JPS61274603A - Rolling apparatus 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] [Industrial Application Field] The present invention is designed to enable a working device to follow the field surface or to maintain a certain inclination angle with respect to the horizontal plane even if the traveling vehicle body is tilted left and right during work travel. It is configured to be capable of rolling operation, and more specifically, the ground work device is connected to the traveling machine body via a drive mechanism so as to be able to roll freely and to freely move up and down, and the ground work device is connected to the traveling machine body or the ground work device through a drive mechanism. A sensor is provided for detecting the left and right inclination angle of the ground work device, and the driving mechanism is actuated based on the detection result of the sensor, so that the ground work device is placed in a tilted posture corresponding to the tilt angle set by the rolling posture setting device. The present invention relates to a rolling device for a ground-based work machine configured as follows.

[Conventional technology]

In this type of rolling device for a ground-based work machine, a conventional rolling attitude setting device is of a type that simultaneously sets the left and right tilt direction and tilt angle, as shown in FIG.

[Problem that the invention seeks to solve]

Therefore, when the field is on a slope as shown in Figures 4 (a) and (b), the working device (2)', which is in an inclined position along the slope, is reversed in the working direction of the traveling machine (21). Accordingly, the absolute inclination angle from the horizontal direction had to be kept constant in the opposite left and right directions, but the setting device had to be reset.

Furthermore, when setting the vehicle using the setting device, it is necessary to check the tilt angle scale while setting the vehicle, which makes the operation complicated due to the complicated turning operation and the steering operation. In addition, in reality, there is a tendency for people not to pay sufficient attention to the operation during setting, so that the inclination angle may not be set accurately.

SUMMARY OF THE INVENTION An object of the present invention is to provide a device that can easily reverse the tilting direction of a working device by adding a simple mechanism.

[Means for solving problems]

The characteristic configuration according to the present invention is that a sensor is provided to detect the upward movement of the working device, and based on the detection of the upward movement of the working device by the lifting sensor which is higher than the setting of the working device, the working device is set to be tilted to either the left or the right. The main feature is that a control means is provided for changing the attitude in opposite directions to the left and right while maintaining the same absolute inclination angle with respect to the horizontal plane, and its effects are as follows.

[For production]

In other words, when the aircraft is reversed, the working device is always raised at the edge of a ridge. It is possible to automatically reverse the working device in the opposite direction to the left and right while maintaining the absolute inclination angle without operating the device.

[Effects of the Invention] As a result, the operation of changing the posture of the working device for work on slopes can be easily performed without the need for complicated rotational adjustment of the rolling posture setting device as in the past. However, a one-touch switch such as a pushbutton type switch can be used to easily reverse the working device compared to the setting device described above, although it cannot reduce the operational burden when turning, which requires complicated steering operations. It is also possible to provide a steering wheel, but in this case, the driver still has to operate it, and there is a problem in that it increases the complexity of steering operations when turning compared to the one of the present invention. However, in the present invention, since the reversal of the working device is automatically performed, the complexity of the operation does not increase.

[Example] As shown in Fig. 6, a tilling rotary as an example of a ground work device (2) is attached to the rear end of a tractor as a traveling machine (1). Extending parts (4A), (4A) extending rearward from both lateral sides of a swinging bracket (4) that can swing around the inner periphery of the axis in the front-rear direction.
A hydraulic cylinder is connected so as to be able to swing up and down about the horizontal axis (g), and is also used as a pair of left and right 7-tooth arms (3), (3), a 7-trod (7), and a lift rod. (8), and furthermore, the tilling rotor I accompanying the rolling operation of the tractor (1).
A senna (St) for detecting the rolling of J-(2), that is, the horizontal tilt angle (θ) with respect to the horizontal, is attached to the tractor (1) side, and based on the detection, the hydraulic cylinder (8) is extended or contracted. Accordingly, a rolling control mechanism is provided which automatically corrects the left and right attitude of the tilling rotary (2) relative to the ground to a set attitude.

