JPH01285106A - Rolling structure of operating device of working vehicle - Google Patents

Abstract

PURPOSE:To accurately control rolling without requiring operation of compensation in a tractor controlling rolling, by equipping a mechanism to automatically compensate the lift amount of working machine and the expansion and contraction amount of lift rod. CONSTITUTION:A mount 11 on the under surface of a center plate 10 below a seat 9 of a tractor is equipped with a first potentiometer 12 and a second potentiometer 13. The expansion and contraction amount of a lift rod 6 is conveyed to a meter 12. The expansion and contraction amount of an actuator 5 for controlling rolling is transmitted to a meter 13. Inclination of the tractor in the left or right direction is measured by a sensor 21 and the lift amount of a working machine 8 by a meter 24. Values measured by the sensors 12, 13, 21 and 24 are inputted to a control device 17. Even when the length of the rod 6 is regulated corresponding to the various working machine 8, the working machine 8 can automatically maintain a desired angle accurately.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention connects one lower link and a lift arm in a three-point link mechanism for connecting a working device by an actuator that is driven to expand and contract, and connects the other lower link and the lift arm with a rod, and determine the actuator target length required to set the working device at a set angle with respect to the horizontal plane based on the detection results from the tilt sensor that detects the left and right inclination of the machine body with respect to the horizontal plane. The present invention relates to a rolling structure of a working device for a working vehicle, which is equipped with a control device for indexing and driving an actuator to extend and retract to this target length.

[Conventional technology]

Agricultural tractors, which are one type of work vehicle, connect work devices such as rotary tillers via a three-point linkage mechanism.
There are some machines that have a rolling structure as mentioned above, but the structure mentioned above breaks the shape of the three-point link mechanism and rolls by twisting the three-point link mechanism, so it is not a rolling structure. Depending on the height of the tiller, the relationship between the target length of the actuator and the left-right angle of the rotary tiller becomes inconsistent.

Therefore, the swing angle of the lift arm that swings the three-point link mechanism up and down is detected with a potentiometer, and based on this detected value, a correction is made to the relational expression between the target length of the actuator and the left and right angle of the rotary tiller. Try adding
Some models are designed to reduce errors in rolling operations.

[Problem to be solved by the invention]

In order to expand the range of heights of the working equipment relative to the machine body by diversifying the working equipment connected to the three-point link mechanism, in addition to the above-mentioned configuration, a rod on the opposite side of the actuator that connects the lift arm and the lower link is added. There is a model that has a telescopic configuration, and even if this rod is extended or retracted, an error will occur in the relationship between the target length of the actuator and the left and right angle of the working device, so the above relational expression is artificially corrected. Some models are equipped with an additional correction device.

However, it is troublesome to manually operate the correction device each time the rod is extended or retracted, and there is also a risk that the user may forget to operate the correction device.

The present invention has been made with attention to the above-mentioned situation, and an object of the present invention is to enable an accurate rolling operation to be performed without any special operation.

[Means to solve the problem]

The features of the present invention include, in the above-described rolling structure of a working device for a working vehicle, the rod is a telescopic rod, a correction means for changing the target length of the actuator with respect to the inclination angle of the machine body, and detecting the amount of expansion and contraction of the telescopic rod. The present invention is provided with an expansion/contraction amount detection mechanism for transmitting the amount of expansion/contraction to the correction means, and its functions and effects are as follows.

[For production]

With the configuration described above, the amount of expansion and contraction of the telescoping rod is automatically detected as the telescoping rod is expanded and contracted, and the correction means automatically corrects the relationship between the target length of the actuator and the left and right angle of the working device. It is being added to.

〔Effect of the invention〕

As described above, since the configuration is configured so that correction is automatically performed as the rod connecting the lift arm and lower link is expanded and contracted, accurate rolling operations can be performed at all times without forgetting to perform correction operations. , the operability will be improved.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings, using an agricultural tractor as one of the working vehicles.

Figure 2 shows the three-point linkage mechanism at the rear of an agricultural tractor, with a lift cylinder (
2) is provided with a pair of left and right lift arms (3a), (3b) that are driven to swing up and down, and a pair of left and right lower links (4a), (4) in a three-point linkage mechanism.
b) is attached to the rear of the mission case (1) so as to be able to swing vertically, and one lift arm (3b) and lower link (4b) are connected by a double-acting hydraulic cylinder as an actuator (5). , the other lift arm (
3a) and the lower link (4a) are connected by a turnbuckle type telescoping rod (6).

As shown in FIG. 1, the telescopic rod (6) connects an upper rod (6a) connected to a lift arm (3a) and a lower rod (6C) connected to a lower link (4a) to an intermediate rod (6b). ), the threaded part between the upper rod (6a) and the middle rod (6b) is a right-handed thread, and the threaded part between the lower rod (6c) and the middle rod (6b) is a reverse thread. It is a screw, and the telescopic rod (6) can be expanded and contracted by rotating the intermediate rod (6b). Furthermore, as shown in FIG. 2, one top link (7) is provided for the pair of lower links (4a) and (4b), and these top links (7)
) and lower links (4a) and (4b).
A rotary tiller as a working device (8) is connected to the point linkage mechanism.

