JPS63283502A - 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 arm vertically rotatable relative to the car body and linking the arm with lower links through a standard rod and a rolling sensor, respectively. CONSTITUTION:Lower links 6, 7 are laterally swung when a rolling cylinder 2 is extended or contracted by rolling control. The vertical motion of the lower link 6 is transmitted to an arm 11 through a standard rod 12 and the vertical motion of the lower link 7 is transmitted to a rolling sensor 8 via a link 19, an arm 18, a rotary shaft 9 and an arm 17. Since the other end of the rolling sensor 8 is connected to the arm 11, the difference between the levels of the lower links 6 and 7 can be detected.

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 link (31 +
4) A pair of left and right lower links that are rotated up and down via +6
) (One of the lower links (6) of 71 is connected with a standard rod of specified length, and the other lower link (7)
A rolling device for a tractor working machine is connected between the left and right lower links (6) and (7) via a rolling sensor (8) that detects the difference in elevation between the lower links (6) and (7).

Effect of the Invention A working device connected to the vehicle body (5) by a lower link +61, +7) or the like is grounded and propelled to perform a predetermined work such as plowing. When the lift arm (1) is controlled to rotate up and down, each lower link T6) (71) is rotated up and down via the left and right links +31 (4), raising and lowering the working device to adjust the working height and depth. In this case, if the rolling cylinder (2) does not extend or contract and the difference in length between the left and right links (3) and (4) does not change, lower link (8)
Since the relative height of (7) does not change, the working device is raised and lowered while maintaining the left-right parallel state.

When the rolling cylinder (2) is expanded or contracted by an inclination sensor installed on the vehicle body (5) or work equipment, the difference in length between the left and right links (3) and (4) changes, and the relative height increases. As a result, the working device is controlled to roll relative 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 (61 (71),
) is fed back to a control device that extends and retracts, and rolling control is performed so that the working device assumes a predetermined working posture with respect to the vehicle body (5). If the vertical positions of left and right lower links +61 (7) with respect to the vehicle body (5) are the same, the vehicle body (5)
and the working device are parallel to each other in the left-right direction.

Also, due to the expansion and contraction of the rolling cylinder (2), a difference in length occurs between the left and right links +3) +4), and if the difference in height between the left and right lower links (81 (7) relative to the vehicle body (5) is detected) , the working device is in a rolling state, tilting to the left or right with respect to the vehicle body (5).

When the left and right lower links +61 (71) are moved up and down by the vertical movement of the lift arm (1), when the link (4) on the negative side lower link (7) side is not expanded or contracted by the rolling cylinder (2). are these lower links (
6) With the elevation of (7), the reference rod strike and the rolling sensor (8) are moved up and down integrally via the arm 0υ, but the detection state of this rolling sensor (8) does not change. When the cylinder (2) expands and contracts in response to a command from a tilt sensor, etc., a vertical elevation difference is created between the left and right lower links (6) and (7).
While the distance between the arm OrJ and one lower link (6) is constant due to the reference rod αδ, the distance between the arm 0υ and the other lower link (7) expands and contracts, and this expansion and contraction change causes rolling It is detected by the sensor (8) and fed back to the expansion/contraction control of the rolling cylinder (2) to perform the intended rolling control.

Effects of the Invention As described above, since the rolling sensor (8) controls the rolling of the working device with respect to the vehicle body (5) by detecting the difference in elevation between the left and right pair of lower links (61 (7)), rolling can be controlled. Detection control can be made accurate and stable, and the rolling sensor (8)
Since it is not directly connected to the working device part connected to the rear end of the lower link (6) (7), etc., even if the working device is removed, the lower link +6) (7) cannot be connected to the vehicle body (5) side. It can be left in the installed state as it is, 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 difference in elevation between the left and right lower links (6) and (7) is
The reference rod 02+ connected to the lower link (6) on the − side and the rolling sensor (8) connected to the lower link (7) on the other side are connected to the same arm +In which can freely move up and down with respect to the vehicle body (5). Detection is accurate because it is connected to

Embodiment In the illustrated example, a four-wheeled tractor body (5
) is provided with a power take-off shaft OJ that transmits power to one working device, and this power take-off shaft (at a position 1 m above) is integrally rotated up and down around the arm axis (to) by a control device and a hydraulic device. A pair of left and right lift arms (1) are provided at the lower position, and a pair of left and right lower links T6) (7) are provided at the lower position so as to be rotatable up and down about a link shaft (19).