The lift arm (a) + (a) is driven up and down by a hydraulic cylinder (9), so that the tilling rotor IJ-(2) as the ground working device can be raised and lowered with respect to the tractor (1). A sensor (S2) 1 for detecting the lift angle of the lift arms (3) with respect to the tractor (1) is provided at the lift arm fulcrum.

On the other hand, a hydraulic cylinder (
8) is provided with a sensor (S3) for detecting the amount of expansion and contraction thereof, and is configured to detect the length displacement of the lift rod (3).

The inclination angle detection sensor (S1) is configured to non-contactly detect the amount of rocking displacement of a vertically swingable weight using a Hall element or a differential transformer; A rotary potentiometer is used for the lift angle detection sensor (S), and generates a voltage corresponding to each rotation angle (θ).

Further, a linear slide type potentiometer is used as the cylinder length detection sensor (S3), and the cylinder length detection sensor (S3) is a linear slide type potentiometer.
8) is configured to generate a voltage corresponding to the amount of expansion and contraction.

As shown in Fig. 7, the mounting structure of the lift angle detection sensor (S2) is explained in detail.The lift arm (3) and the lift arm axis αQ, which can be operated at rest, are supported on the aircraft frame αη, and this arm axis αQ The lift arm (
3) is provided so as to be able to swing up and down. A cylinder post (6) is fixed to the aircraft frame αη below the lift arm (3), and the detection sensor (S2) mounting bracket (E) is bolted to the aircraft frame Op through this cylinder post (4). Stop it, Aishi. The input shaft 4 of the detection center (S2) fixed to the bracket (to) is connected to the lift arm shaft C.
Fitted and held in the IQ so that it can rotate integrally from its axial direction,
As the lift arm (3) rotates, the amount of rotation is detected as the IJ lift angle. A plate-shaped member is fixed to the cylinder boss (6), and a cover 01 is attached to cover the detection sensor (S2) through the plate-shaped member 4, so that cleaning water can reach the sensor (S2) when cleaning the tractor (1). It is designed to prevent direct contact.

Next, the control means GA) that adjusts the horizontal tilt attitude of the tilling rotary (2) based on the detection results of the sensors (S1), (8g), and (Sg) will be described in detail. a tilt sensor (S1) that detects the tilt angle (θ) of the aircraft (,1);
) and the signal from the setting device 0 that sets the target inclination angle are added and subtracted by the arithmetic circuit α◆ to output a target voltage (Vz) corresponding to the amount of expansion and contraction of the hydraulic cylinder (8). Voltage (Vx) and cylinder length detection sensor (S3
) and the amplified detection voltage CVI) from the comparison circuit (G).
It is configured to compare and control the control voltage with the sensor (S1) and output the controlled operating voltage to the electromagnetic valve σ. The detection voltage (V1) corresponding to the cylinder length of S3)
) of the hydraulic cylinder (8) so that it is equal to
(1), thereby controlling the tilling rotary (2).
) can be maintained at a set angle with respect to the horizontal plane regardless of the horizontal inclination of the tractor (1).

As shown in Fig. 2, the rolling attitude setting device 0 adopts a double volume type, and as the knob αη is rotated in a certain direction, one volume and the other volume n
The QI is set to sequentially decrease the output voltage.

Furthermore, both volumes II and α are set to have the same rate of increase/decrease in electrical resistance in the increasing direction and decreasing direction with the midpoint of the adjustment range as the boundary. As shown in Figure 2, the knob α force is applied from the horizontal position (
If you adjust the rotation by θ, for example, to the left, the first volume (to) will be at a tilt angle (v1) from the horizontal reference voltage (v1).
In order to output a low voltage (v2) corresponding to
And the voltage difference of the first volume a is (Vl-V2)=Δ
A voltage (Vg) larger than the horizontal reference voltage (Ml) by V
It is configured to output e.

And these volumes! , ■(g), the Q trowel operates the arithmetic circuit α→
are connected separately.

