JPS6398306A - Apparatus for detecting working posture of tractor - 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] Industrial Application Field This invention relates to a working posture detection device that detects the lift angle of a working device with respect to a traveling vehicle body, and is applicable to not only tractor working machines but also seedling planting machines, combine harvesters, etc. can.

Prior Art and Problems to be Solved by the Invention When a tilling device is connected to a tractor for tilling work, the height of the working device with respect to the tractor is detected in a configuration in which the tilling device is controlled to move up and down with respect to the tractor. A vertical sensor is attached to the base of the lift arm of the tractor body, and the lift angle of the lift arm is detected to control the elevation of the tilling device and to perform important control of the transmission of the PTO shaft of the tractor.

In such a configuration, the lift arm's vertical sensor that detects the lifting position of the work equipment with respect to the vehicle body only detects the lift angle of this lift arm. If the length of the rod connecting with the link is adjusted, the lift angle cannot detect the correct height of the working device and must be corrected.

Means for Solving the Problems This invention provides a traveling vehicle body (1) and a working device (2) connected to the traveling vehicle body (1) such that it can be raised and lowered and tilted forward and backward.
A working posture detection device for a tractor or the like is constructed by connecting the front and rear ends of a sensor link (°4) for detecting the relative elevation position and longitudinal inclination between the two.

Effect of the Invention The working device (2) is propelled by the running of the traveling vehicle body (1) and performs a predetermined work, but in controlling the position of the working device, the lifting arm causes the working device (2) to move relative to the traveling vehicle body (1). When the vehicle body (1) and the working device (2) are lifted up and down, the link sensor (4) is displaced between the traveling vehicle body (1) and the working device (2), and the vertical position and longitudinal inclination of the working device (2) relative to the traveling vehicle body (1) are determined. This means that the position and orientation of the working device can be detected independently of the vertical movement angle of the lift arm. The vertical position and longitudinal inclination of the working device (2) can be used to control the position of raising and lowering the working device to a predetermined selected height, to detect the vertical position in draft control or dimmer control, or to control the PTO axis when raising and lowering the working device. Performs important control of transmission clutches, etc.

Effects of the Invention As described above, the sensor link ( 4)
Since the vertical movement of the lift arm that raises and lowers the working device (2) is detected independently, it can be directly detected between it and the traveling vehicle body (1), and is accurate and stable. Detection can be performed and the configuration is simple.

Embodiment In the illustrated example, the running vehicle body (1) of a tractor transmits power to rear wheels (6), a PTO shaft (7), etc. by an engine (5) mounted at the front, and this PTO shaft (7) The structure is such that a working device (2), such as a tilling device (9), is transmitted and rotated from there through a power transmission shaft (8). (10) is a control handle for steering the front wheels (11). (12) is a fender on the side of the cockpit, which includes a lift lever (13) that moves the lift arm (14) up and down, and a sensor link (
4) a tilt angle setting dial (15) for setting the tilt angle;
A control mode changeover switch (1B) for switching the control mode to position control, dimmer control, draft control, etc. is provided.

The working device (2) is connected to the vehicle body (1) by a pair of left and right lower links (17) and a top link (18) so as to be able to rise and fall freely, and the lift arm (14) and this lower link (
17) by rods (18) and (20), and the working device (2) can be raised and lowered by vertical movement of the lift arm (14). One of these left and right rods (2
0) has a hydraulic cylinder that is extendable and retractable by hydraulic pressure, and is connected to the hydraulic circuit for rolling control.
0), the left and right inclination angles of the working device (2) relative to the vehicle body or soil surface can be controlled by creating a difference in elevation between the left and right lower links (17). (21) is the working device (2)
This is a mast for attaching the lower link (17), top link (18), etc. that are integrally attached to the fuselage. (
22) is a leveling plate that covers the rear part of the tillage device (9) and is movable up and down.It levels the soil surface of the tilled area and also serves as an actuator that detects the plowing depth by this up and down movement. Turn the contact ON and OFF depending on the top and bottom of the flat plate (22)
A plowing depth sensor (45) is provided.

