JPS63283501A - Rolling apparatus for tractor working machine - Google Patents

Abstract

PURPOSE:To detect rolling of a working machine in high accuracy and stability, by using an interlocking mechanism having a rotary shaft vertically rotatable relative to the car body and following the lateral swing of a lower link and interlocking the lower link and a rolling sensor through said interlocking mechanism. CONSTITUTION:Lower links 6, 7 are laterally swung when a rolling cylinder 2 is extended or contracted by rolling control and the vertical motion of the lower link is transmitted to a rolling sensor 8 via a link 19, an arm 18, a rotary shaft 9 and an arm 17. The difference between the levels of the lower links 6 and 7 is detected by the above action.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention This invention relates to a rolling device for a tractor working machine.

Prior Art and Problems to be Solved by the Invention A working device connected to the rear of the tractor body is provided with an inclination sensor that detects inclination in the left and right direction, and the working device is raised and lowered by moving up and down with respect to the vehicle body. One of the left and right connecting intervals between the lift arm and this working device is adjusted by a rolling cylinder that is expanded and contracted by hydraulic pressure, and in horizontal control, this working device is automatically controlled to a horizontal position. In addition, in parallel control where the working device is controlled to be horizontally parallel to the vehicle body, specified control where the working device is controlled at a specified angle, etc., a rolling cylinder provided at one side of the connection interval between the lift arm and the working device is used. A stroke sensor, a rolling sensor, etc. that detect the length of this rolling cylinder are installed along the vehicle body. etc., in a series of elevating link mechanisms, the structure is complicated and it is difficult to maintain stable detection control.

Means for Solving the Problems This invention provides a lift arm (1) for link +31
A pair of left and right lower links (61 (7)) whose entrance can be moved relative to the vehicle body (5) via A rotary wheel (9) that is movable up and down relative to the vehicle body (5) is provided between the sensor (8) and follows the rocking of the lower links (6) and (7) in the left and right direction. An interlocking mechanism that works while
[The configuration of a rolling device for a tractor working machine is made in conjunction with [.

Effect of the Invention A working device connected to the vehicle body (5) by lower links (6, 7), etc. is propelled onto the ground while performing a predetermined work such as plowing. When the lift arm (1) is controlled to rotate up and down, the lower links (6) and (7) are rotated up and down via the left and right links (31 (41), and one working device is raised and lowered to raise and lower the working height. Adjust the sheath depth or switch between working and non-working positions.If the rolling cylinder (2) does not expand or contract and the difference in length between left and right links +31 +4) does not change, lower link f6) (7
) does not change, so one working device is raised and lowered while maintaining the left-right parallel state.

When the rolling cylinder 12) is controlled to expand or contract by a tilt sensor or the like provided on the vehicle body (5) or working equipment.

The difference in length between the left and right links T31 (41) changes, the relative height changes, and the working device is controlled to roll with respect to the vehicle body (5).

In rolling control of such a working device, a rolling sensor (8) detects the presence or absence of a difference in elevation between the left and right lower links f6) +71, and controls the rolling cylinder (
2) is fed back to the control device that extends and contracts, and rolling control is performed so that the working device assumes a predetermined working posture with respect to the vehicle body (5). Left and right lower links +6) (If the lifting position of 71 with respect to the car body (5) is the same, the car body (5
) and the working device are parallel to each other in the left-right direction.

In addition, due to the expansion and contraction of the rolling cylinder (2), a difference in length occurs between the left and right links (3) +41, and if the difference in height between the left and right lower links f6J (71) relative to the vehicle body (5) is detected, work can be done. The device is on the left side of the vehicle body (5),
Or in a rolling state, tilting to the right.

When the lower links (6) and (7) are raised and lowered as described above, each lower link (6) and (7) swings slightly in the left and right direction with respect to the vehicle body (5) together with the working equipment, etc. While the rocking is followed by an interlocking mechanism Tl1), the difference in elevation between the left and right lower links (61 (7)) is linked to the rolling sensor (8) via the rotation shaft (9) relative to the vehicle body (5).

Effects of the Invention As described above, the rolling sensor (8) controls the rolling of the working device relative to the vehicle body (5) by detecting the elevation difference between the left and right pair of lower links (6, 7). The rolling sensor (8) can accurately and stably control the detection of
Since the lower link f61 (71, etc.) is not directly connected to the working device part connected to the rear end, even if the working device is removed, the lower link (6) (7) remains on the vehicle body (5) side. It can be left in the attached state, so it does not get in the way when attaching and detaching the working device, transmission, etc., is easy to handle, and can simplify the configuration.

Moreover, the left and right rocking of the lower links (6) and (7) is controlled by the interlocking mechanism (1CI).
6) The difference in elevation in (7) is determined by the rotation axis (9) relative to the vehicle body (5).
The rolling sensor (8) is linked to the rolling sensor (8) via the interlocking mechanism (1 (I).
8) can be smoothly linked and accurate rolling detection can be performed.

Embodiment In the illustrated example, a four-wheeled tractor body (5
) is provided with a power take-off shaft TI3 for transmitting the working device, and at a position above the power take-off shaft (In), the arm shaft (141) is integrally rotated vertically around the arm shaft (141) by the control device and hydraulic system. A pair of left and right lift arms (1) are provided, and a pair of left and right lower links (61+71) are provided at the lower position so as to be vertically rotatable around a link shaft 09.

The lower links (6) and (7) for this link shaft (19) are configured to be able to freely rotate in the left and right directions. are connected by vertical links (3) and (4).A rolling cylinder (2) that expands and contracts with hydraulic pressure is connected to the link (4) on one side of these links.
The link (4) is configured to expand and contract with respect to the other link (3) as the rolling cylinder (2) expands and contracts.

