JPS63304902A - Rolling apparatus for tractor working machine - Google Patents

Abstract

PURPOSE:To provide the titled apparatus workable without causing large detection error or variation, etc., by vertically moving a sensor arm by the rolling of connection frame integrated with a working apparatus around a rolling shaft and detecting the vertical movement of the arm with a rolling sensor. CONSTITUTION:The attached part of a rolling sensor 9 to a sensor arm 7 is position at the center of a connection part shaft 6 for the elevation and rotation of a working apparatus. Large detection error or variation, etc., of the rolling sensor 9 can be prevented by this construction even if the rolling action of the working apparatus is combined with an elevation motion. The rolling sensor can be easily attached or detached in the case of attaching or detaching the working apparatus.

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 tilt sensor for detecting inclination in the left and right direction is provided on a working device connected to the rear side of a tractor body, and the working device is raised and lowered by moving up and down with respect to the vehicle body. Between the lift arm and the lower link that connects the left and right positions of this working device, either the left or right side is connected by a lift rod of a certain length, and the other side is connected by a rolling cylinder that expands and contracts using hydraulic pressure. The rolling cylinder is expanded and contracted to control the rolling of the working device to a predetermined posture relative to the vehicle body. In order to perform this rolling control, a rolling sensor consisting of a stroke sensor, sensor inch, etc., which determines and detects the amount of expansion and contraction of the rolling cylinder, is provided along the rolling cylinder.

In the configuration of such a rolling sensor, since the rolling sensor is installed in the lifting device that lifts and lowers the working device between the lift arm and the lower link, the configuration and the attachment/detachment operation are complicated, and the stability is poor. It is also difficult to maintain rolling detection control.

Means for Solving the Problems This invention provides a rolling bracket (3) that is provided to be able to roll freely around a rolling axis (2) in the longitudinal direction with respect to a vehicle body (1) and is integrally connected to a working device (4). Frame (5)
are connected so as to be rotatable around the left and right horizontal connection shafts (6), and a sensor arm (7) is integrated with this connection frame (5).
A rolling sensor (9) that detects rolling of the connection frame (5) is interlocked between the axial center position of the connection shaft (6) and the sensor stay (8) on the vehicle body (1) side. A rolling device for a tractor working machine is constructed by connecting the two.

Functions and Effects of the Invention The connecting frame (5) of the working device (4) is connected to the rolling bracket (3) so as to be rotatable around the connecting shaft (6),
A rolling sensor (9) is interlocked and connected between the axial center position of the connecting shaft (6) of the sensor arm (7) and the sensor stay (8) on the vehicle body (1) side. Working equipment by running! (In rolling control during 0 work in which work is performed while propelling the Since the sensor arm (7) integrated with the frame (5) moves up and down, the rolling sensor (9) detects this movement and provides feedback control to the rolling control device.

In the rolling sensor (9) for performing such rolling control, the attachment part to the sensor arm (7) is located at the axial center of the connecting shaft (6) that rotates the working device (4) up and down. Therefore, even if the working device (4) is moved up and down during the rolling operation, this will not cause large errors or fluctuations in the detection of the rolling sensor (9), resulting in accurate and stable rolling. In addition to being able to maintain control, if the rolling sensor (9) is removed from the sensor arm (7), the sensor arm (7) is always integrated with the connecting frame (6). The relative position of the connecting shaft (6) with respect to the axial center position does not easily go out of alignment, eliminating the need for operations such as mounting and adjusting the sensor arm (7), and making it possible to install and remove the rolling sensor when the working device (4) is attached and detached. can be done easily.

Embodiment In the illustrations in FIGS. 1 to 5, the tractor body (1
) is equipped with an engine (1) in the front, a front wheel a that is steered by a steering handle (IQ), and a front wheel a that is steered by the steering wheel (IQ). The rear wheels (to) are equipped with 09 shafts.This vehicle body +1)
At the rear end, a power take-off shaft (IQ9) in the front and rear direction is installed
A power transmission shaft consisting of a universal joint or a spline shaft (by
Transmission connection. Rolling bracket (3).

It is formed into a U-shape in plan view, and its central portion is fitted around a rolling shaft (2) having the power take-off shaft (1) 9 as its axis, so that it can be rolled freely.

On both left and right sides of this rolling bracket (3),
A connecting shaft (6) in the left and right lateral directions perpendicular to the rolling axis
is provided, and a fitting portion (L) that opens in a U-shape in side view at the front end of the connection frame +51 with respect to the connection shaft (6) is fitted.
This opening is closed with a pin (to), and the connecting frame (5) is connected so as to be freely movable up and down around this connecting shaft (6).