The drive circuit to this changeover switch 4 is the lift arm (3
), and the lift angle detection sensor (S2) that detects the upward movement of the lift arm (S2) and the setting device that sets the reference lift angle. (3) A comparator (to) that emits an upward movement signal exceeding a set amount, and a monostable multivibrator that generates a pulse of a certain short time by the operation of this comparator);
It consists of a 7-lip flop circuit (to) that receives the electric pulse, and a driver circuit (to), and a selector switch (to).
It is set to switch and operate the relay coil (E) of (E). The changeover switch (7) is biased by a return spring and is normally connected to the volume (G) side.

A switch G31 is inserted in the circuit from the arithmetic circuit (141) to the comparison circuit (to), and the tilling rotary (
2) from the comparator (to) to a setting device (7) for setting the length of the rolling operation hydraulic cylinder (8) and an arithmetic circuit C14 in order to set the vehicle in a state where there is no inclination with respect to the tractor (1). The switch is configured to be switched by a signal of
When the lift arm (3) rises by a predetermined amount or more, the tilling rotary (2) is set in a posture with no inclination relative to the tractor (1).

Further, a toggle type switch (E) is interposed in the drive circuit of the changeover switch (3), so that when this switch (E) is turned on, the changeover switch (4) can be automatically switched, and
The switch is configured as an automatic/manual changeover switch so that manual switching can be performed by adjusting the setting device (to) in the off state.

Therefore, as shown in Fig. 4, when the tractor (1) turns at the edge of a ridge while working on a slope, the lift arm (3) moves upward and the changeover switch ■ is automatically switched. Thus, the tilling rotor IJ-(2) can be reversed in the left and right directions while maintaining the same absolute inclination angle (lθl1) from the horizontal plane.

[Another example]

(2) As a method of sensing the upward movement of the lift arm (3), as shown in FIG. 6, it may be based on the detection result of the limit switch eυ.

@ As shown in Figure 5, microcomputer control may be used.To briefly explain, automatic/manual changeover switch (7)
If it is automatic, when the lift arm (3) rises above the set value, the automatic tilting direction changeover switch (2) is activated and the hydraulic cylinder (9) is operated until the target tilting angle is reached. In the case of manual operation, the hydraulic cylinder (9) operates when the set angle of the rolling attitude setter (to) reaches the target angle.

[Brief explanation of the drawing]

The drawings show an embodiment of the rolling device for a ground-based work machine according to the present invention, in which FIG. 1 is a control circuit diagram, FIG. 2 is a schematic perspective view of a rolling attitude setting device, and FIG. 3 is a rolling attitude setting device and an automatic Layout diagram of manual changeover switch, Figure 4 ((),
(b) is a rear view showing the tilting working state of the working equipment, Fig. 6 is a flowchart, Fig. 6 is a perspective view showing the connected state of the working equipment, and Fig. 7 is a cross section showing the installation state of the beam 7 angle detection sensor. It is a diagram. (1)...Travelling body, (2)...Working equipment, (8), (9)...Drive mechanism, equipment...
...Rolling attitude setting device, 娑υ...Sensor% (81)...Sensor, (A)...
- Control means. Agent Patent Attorney Shurin Kitamura Figure 6

Claims (1)

[Claims] The ground work device (2) is connected to the traveling machine body (1) via drive mechanisms (8) and (9) so as to be able to perform rolling operations and to freely move up and down. 2) is provided with a sensor (S_1) that detects the horizontal inclination angle of the ground work device (2), and then the drive mechanism (8) is installed based on the detection result of the sensor (S_1).
), the rolling device for a ground working machine is configured to operate the ground working device (2) to take a tilted posture corresponding to the tilt angle set by the rolling posture setting device, the rolling device (2) A sensor (S_2) is provided to detect the lifting operation of 2), and based on the detection of the lifting sensor (S_2) by the lifting sensor (S_2), the lifting operation exceeds the setting of the working device (2).
A ground-based working machine equipped with a control means (A) for changing the posture of a working device (2) set in a tilted posture to either the left or right in the opposite direction to the left or right while maintaining the same absolute tilt angle with respect to a horizontal plane. rolling device.