JPS63116603A - Inclination control apparatus of agricultural working machine - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of "# Industry"] The present invention relates to a tilt control device that controls the horizontal tilt of an agricultural machine attached to a tractor.

[Prior Art] Agricultural working machines in which a working machine such as a power tiller is attached to an I-tractor via a coupling device such as a 2P link system or a 3P link system are equipped with a control device that controls the horizontal inclination of the working machine. There is something set up.

In this type of agricultural work equipment, the inclination sensor for detecting the inclination of the work equipment may be installed on the tractor itself, the work equipment, or the coupling device, but each position has its own advantages and disadvantages. Therefore, an appropriate mounting position must be selected depending on the type of work equipment, working conditions, etc.

[Problems to be Solved by the Invention] However, the control program for this tilt control device is
Since the installation position of the tilt sensor differs depending on the installation position, the assembly staff sometimes had to select an appropriate control program suitable for the installation position of the tilt sensor and incorporate it into the control device. Therefore, with conventional control devices, it is necessary to prepare multiple control programs corresponding to the mounting position of the tilt sensor.
In addition to being complicated to manage, there were problems in that mistakes were sometimes made during assembly.

[Means for Solving the Problems] In order to solve the problems mentioned above, the present invention provides a tilt control device configured as follows.

That is, the tilt control device for an agricultural machine according to the present invention has the following features:
The horizontal direction of the working machine is determined based on the detection results of a tilt sensor, which is installed on an agricultural working machine in which the working machine is attached to a coupling device provided on a tractor so that it can be tilted in the horizontal direction. An inclination measuring device 1 for performing inclination control is provided with a memory in which a control programmer 1 for when the inclination sensor can be taken to a tractor and a shared programmer 1 for combining a control program for attaching it to a working machine are written. The present invention is characterized in that a necessary control program is selected and used from among the shared programs according to the mounting position of the tilt sensor.

[Sakukawa] The necessary control program is selected from a shared program that combines control programs for each mounting position of the tilt sensor, and tilt control is performed accordingly. Adaptive control can be performed to each mounting position.

[Example] Figures 1 to 4 show an example of an agricultural machine to which the present invention has been applied. The state with 3 (called hitchi) is called arara. A rotary tiller 5, which is a working machine, is attached to the 2P hitch 3.

The 2P hitch 3 is equipped with a bracket 10 that can swing up and down in a plane perpendicular to the traveling direction of the tractor main machine 2, and a pair of left and right draft links 11.11 are attached to the bracket 1o. are now connected. The bracket 1o has a base 10a and left and right supplementary parts Job, I.
Ob is formed into a U-shape in plan view, and a circular hole 10c bored in the base 10a is inserted into the bracket base 1 of the tractor main machine 2.
The shaft 13 is rotatably fitted into a flange 13 projecting rearward from the shaft 13, and a flange plate 15 is engaged with the end surface of the shaft 13. Connecting pins 16.16 are provided at the rear ends of both the left and right special edition jobs, and the tips of the draft links 11.11 are connected to these connecting pins. In addition, 17 in the figure is draft link falling prevention 11 = J
It's ll tl-metal.

The tractor main machine 2 has a lift arm 18.1 for lifting and lowering the work machine.
8, a lift rod 19 (on the left in the illustrated example) and a lift rod cylinder 20 (on the right in the illustrated example) that can reach the tip of the lift arm 18.18 are connected to the intermediate portion of the draft link 11.11. has been done. The lift arm 18.18 is attached to a hollow shaft 23 provided horizontally on a part of the machine frame 22 of the main tractor machine 2, and the hollow shaft 23 is rotated by a hydraulic cylinder (not shown). By doing so, the lift arm 1.8.18 is rotated up and down. The hydraulic cylinder for raising and lowering the working machine and the lift rod cylinder 20 for rolling the working machine are both driven by an electro-hydraulic hydraulic system 25 provided in the l-racta machine 2.

Further, a rotating shaft 3o is provided inside the hollow shaft 23.
Sensor arms 31 and 3F are attached to both left and right protruding ends of this rotation @30, respectively. A sensor rod 32 is attached to the sensor arm 31 on the lift rod 19 side (left side), and a cylinder type stroke sensor 33 is attached to the sensor arm 31' on the lift cylinder 2o side (right side). 32 and the lower end of the stroke sensor 33 are attached to the mounting portion tab of the bracket.
, +, protrusions 35 , 35 formed on the outer surface of ob
are connected to each other by joints 34, 34. Rotation axis 3
o is provided with a sensor arm angle sensor (not shown) for detecting the amount of rotation of the sensor arm 31, and the lowering control of the working machine is performed based on the detected value of this sensor arm angle sensor. Further, the degree of inclination of the working machine in the left-right direction with respect to the tractor main machine (angle with respect to the main machine) is detected based on the amount of expansion and contraction of the stroke sensor 33, and based on this, the later-described inclination control is performed.

In the illustrated agricultural machine 1, the tilt sensor 35(A)
is installed on the main tractor machine 2 to detect the inclination of the main tractor machine 2. The tilt sensor is 35
(B) 1 work machine 5 or 2 as shown in 35 (C)
It can also be installed at a suitable location on P Sheep 3, and can be replaced as needed.

FIG. 5 is a block diagram showing the tilt control device 40 of this agricultural working machine. The controller 41 contains a control program (■
) and a control program (n) that can be accessed by a working machine or 2P hitch. The controller 41 includes an inclination angle setting device 43 for setting the inclination angle of the work machine 5, the inclination sensor 35, the stroke sensor 33, a mode setting device 46 for setting the control method, and a mode setting device 46 for setting the control method. Auxiliary setting device 4 to specify the mounting position of the width and tilt sensor
7 and a manual operation switch 48 for manually rolling the working machine are connected, and by processing the data supplied from these, an output command is issued to the proportional solenoid pulp 49 of the lift rod cylinder 20. Hereinafter, the operation of this tilt control device 40 will be explained based on the flowchart shown in FIG.