In such a connected state of the connecting frame (5), the sensor arm (7) protruding from the − side outer surface of the connecting frame (5)
) is provided so as to be aligned with the axis (a) of the connecting shaft (6). Even if the connecting frame (5) is rotated up and down, the axis (A) and the connecting hole (2) will be aligned depending on the rotational position.
1) The settings are made so that the two do not deviate from each other.

Attach the sensor stay (8) to the rear end of the vehicle body (1) with a bolt ■, and attach it to the tip of this sensor stay (8).

Four cylinders and a piston that expand and contract? Attach the upper end of the rolling sensor (9) consisting of 4. Also, this car body (1
) At the bottom of the bracket 4 bolts facing backwards
The front and rear intermediate parts of the swinging rod (5) are pivotally attached to this bracket 4 so that the swinging rod (5) can rotate freely.
The front end of the rolling sensor (9) is connected to the lower end of the rolling sensor (9), and the rear end of the swinging rod (5) and the connecting hole el of the sensor arm (7) are connected by a rod (to). Connecting frame (5)
By rolling, this sensor arm (
The vertical rolling amount of 7) is detected as the amount of movement with respect to the cylinder 4, which is a piston, via the rod (to) and the swinging rod (n, etc.).In this cylinder (to), there is a The amount of movement of the piston Q4 is detected and this detection is output to the control device.

A reading device, an ON/OFF switch, etc. are provided.

A pair of left and right lift arms are provided at the upper rear end of the vehicle body (1) so as to be movable up and down, and are moved up and down via a hydraulic control device. This lift arm (end) and the connecting frame (5) corresponding to the left and right sides are connected by a reference rod OD of a constant length on the - side, and the other side is a rolling roller that expands and contracts with hydraulic pressure according to commands from the rolling control device. They are connected by a cylinder (support), and the connecting frame (
5) and the working device (4) are rolled.

The rolling cylinder (to) is expanded and contracted by the rolling control valve (RR) (LR) of the hydraulic circuit, and the working device (4) is moved together with the rolling bracket (3).

The configuration is such that rolling control is performed counterclockwise or clockwise around the rolling axis (2). The rolling control device includes:
Using a microcomputer (CPU).

Rolling control is performed by inputs from a tilt sensor (to) and a rolling sensor (9) provided on the vehicle body (1) or work device (4). (To) is a mode changeover switch that switches the rolling control between automatic mode and manual mode. When this mode changeover switch (To) is switched to automatic mode, the tilt sensor 09 detects the horizontal inclination of the working device (4). The work device (4) is rolled and controlled to a horizontal position regardless of the left and right inclination of the vehicle body (1).
(horizontal control), or when the mode selector switch (to) is switched to manual mode, the rolling sensor (9) is set to the vehicle body (1) by specifying horizontal control with the designation dial (5).
detecting the position where the posture of the working device (4) is parallel to the left and right, and stopping and maintaining rolling (parallel control);
In addition, in this manual mode, the vehicle body (
When the horizontal inclination angle of the working device (4) with respect to 1) is designated, rolling control is performed with this designated angle as a target (designated control).

In the embodiment shown in FIG. 6, a rolling sensor (91) is directly attached and connected between the sensor stay (8) and the sensor arm (7).

[Brief explanation of the drawing]

The figures show an embodiment of the present invention, in which Fig. 1 is a partial slope view, Fig. 2 is a partial plan view, Fig. 3 is a side view, Fig. 4 is a plan view, and Fig. 5 is a partial plan view. 6 is a block circuit diagram, and FIG. 6 is a perspective view of some other embodiments. In the figure, code (1) is the vehicle body, (2) is the rolling axis, and (3
) is the rolling bracket, (4) is the working device t, (5
) is the connecting frame, (6) is the connecting shaft, (force is the sensor arm,
(8) indicates a sensor stay, and (9) indicates a rolling sensor.

Claims (1)

[Claims] A rolling bracket (3) provided for rolling freely around a rolling axis (2) in the longitudinal direction relative to the vehicle body (1).
A connecting frame (5) integral with the working device (4) is rotatably connected around a connecting shaft (6) in the left and right lateral directions, and a sensor arm (7) integral with this connecting frame (5) is connected. The connecting shaft (
6) and the sensor stay (1) on the vehicle body (1) side.
8), a rolling sensor (9) for detecting rolling of the connecting frame (5) is interlocked with the rolling sensor (9) for detecting rolling of the connecting frame (5).