At the top of the car body (5) on the link (3) side is a bracket [E
An arm (lυ) is provided which can freely move up and down by l, and this arm (11) and the lower link (3) are rotatably connected by a reference rod (1,i!l) of a constant length. The length of this reference rod can be finely adjusted.

Lower link (6) (At the bottom of the vehicle body (5) between 71, a rotating shaft (9) extending in the left and right directions is supported by bracket 4, and the link (6) side end of this rotating shaft (9) is Arm (m
protrudes rearward in the same direction as the arm (11), and a rolling sensor (8) consisting of a telescopic cylinder is provided between these two arms (1υ (r7)), and this rolling sensor (8) The configuration is such that the amount of expansion and contraction is detected by the sensor, or the amount of rolling is detected by turning on and off a switch.This rolling sensor (8) detects the difference in elevation between the left and right lower links (61 (7)). Inputs to the control device are fed back so that the rolling cylinder (2) is controlled by the rotation cylinder (2).In addition, at the end of the link (7) side of the rotation shaft (9), there is a An arm (IF3) is provided that is movable and integrally rotates in the vertical direction, and the end of this arm Oe and the link (7) are connected by a link (19) to form a series of interlocking mechanisms (11). Lower link (6) (7) is the vehicle body (5)
The configuration is such that a rolling sensor (8) detects whether they are in the same position relative to each other or whether there is a difference in elevation between the top and bottom. +2
0 is a bracket for attaching the rotating shaft (9) to the rear end of the vehicle body (5). +211 is the rotation axis of the arm (18) in the left-right direction.

At the rear end of the vehicle body (5), above the power take-off shaft +131, there is attached a bracket Qδ that connects the top link for connecting the working equipment. It consists of a tilling device with tilling claws arranged around it, and the body of the tilling device is connected by the top link, lower link (6), (7), etc. (23 is an axle of a rear traveling axle that protrudes from the rear of the vehicle body (5) to both left and right sides.

In horizontal control in which the work equipment is controlled horizontally on the left and right, for example, if a tilt sensor is provided on the work equipment side, the vehicle body (
5) or by tilting the work equipment to the left or right.

The rolling cylinder (2) is controlled to expand and contract via a control device, and is rolled by the expansion and contraction of the link (4) on the other side with respect to the link (3) of a certain length on one side. As a result, when the inclination sensor detects the horizontal state, the rolling control is stopped and the working device is maintained in a horizontal horizontal posture. At this time, the rolling sensor (8) can detect the left-right tilt angle of the working device with respect to the vehicle body (5) or the left-right tilt angle of the vehicle body (5).

In parallel control, which maintains the work equipment parallel to the vehicle body (5) in the left and right directions, the left and right lower links (6)
When there is a difference in elevation between +71 and the working device is rolling to the left and right sides with respect to the vehicle body (5), the rolling sensor (8) detects this rolling position and activates the control device. After that, the rolling cylinder (2) is expanded and contracted, and the left and right lower links (6) and (7) are attached to the vehicle body (5).
), and when the rolling sensor (8) detects this same height, the rolling control is stopped and the vehicle body (5) and the working device become parallel in the left and right direction.

In addition, in the specified control in which the left and right inclination angle of the working device is specified and controlled to a specific angle with respect to the vehicle body (5), by specifying the control angle to the rolling sensor (8), in the case of the parallel control Rolling is controlled in the same way.

Among these types of control, parallel control is used to turn the tractor working machine around the edge of a ridge in a field, or to cross over a ridge.
This can be performed when the work device is once raised by the lift arm (1), and the specified control can be performed when the work device is lifted up by the vehicle body (5).
) when working in a tilted position to the left or right.

The selection of each control mode is configured to be performed by a mode changeover switch or the like.

The above rolling sensor (8) and left and right lower links (6)
(7) In the interlocking mechanism (11), the lift arm (11 moves up and down to move the rolling cylinder (2)
When the lower link (61 (7)) is raised or lowered in the N state without expanding or contracting, the telescopic cylinder of the rolling sensor (8) does not extend or contract, but rotates the arm 0υ up and down along with hitting the reference rod, etc. Move up and down.

When the rolling cylinder (2) expands and contracts based on commands from the rolling sensor (8), etc., one of the lower links (
6) and the arm (Ill) are connected by hitting a reference rod of a fixed length and do not change, whereas the lifting and lowering movement by the other lower link (7) is caused by link tq, arm flE), and rotation. The telescopic cylinder of the rolling sensor (8) is extended and contracted via the shaft (9) and the arm (m, etc.), and the difference in elevation between the lower links (6) and (7) is detected.

The reference rod αδ and arm (18, etc.) connected to the interlocking mechanism (1 (lower link of I +6) +7) etc. also follow the swinging of these lower links (6) (7) in the left-right direction. To smoothly maintain the detection action of the rolling sensor (8).

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which FIG. 1 is a partial perspective view, FIG. 2 is a side view, and FIG. 3 is a partial plan sectional view. In the figure, (1) is the lift arm, (2) is the rolling cylinder, +31 (41 is the link, (5) is the vehicle body, (
6) (7) is the lower link, (8) is the rolling sensor, (9) is the rotation axis, and 0@ is the interlocking mechanism.

Claims (1)

[Claims] A pair of left and right lower links (6) (7) that can be rotated up and down relative to the vehicle body (5) via links (3) and (4) by a lift arm (1), and both lower links (6) and (7). ) and a rolling sensor (8) for detecting the difference in elevation between
) and is interlocked with an interlocking mechanism (10) that follows the rocking of the lower links (6) and (7) in the left-right direction.