The transmission shaft (8) has a universal joint at the front and rear, and the middle part is provided to be expandable and retractable by spline fitting etc., so that it can transmit power even when the working device (2) is raised and lowered. A sensor link (4) is provided on the lateral side of the sensor link (4). This sensor link (4) consists of a pair of front and rear telescopic rods (2
3) (24) and a pivot pin (25) in the form of a cross with respect to the vehicle body (1) at the front end of these telescopic rods (23).
(2B) and a universal joint (27) which is pivotally mounted with
(21) with a cross-shaped pivot pin (2B) (2
9), and a universal joint (30) which is pivotally connected to the
The pivot pins (28) at both ends are oriented horizontally with respect to the vehicle body (1) and are rotatably provided around the pivot pins (26). 21) is provided in the same manner.

The rolling sensor (3) is provided between the telescopic rod (24) and the universal joint (30), and a socket (31) integrated with the universal joint (30) is attached to the end of the telescopic rod (24). A rolling sensor (3) consisting of a potentiometer or the like is provided in this socket (31), and the rotating shaft portion is fitted to the end of the telescopic rod (24) so that it rotates according to the body weight. (with telescopic rod (24) and socket)
The rolling sensor (3) can detect the rolling angle based on the amount of rotational deviation relative to (31).

A microcomputer (CPU) is used for position control, dimmer control, draft control, rolling control, and PTO axis clutch control of the working device (2). Position control is performed by operating the lift solenoid valve (33), the fall solenoid valve (34), etc. using the lift train/<- (14), the lift switch (32), etc., and the control is performed via the hydraulic cylinder (48) of the hydraulic circuit. The control structure is configured to rotate the lift arm (14) up and down. The A lowering switch (32) is for raising and lowering the working device (2) between a non-working position raised above the soil surface and a working position in the soil. A lift sensor (35) consisting of a potentiometer or the like that detects the rotation angle of this pin (2B) is provided at the pivot point of the pivot pin (26) to the vehicle body (1), and the sensor link (4) and the This configuration detects the rising angle of the device (2).

This position control includes an upper limit setting dial (46) that sets the lift arm (14) to stop the work equipment (2) at the 1st limit position, a plowing depth setting dial (47) that sets the lowering position, etc. and lift lever (1) as described above.
4) and the lift switch (32), the sensor link (4) rotated by the lift arm (14) is raised and lowered to the position set by the upper limit setting dial (46), plowing depth setting dial (47), etc. Lift corner sensor (35)
Control the elevation while detecting this (Fig. 7). (48) is a comparator.

Dimas control is a control based on the standard tilling depth of the tilling device (9), which is set in advance with the tilling setting dial (47), etc., and the tilling depth detected by the tilling depth sensor (45) is controlled based on the tilling depth of the tilling device (9). The lift arm (14) is controlled by moving up and down to maintain the standard plowing depth. This dimmer control has the same plowing depth sensor (4) depending on the front and rear inclination angle of the tilling equipment L (9).
Even what is detected in step 5) changes, so the correction device (50) that calculates the plowing depth corrected based on this inclination angle, the lift sensor (35) and the longitudinal inclination sensor (51) By providing an inclination calculation device (52) etc. that calculates the front and rear inclinations of the tilling device (9), the corrected tilling depth is detected, and this is set on the tilling depth setting dial (4).
While comparing with the target plowing depth set in 7), adjust the hydraulic cylinder (
48) to control the raising and lowering of the tilling device (9) (FIG. 8).

The longitudinal inclination sensor (51) is composed of a potentiometer etc. like the lift sensor (45), and is connected between the mass (21) of the working device (2) and the pivot pin (28) for this mast (21). Detect the angle of the sensor link (4) with respect to the mass) (21).

The tilt calculation device (52) is connected to this longitudinal tilt sensor (51).
The angle determined by the lift sensor (45) is added to the angle determined by the lift sensor (45) to calculate the longitudinal inclination angle of the working device (2) with respect to the traveling vehicle body (1).

