JPS6248306A - Apparatus for controlling inclination of 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 the Invention The present invention relates to a tilt control device for a working machine that can automatically maintain a horizontally tilted position of a working machine connected to a tractor in a set position.

2. Description of the Related Art Conventionally, a working machine has been connected to the body of a tractor so as to be able to move up and down and tilt left and right, and work has been carried out while automatically controlling the plowing depth and angle of inclination. The tilt angle of the work equipment is controlled by comparing the tilt angle detection signal from the gravity-type tilt angle detector installed on the work equipment with the tilt angle setting signal from the tilt angle setting device, and tilting based on the comparison result. It is common to extend or contract the cylinder to maintain its tilt with respect to the direction of gravity at a set value. Further, there are cases where the work is carried out with the horizontal inclination angle of the working machine relative to the machine body fixed at an arbitrary angle. Furthermore, some machines are equipped with a control means for expanding and contracting the tilting cylinder so that the attitude of the working machine becomes parallel to the machine body when the working machine is raised.

Problems that the invention aims to solve: If the work equipment is raised while it is tilted, the universal joint will make an abnormal noise, and due to insufficient lift, a part of the work equipment may fall into a ridge when turning, etc. The machine may become stuck and damaged, or the machine may sink significantly in a soft field, leaving part of the machine stuck in the soil and unable to turn.

If the work equipment is equipped with a control means that extends and retracts the tilting cylinder to the midpoint position so that the work equipment becomes parallel to the machine body when the work equipment is raised, the lift signal and the tilt cylinder extension/retraction signal are output at the same time. The machine has to be corrected in its left-right tilted position in the soil, resulting in localized plowing depths becoming deeper, and in the case of ridge-making machines, there are drawbacks such as the ridges that have been formed being destroyed.

When performing work with the horizontal inclination angle of the work equipment fixed at an arbitrary angle with respect to the machine body, a telescoping signal is output to return the tilting cylinder to the midpoint position when the work machine is raised, and the work machine is automatically aligned with the machine body. It is also possible to make them parallel. but,
The work equipment cannot be automatically returned to its original position in the next stroke after turning the machine. Therefore, when the machine is turning, etc., first stop the machine, manually align the work equipment parallel to the machine, then raise the work equipment to turn the machine, and after turning, lower the work equipment.
The work equipment was returned to its original working position by manual operation and work resumed. Therefore, the operation is extremely complicated.

The present invention has been developed in view of the above points, and is capable of automatically maintaining the left-right tilted posture of a working machine connected to the body of a tractor at a set posture, and also when the working machine is raised when turning or the like. To provide a tilt control device for a working machine that can correct the working machine parallel to the machine body and smoothly perform turning, etc.

Means for Solving the Problems A work implement 2 is connected to a tractor body 1 so that it can be raised and lowered and can be tilted left and right.A tilt angle detector 12 that detects the left and right angle of inclination of the work implement 2 is provided. An inclination angle setter 15 that sets the angle, and a lift arm 6 that raises and lowers the work equipment 2
a position sensor 1o that detects the rotation angle of the work machine 2;
A stroke sensor 9 that detects the stroke of a tilting cylinder 8 that tilts left and right is connected to the input side of the control unit 17. The control unit 17 outputs an output signal for rotating the lift arm 6 and an output signal for extending and contracting the tilting cylinder 8. Furthermore, from the control unit 17,
A midpoint return output signal that returns the tilting cylinder 8 to the midpoint position so that the work equipment 2 and the machine body 1 become parallel when the lift arm 6 passes a predetermined angle when the work equipment 2 is ascending, and the work equipment 2 When the lift arm 6 passes through a predetermined angle during the lowering of the working position, a working position return output signal is outputted to extend and retract the tilting cylinder 8 so that the working machine 2 returns to the original working position.

The tilting cylinder 8 is expanded and contracted by the output signal from the action control unit 17, and the working machine 2 is maintained at the set horizontal tilt angle. When the work equipment 2 is turned to raise it, when the lift arm 6 passes through a predetermined angle, the control unit 17
The working machine 2 and the machine body 1 are corrected to a parallel state by the midpoint return output signal output from the machine. When restarting work after turning to lower the work machine 2, the work machine 2 is returned to its original work position by a work posture return output signal issued from the control unit 17 when the lift arm 6 passes a predetermined angle. will be reinstated.