The lower link (6) +7) with respect to the link shaft 09 is configured to be rotatable also in the left and right directions. These lift arm (1) and lower link (6) +71 are connected by a vertical link (31 (4)) on opposite sides. , a rolling cylinder that expands and contracts with hydraulic pressure (2)
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, there is a bracket fl.
An arm (1υ) that can move up and down is provided by E9, and this arm (1υ) and the lower link (3) are rotatably connected by a reference rod (12) of a certain length. The length of the rod 0 can be finely adjusted.

Lower link +61 (At the bottom of the vehicle body (5) between 71, a rotating shaft (9) extending in the left and right directions is supported by a bracket (to), and the link (6) side end of this rotating shaft (9) is A rolling sensor (8) consisting of a telescoping cylinder is provided between both arms 0D (2), and the rolling sensor (8) is made of a telescoping cylinder. The configuration is such that the amount of expansion and contraction is detected by the expansion and contraction of , 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). It is configured to feed back input to the control device so as to detect and control the rolling cylinder (2).Furthermore, at the end of the link (7) of the rotation shaft (9),
An arm (19) is provided which can freely rotate in the left and right direction and integrally rotate in the vertical direction, and the end of this arm (19) and the link (7) are connected by a link (rumor has it), and a series of interlocking mechanisms (l [I
consists of left and right lower links (6) (71 is the vehicle body (5)
), or whether there is a difference in elevation between the top and bottom, is detected by the rolling sensor (8). The bracket is a bracket for attaching the rotating wheel (9) to the rear end of the vehicle body (5). Ql) is a rotation axis of the arm 09 in the left-right direction.

A bracket (manufactured by Co., Ltd.) for connecting a top link for connecting the working equipment is attached to the upper part of the power take-off shaft 01 at the rear end of the vehicle body (5). It consists of a tilling device with tilling claws arranged around a tilling shaft, and the body of the tilling device is connected by the top link, lower link (6), (7), etc. (to) is an axle of a rear running wheel 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), the rolling cylinder (2) is controlled to expand and contract via the control device due to the horizontal inclination of the work equipment, etc., and the rolling cylinder (2) is controlled to expand and contract by the link (3) of a certain length on one side and the link (4) on the other side. Ru. 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 +61
(7) There is a difference in elevation between the two, and the working device is rolling to the left and right sides with respect to the vehicle body (5), and the rolling sensor (8) detects this rolling position to perform control. The rolling cylinder (2) is expanded and contracted through the device, 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,
The vehicle body (5) and the working device are in a parallel state 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 0 (I), the vertical movement of the lift arm (1) causes the rolling cylinder (2) to
(lower link +6 in the N state without expanding or contracting) (When 71 is raised or lowered, the telescopic cylinder of the rolling sensor (8) does not extend or contract, but rotates the arm (lυ up and down) together with the reference rod Q2+, 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 (1υ) remain connected by a constant length reference rod α and do not change, while the other lower link (7) lifts and lowers the link (1'l, arm (1)). 19, the rotation shaft (9) and the telescopic cylinder of the rolling sensor (8) are extended and contracted via the arm (eg, etc.), and the difference in elevation between the lower links (6) and (7) is detected.

The reference rod or arm (19, etc.) connected to the lower link f61 (71, etc.) of the interlocking mechanism (1) also follows 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 (4) is the link, (5) is the vehicle body, (6
) f71 is the lower link, (8) is the rolling sensor,
(1υ indicates the arm, and 07J indicates the reference rod.

Claims (1)

[Claims] an arm (11) that is movable up and down relative to the vehicle body (5);
The distance between one of the left and right lower links (6) and (7), which is moved up and down by the lift arm (1) via the links (3) and (4), is within the specified length. A tractor connected by a rod (12) and connected to the other lower link (7) via a rolling sensor (8) that detects the difference in elevation between the left and right lower links (6) and (7). Rolling device for work equipment.