In the case of a plow working device, draft control is a control to stabilize the traction of the vehicle body by detecting the resistance force by the plow. A drag sensor (36) is provided to detect the acting compressive force as a resistance force, and the lift arm (14) is moved so that the resistance detected by the drag sensor (36) is in line with the target resistance set by the tilling depth dial, etc. ) to change and adjust the depth of the plow without moving it up or down.

Rolling control is achieved by installing a horizontal sensor (37) on the vehicle body (1) that detects left and right horizontality and inclination, and a tilt angle setting dial that sets the rolling sensor (3) and the left and right working inclination angle of the work device (2). (15), the car body (1
), the horizontal sensor (37) detects the inclination angle, and the rolling sensor (3) detects the horizontal inclination angle of the working device (2) with respect to the vehicle body (1). The inclination angle and the inclination angle measured by the rolling sensor (3) are added in an adding section (38) to determine the inclination angle of the working device (2) relative to the soil surface.
This ground inclination angle is compared with the target working inclination angle set by the inclination angle setting dial (15) in a comparator (39), and outputs the extension solenoid valve (40) or the shortening solenoid valve (41). , rolling cylinder (2
This is a control configuration that extends and contracts the working device (2) by expanding and contracting the working device (2) into a horizontal position or an inclined position using a tilt angle setting dial (15).

For example, the front-rear tilt control of the working device (2) can be performed using the tilling device (9).
), the tiller moves up and down in parallel when in the working position, but when it rises to the non-working position, it rotates significantly rearward and upward to change the longitudinal inclination angle with respect to the traveling vehicle body (1). This is a major change in that the tilling device (9) is raised more significantly than the lower link etc. raised by the lift arm (14).

The top link (18) is equipped with an extension solenoid valve (53) of the hydraulic circuit by the expansion and contraction of the hydraulic cylinder and piston.
) and a retraction valve (54), the top link (18) is provided to be expandable and retractable, and this expansion and contraction changes the longitudinal inclination angle of the working device (2) with respect to the lower link (17). Furthermore, as the top link (18) expands and contracts, the longitudinal inclination of the sensor link (4) also changes, so the detected values of the lift sensor (35) and the longitudinal inclination sensor (51) also change. Mode change switch (5
6) is for switching between normal parallel control in which the top link (18) does not extend or contract, and longitudinal tilt control in which the top link (18) extends or contracts.

When the mode changeover switch (56) is set from parallel control to longitudinal tilt control, when the lift arm (14) is raised by position control, the tilt angle setting dial (1
While comparing the inclination angle of the sensor link (4) set in step 5) with the inclination angle of the longitudinal inclination sensor (51), the top link (
18) and move the working device (2) to the lower link (17).
) to the rear and upper part (Fig. 9). Further, when the lift arm (14) is lowered, it is controlled to extend back to the original position by the solenoid valve (54).

Further, such longitudinal tilt control of the working device (2) is also used to change and control the operating angle of the working device (2) with respect to the soil surface at the working position.

Is this kind of longitudinal tilt control the same as the longitudinal tilt sensor mentioned above? (5
1) may be replaced by a link length sensor (57) that detects the length of the sensor link (4) (FIG. 10). This link length sensor (57) is a sensor link that expands and contracts (
The sensor link (4) expands and contracts in the same way as the telescopic rods (23) and (24) of 4), and detects the amount of expansion and contraction of this sensor link (4).

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a cross-sectional view of a part, Fig. 2 is a plan view thereof, Fig. 3 is an exploded slope view of a part thereof, and Fig. 4 is a partial sectional view of the same. Slope view, Figure 5 is a side view, Figure 6 is a side view.
The figure is a block diagram, and FIGS. 7 to 10 are partial block diagrams thereof. In the figure, code (1) is the running vehicle body, (2) is the working device, and (4) is the running vehicle body.
) is sensor link, (35) is lift sensor, (51)
(57) indicates a longitudinal inclination sensor, and (57) a link length sensor.

Claims (1)

[Claims] A sensor is provided between the traveling vehicle body (1) and a working device (2) connected to the traveling vehicle body (1) such that it can be raised and lowered and tilted forward and backward. A working posture detection device for a tractor, etc., which is formed by connecting the front and rear ends of a link (4).