Example An embodiment of the present invention will be described based on the drawings.

A tilling rotary 2, which is a working machine, is connected to the rear of a tractor body 1 via a pair of left and right lower links 3 and a top link 4. At the rear of the fuselage 1, there is a pair of left and right lift arms 6 that move up and down by the expansion and contraction of a hydraulic cylinder 5.
A lift rod 7 is connected between one lift arm 6 and one lower link 3, and a tilting cylinder 8 is connected between the other lift arm 6 and the other lower link 3. has been done. In addition, the tilting cylinder 8
A stroke sensor 9 is attached to detect the stroke. Further, a position sensor 10 is attached to the rotation center of the lift arm 6 to detect the rotation angle of the lift arm 6.

The machine frame 11 of the tilling rotary 2 includes a gravity-type inclination angle detector 12 that detects the horizontal inclination angle of the tilling rotary 2, and a plowing depth detector that detects the plowing depth according to the vertical movement of the ground leveling plate 13. 14 are placed.

The machine body 1 includes an inclination angle setting device 15 for setting the horizontal inclination angle of the tilling rotary 2 and a tilling depth setting device 1 for setting the tilling depth.
6 is provided. The stroke sensor 9, the position sensor 10, and the tilt angle detector 12,
Tilling depth detector 14, inclination angle setting device 15, and tilling depth setting device 1
6 is connected to the input side of the control unit 17. On the output side of the control unit 17 are a solenoid valve 18 for controlling the inflow and discharge of pressure oil from the hydraulic cylinder 5 and the tilting cylinder 8.
A solenoid valve 19 that controls the inflow and discharge of pressurized oil is connected thereto.

In the control unit 17, first, a plowing depth detection signal from the plowing depth detector 14 and a plowing depth setting signal from the plowing depth setter 16 are compared and calculated, and an output signal based on the calculation result is sent to the solenoid valve 1.
Elevation control means for outputting to 8 is provided. next,
A first control means is provided which compares and calculates the tilt angle detection signal from the tilt angle detector 12 and the tilt angle setting signal from the tilt angle setter 15, and outputs an output signal based on the calculation result to the electromagnetic valve 19. There is. Furthermore, a second control means is provided which outputs an output signal based on manual operation to the electromagnetic valve 19 to fix the horizontal inclination angle of the tilling rotary 2 with respect to the machine body 1 to an arbitrary angle, and this second control means and the One control means is provided so as to be selectively switchable.

A detection signal from a position sensor 1o that detects the rotation angle of the lift arm 6 is input into the control unit 17, and the position sensor detects that the lift arm 6 has passed a predetermined angle when the tilling rotary 2 is ascending. When detected by the detection signal from 1o, a midpoint return output signal for returning the tilting cylinder 8 to the midpoint position is output from the control unit 17 to the solenoid valve 19. It should be noted that this midpoint return output signal is output in both the first control means and the second control means.

Further, a detection signal from a stroke sensor 9 that detects the stroke of the tilting cylinder 8 during the second control means is stored in the control unit 17, and the tilling rotary 2 is raised and corrected to be parallel to the machine body 1, and then tilled. When it is detected by the detection signal from the position sensor 10 that the lift arm 6 has passed through a predetermined angle when the rotary 2 is lowered, a working posture return output that returns the tilting cylinder 8 to the stored original stroke A signal is output from the control unit 17 to the solenoid valve 19 .

In such a configuration, the tilling rotary 2 is raised and lowered by the raising and lowering control means and maintained at the set tilling depth. moreover,
At the time of the first control means, the horizontal inclination of the tilling rotary 2 is maintained at the set inclination angle. Further, during the second control means, the horizontal inclination angle of the tilling rotary 2 with respect to the machine body 1 is fixed.

Here, when the tilling rotary 2 is raised in order to turn the machine body 1 during the first control means, the tilling rotary 2 rises in an inclined state, and when the lift arm 6 passes through a predetermined angle, it reaches the midpoint. A return signal is output. This midpoint return output signal causes the tilting cylinder 8 to return to the midpoint position.
The tilling rotary 2 and the machine body 1 are in a parallel state. Therefore, the tilling rotary 2 is sufficiently separated from the ground, and the tilling rotary 2 is prevented from being damaged or unable to turn due to getting caught on a ridge or the like during turning. When the tilling rotary 2 is lowered after turning and the work is resumed, the set plowing depth and set inclination angle are automatically maintained again.

