link (151) tilts with the vertical movement of the lift arm (3).
The horizontal tilt detection value detected by the horizontal tilt sensor (St) is the same as the horizontal tilt detection value of the ground work equipment (2) with respect to the horizontal plane and the lift arm. (3) Lifting position t K Base lifting position Left and right tilt detection value (Left and right tilt sensor when the left and right lift rods (4) and (5) are the same length on flat ground (S) Left and right tilt detection equal to the value).

As illustrated in Fig. 5, the horizontal tilt detection value from the horizontal tilt sensor (S+) is input to the multiplexer (A) of the microcomputer 4, and the hydraulic lifting mechanism (1υ or link mechanism (9)) In order to detect the lifting position, the detection axis of the lifting position sensor (S2), such as a rotary potentiometer, is connected to the lift arm (3).
), and inputs the lift detection value by the lifting position sensor (S2) to the multiplexer ■, such as a rotary potentiometer, to set the horizontal posture of the ground work equipment (2). Left and right tilt setting device consisting of kimono (
Input the left/right tilt sensor that is the output of Il (for example, O if you want to maintain it horizontally) to the multiplexer
D con, <-ta c! The control computer (c) corrects the horizontal tilt detection value converted in 1) based on the lift value detection value, and removes the vertical position horizontal tilt detection value based on the lift value detection value from the horizontal tilt detection value. By removing the influence of left and right inclination due to the vertical position of the link mechanism (9),
゛Calculate the detected value of the left and right inclination of the aircraft body, operate the drive circuit for extension or the drive circuit 124 for reduction so that the detected value of the left and right inclination of the machine body matches the set value of left and right inclination, and operate the drive control valve (H). ) to the lift rod cylinder (1
This system controls the supply and discharge of the water. The detected lift value may be calculated by detecting the operating angle of the lifting operation lever C2E9 that operates the hydraulic lifting mechanism (lυ), or by detecting the operating angle of the lifting operation lever C2E9 that operates the hydraulic lifting mechanism (lυ), or by detecting the operating angle of the lifting operation lever C2E9 that operates the lifting operation lever (261). The detected lift value may be calculated based on the distance traveled by the vehicle.

Effects of the Invention The present invention is configured as described above, and includes a lateral inclination sensor (
S+) is attached to the linkage 9 which pivots one end of the traction machine (1) so that it can rotate up and down in the left and right plane, and the lift rod (5) on the telescopic side indicated by -F of the link mechanism (9) is attached. The vertical movement of the lower link (7) connected to the above link f151
Hydraulic lifting mechanism (1υ) or link mechanism (9
) The left and right tilt control amount is corrected based on the left and right tilt detection value based on the vertical position of the lift rod (5), and the left and right attitude control is performed using this corrected control amount.
Unlike the conventional device described above, which detects the length of the lift rod and controls it to a predetermined length, there is no need for an expensive length detector, and the link mechanism ( The complexity of having to make corrections according to the vertical position of the link mechanism (9) can be solved by this invention, and only the tilt error that appears in the left and right tilt detection values can be corrected based on the vertical position of the link mechanism (9). By using a simple rolling control circuit (18+), accurate and inexpensive rolling control was achieved.

[Brief explanation of the drawing]

Figures; - Show one embodiment of Mako's invention 2. Figure 1 is a perspective view, Figure 2 is an overall side view, Figure 3 is a rear view of the main part of Figure 2-, and Figure 4 is Figure 3. FIG. 5 is a block diagram of the control device. Code explanation (1)...Tow machine (2)...
・Ground mowing machine (5)... Lift rod (7
)...Lower link (9)...Link mechanism Old)...Hydraulic lifting mechanism (1,51
...Link (S+) ... Lateral tilt sensor patent Applicant Ichinoseki Agricultural Machinery Co., Ltd.
-One agent Patent attorney Takayoshi Hayashi ← Figure 3 70 So 7 Figure 4 70 So 9 Shiku

Claims (1)

[Claims] The ground work equipment, which is connected to the towing machine via the link mechanism and raised and lowered by the hydraulic lift mechanism, is controlled to expand and contract on one side of the link mechanism based on the detected left and right tilt values of the left and right tilt sensor. In a rolling control device configured to be in a ground position, a left-right inclination sensor is attached to a link whose one end is pivoted to the traction machine so as to rotate up and down in the left-right plane, and a lift rod on the telescopic side of the link mechanism is attached to the link. The vertical movement of the lower link connected to the link is linked to the link, and the horizontal tilt control amount based on the horizontal tilt detection value is corrected based on the hydraulic lifting mechanism or the vertical position of the link mechanism,
A rolling control device characterized in that left and right posture control is performed using the corrected control amount.