First, read the signal from the auxiliary setting device 47 to determine where the inclination sensor 35 is installed, and if it is installed at (A) of the tractor main machine 2, start the control program (I). and if it is assigned to (B) of the working machine 5 or (C) of the 2P hitch 3, select the control program (II).

When the control program (I) is selected, the detection signal ■ of the inclination angle setter 42, the detection signal of the inclination sensor 35, and the detection signal ■ of the stroke sensor 33 are read in the buffer 5.
0,51.52, and the inclination angle of the work equipment 5 (for example, horizontal) A,] - the inclination angle B of the Rakuta Kimoto machine, and i - the relative inclination angle of the work equipment 5 to the Rakuta main machine 2 (relative to The main machine angle) C is obtained, and the target machine angle of the work implement 5 with respect to the tractor main machine 2 is calculated from A and B. Next, the control mode set by the mode setter 46 is read.

When the mode is set to "Auto", compare the target angle to the machine and the actual angle C to the machine, and if both agree, turn off the lift rod cylinder valve 49 and 5 is in a state of rising to the right, an output signal <→ is output in the direction of extending the lift rod cylinder 20,
Also, when the work equipment 5 is in a downward position to the left, an output value Ff (fl) is output in the direction of retracting the lift rod cylinder 20. If the mode is set to "manual", the instruction of the manual operation switch 48 Therefore, the lift rod cylinder 20 is expanded and contracted. When set to "parallel", the lift rod cylinder 20 is maintained in a state in which the working machine 2 is parallel to the main tractor machine 2.

On the other hand, if you select control program (II), B
shows the actual inclination angle of the working machine 5, so A and B are directly compared. Therefore, there is no need to calculate D. Other than this, it is the same as control program (I).

In addition, in this embodiment, since the 2P hitch 3 and the work equipment 5 perform the same movement in the left and right directions, the same control program (I
Tilt control is performed according to I), but when the 2P hitch 3 and the work equipment 5 move differently in the left and right directions, a tilt sensor is installed for each, and a control program for the 1-digit case is created separately for each. These control programs may be incorporated into the shared program.

Next, FIGS. 7 to 9 show a side work machine 1' equipped with a 3P hitch as a coupling device.

The 3P hitch BO has one top link 61 and a pair of left and right lower links 82 and 62', and the lift rod 19 and lift cylinder 20 are connected to the lower link 62.
, 82'. The rotary tiller 5, which is a working machine, is connected to the rear end of the top link 61, which is the −1 end of the mounting frame 64.
It is attached to the 3P hitch 60 by connecting its lower end to the rear end of the lower link 62, [i2'. Moreover, the sensor rod 32 and the stroke sensor 33 are
Its lower end portions are connected to the left and right lower links 62, 82', 613 and 8B, respectively.

The inclination control device of this agricultural machine 1' is also exactly the same as the inclination control device 40 of the previous example, and if the inclination sensor 35 can be transferred to the tractor main machine 2, select the control program (I) and change the inclination sensor 35. If the work machine 5 cannot be used, the control program (II) is selected, and the horizontal tilting control of the work machine is performed according to the selected control program. The operation of the tilt control device is the same as described above, so a description thereof will be omitted. Tilt sensor 3 with auxiliary setting device 47
When specifying the required mounting position in item 5, the width (category) of the work equipment supplementary section should be set at the same time.

Also, insert the front 3F pitch into the tractor main unit 2,
In the case of a single-digit agricultural working machine in which a plate, etc. is attached to this, the same procedure as in the case of 1) agricultural working machine 1' equipped with the clear 3P hitch described in II is performed. In this case, the inclination sensor is mounted on a working machine such as the tractor main machine 2 or the upper plate of υ1.

In this manner, this inclination control device can be used as is by a simple operation of turning off the auxiliary setting device, regardless of whether the inclination sensor is provided on the tractor main machine, the working machine, or the coupling device. This tilt control device can also be applied to cases where various coupling devices such as a 2P hitch, a rear 3P hitch, and a front 3P hit are provided.

[Effects of the Invention] As is clear from the explanation in 1- below, the inclination control device for agricultural working machines according to the present invention uses one common program as a control program, and can easily control which inclination sensor is installed. Since the control can be performed even when the A1 position has been reached, the work when replacing the control device including the tilting hinge and when replacing the work equipment has become simple and easy.
The adaptability of this tractor to working equipment has been improved.

[Brief explanation of the drawing]

Figure 3 is a side view of the sunken agricultural machine, Figure 3 is a rear view with some parts omitted, and Figure 4 is a side view of the sunken agricultural machine. is a cross-sectional view of the main parts thereof, and FIG. 5 is a block diagram of the tilt control device according to the present invention.
FIG. 6 is a flowchart 1 showing the control flow. Further, FIG. 7 is a side view of an agricultural machine equipped with a rear 3P hitch as a coupling device, FIG. 8 is a perspective view of the rear 3P hitch, and FIG. 9 is a plan view thereof.

Claims (1)

[Claims] (1) Based on the detection results of a tilt sensor, which is installed on an agricultural working machine in which a working machine is attached to a coupling device provided on a tractor so that it can tilt in the left-right direction, the working machine detects the horizontal inclination of the working machine. An inclination control device for controlling inclination in the left and right direction of A tilt control device for an agricultural machine, characterized in that a necessary control program is selected and used from among the shared programs depending on the mounting position.