Next, to explain in detail the rolling control of the rotary tiller (8), as shown in Fig. The first potentiometer (12
) and a second potentiometer (13) are attached. On the other hand, as shown in the figure, in the hydraulic cylinder (5), the inner wire (15a) of the No. 1 Luriez wire (15) is attached to the bracket (14) fixed to the piston rod (5a), and the outer wire (15b) is attached to the cylinder (5b).

Then, the inner wire (
The other end of 15a) is connected to the operation part (12a) of the first potentiometer (12), and the amount of expansion and contraction of the hydraulic cylinder (5) is controlled by the first potentiometer (12) via the Luriez wire (15). ).

As shown in FIGS. 1 and 2, the inner wire (23a) of the second release wire serving as the expansion/contraction detection mechanism (23) is attached to the lower rod (6C) of the telescoping rod (6). ), and the outer wire (23b) of the second release wire (23) is attached to the upper rod (6a) of the telescopic rod (6). The other end of the inner wire (23a) of the second release wire (23) is connected to the operating section (13a) of the second potentiometer (13), and the telescopic rod (6
) is controlled by the second release wire (23) via the second release wire (23).
The configuration is such that the signal is transmitted to the potentiometer (13).

The amount of expansion and contraction of the hydraulic cylinder (5) and telescopic rod (6) detected as described above is input to the control device (17) via the first and second potentiometers (12) and (13), The detection results from the third potentiometer (24) that detects the swing angle of the lift arms (3a) and (3b) are also input to the control device (17). Furthermore, a tilt sensor (21) for detecting the left and right tilt of the aircraft with respect to the horizontal plane is attached to the support bracket (20) of the cabin (not shown) provided in one of the rear axle cases (18). The detection results from (21) are input to the control device (17).

In the control device (17), the relationship between the left and right angles of the machine body with respect to the horizontal plane and the left and right angles of the rotary tiller (8) is determined by the amount of expansion and contraction of the hydraulic cylinder (5) and the lift arms (3a) and (3b). It is equipped with a relational expression using the swing angle as a parameter, and an angle setting device (22
) and the above-mentioned relational expression, the left and right angle of the rotary tiller (8) is set to the angle set by the angle setting device (22), that is, the length of the hydraulic cylinder (5) is set to the rotary tiller. The control device (17) expands and contracts the hydraulic cylinder (5) while receiving the feedback signal from the first potentiometer (12) so that the target length corresponds to the set angle of the device (8). be.

Furthermore, the control device (17) is provided with means for correcting the above-mentioned relational expression according to the length of the telescoping rod (6), and the telescoping operation of the telescoping rod (6) is controlled by the second potentiometer (13). ) is input to the control device (17), the relational expression is corrected, and the above-mentioned rolling operation of the rotary tiller (8) is performed based on this corrected relational expression. .

[Another example]

The structure for attaching the second release wire (23) to the telescopic rod (6) is to attach the inner wire (23a) to the upper rod (6a) as shown in FIG.
Attach the outer wire (23b) to the lower rod (6C) and connect it from the telescopic rod (6) to the second potentiometer (1
A structure may be adopted in which the second release wire (23) part halfway up to 3) is fixed to the body with a clamp (not shown).

In the above embodiment, the amount of expansion and contraction of the telescopic rod (6) was detected via the second release wire (23), but a structure in which the second potentiometer (13) is directly attached to the telescopic rod (6) is also adopted. can. Further, the telescopic rod (6) may not be of the turnbuckle type, but may have a telescopic structure in which pins are fixed in holes at a plurality of locations.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the rolling structure of a working device for a working vehicle according to the present invention, and FIG. 1 is a sectional view of a telescopic rod, and FIG. 2 shows a state in which the working device is connected to a three-point linkage mechanism, and a hydraulic cylinder and a telescopic rod. FIG. 3 is a rear perspective view of an agricultural tractor showing a configuration for detecting the amount of expansion and contraction of the rod, and FIG. 3 is a sectional view of the telescoping rod in another embodiment. (3a), (3b)...-lift arm, (
4a), (4b) -・"Lower link, (5)...
... Actuator, (6) ... Telescopic rod, (8) ... Working device, (17) ...
・Control device, (21)... Tilt sensor, (2
3)...Expansion amount detection mechanism.

Claims (1)

[Claims] One lower link (4b) and the lift arm (3b) in the three-point link mechanism for connecting the working device (8) are connected by an actuator (5) that is driven to expand and contract, and the other lower link (4a) and the lift arm are connected. (3a) with a rod, and is necessary to set the working device (8) at a set angle with respect to the horizontal plane based on the detection result from the tilt sensor (21) that detects the left and right inclination of the machine body with respect to the horizontal plane. A control device (1) determines a target actuator length and drives the actuator (5) to extend and retract to this target length.
7), wherein the rod is a telescopic rod (6), and correction means for changing the target length of the actuator (5) with respect to the inclination angle of the machine body; an expansion/contraction amount detection mechanism (2) that detects the amount of expansion/contraction of the telescoping rod (6) and transmits it to the correction means;
3) A rolling structure of the working device of the working vehicle.