Next, when the tilling rotary 2 is raised in order to turn the aircraft 1 during the second control means, the midpoint return output signal is generated when the lift arm 6 passes through a predetermined angle as in the first control means. The tilting cylinder 8 is returned to the midpoint position, and the tilling rotary 2 and the machine body 1 are brought into a parallel state. When the tilling rotary 2 is lowered after turning, the lift arm 6
When the angle passes through a predetermined angle, a working posture return output signal is output. - This working posture return output signal causes the stroke of the tilting cylinder 8 to return to the memorized stroke before turning, and the inclination angle of the tilling rotary 2 with respect to the machine body 1 to return to the original inclination angle. Therefore, when one work equipment is lowered and the work is restarted, the inclination angle of the work equipment can be automatically returned to the original inclination angle, and the work can be carried out continuously and efficiently. In this embodiment, the midpoint return output signal and the working posture return output signal for extending and retracting the tilting cylinder 8 are output with a predetermined delay from the output signal for moving the lift arm 6 up and down, but the position sensor 1o may be omitted, and the midpoint return output signal and the working posture return output signal may be output a predetermined time later than the output signal for vertically moving the lift arm 6.

Effects of the Invention As described above, the present invention provides a position sensor that detects the rotation angle of the lift arm and a stroke sensor that detects the stroke of the tilting cylinder, which are connected to a control unit. By using the point return output signal to correct the posture of the work equipment so that it is parallel to the machine body when the work equipment is raised, it is possible to prevent abnormal noises from the universal joint, and prevent the work equipment from being unable to turn due to insufficient lift when turning. It is possible to prevent damage to the work equipment, and furthermore, by correcting the work equipment's parallelism with respect to the machine body after detecting that the work equipment has risen to a predetermined raised position using the detection signal of the position sensor, the parallelism of the work equipment can be prevented. It has effects such as being able to prevent local deep plowing and collapse of formed ridges during correction.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a block diagram, Fig. 2 is a flowchart, Fig. 3 is a side view, and Fig. 4 is a side view.
The figure is a rear view.

Claims (5)

[Claims] 1. A working machine is connected to the body of the tractor so that it can be raised and lowered by rotation of a lift arm and tilted left and right by extension and contraction of a tilting cylinder, and a tilt angle detector detects a left and right tilt angle of the work machine, and a left and right tilt angle of the work machine. An inclination angle setting device that sets the angle of rotation, a position sensor that detects the rotation angle of the lift arm, and a stroke sensor that detects the stroke of the tilt cylinder are connected to an output signal that extends or contracts the tilt cylinder and an output that rotates the lift arm. the tilting cylinder is connected to the input side of a control unit that outputs a signal, and when the lift arm passes a predetermined angle when the work equipment is ascending, the tilting cylinder is moved to a midpoint position where the work equipment is parallel to the machine body. The control unit outputs a midpoint return output signal to cause the work machine to return to its original position, and outputs a work posture return output signal that causes the work machine to return to its original working position when the lift arm passes through a predetermined angle when the work machine is lowered. A tilt control device for a work machine, characterized in that the control unit outputs an output. 2. Claim 1, characterized in that an output signal for extending or contracting the tilting cylinder is output based on a comparison result between a tilt angle detection signal from a tilt angle detector and a tilt angle setting signal from a tilt angle setting device. Inclination control device for the described working machine. 3. 2. The tilt control device for a working machine according to claim 1, wherein the working machine is fixed at an arbitrary angle with respect to the machine body by outputting an output signal to extend or contract the tilting cylinder based on a manual operation. 4. The center point return output signal of the tilting cylinder is output with a predetermined time delay from the output signal that rotates the lift arm upward, and the working posture return output signal is delayed by a predetermined time from the output signal that rotates the lift arm downward. 2. A tilt control device for a working machine according to claim 1, wherein the tilt control device for a working machine is configured to output a tilt control device according to claim 1. 5. Claim 3, characterized in that a working posture return output signal for returning the working machine to its original working posture is output based on a stored detection value of a stroke sensor during the original working. Inclination control device for the described working machine.