JPH0348762B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a suspension support for suspending and supporting a lower link in a three-point link device for connecting a working device to a tractor with respect to a lift arm for lifting and lowering the working device. The working device is provided to be extendable and retractable for operation, and is based on information from a sensor that detects the horizontal inclination angle of the tractor with respect to a horizontal plane, and a sensor that detects the extended/contracted position of the suspension support. The present invention relates to a tractor with a rolling control mechanism provided with a control mechanism that automatically expands and contracts the suspension support so as to maintain the left and right inclination angle with respect to a horizontal plane within a set range.

When connecting work equipment using a three-point linkage device, the spacing between the left and right lower links may be changed to match the work equipment, but the work equipment cannot be swung around the connection to one of the left and right lower links as a fulcrum. Since the rolling operation is performed in a state where the distance is changed, the amount of rolling operation associated with operating the hanging support by a unit amount changes as the distance increases, as the distance changes as described above. becomes. For this reason, conventionally, a mechanism has been provided that is manually operated to correct the expansion and contraction control amount of the suspension support as the tractor tilts by a unit angle. In addition, it is troublesome to have to perform operations on the control amount correction mechanism, and there is also a risk that proper control may not be performed if the operation is forgotten.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable proper control at all times without requiring special operations.

A characteristic configuration of the tractor with a rolling control mechanism according to the present invention is such that a mechanism for correcting the amount of expansion/contraction control of the suspension support as the tractor tilts by a unit angle is arranged such that the distance between the pair of left and right lower links in the three-point linkage device is Based on information from a sensor that detects The point is that it is designed to be automatically operated for correction.

Next, the effects of the characteristic configuration of the present invention will be described.

In other words, when the gap between the left and right lower links changes to the larger side, the expansion/contraction control amount is automatically corrected to the large side based on the information from the gap detection sensor, and when the gap between the left and right lower links changes to the small side, the expansion/contraction control amount increases. is automatically corrected to the smaller side. As a result, the controlled amount of expansion and contraction of the hanging support as the tractor inclines is always corrected to an appropriate state, and the horizontal inclination posture of the working device can be maintained within the set range.

Therefore, even if the distance between the left and right lower links is changed, it is possible to always perform good rolling control without requiring any special operation.This results in a tractor with a rolling control mechanism that can be used even better. I was able to obtain this.

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 1, a pair of left and right lift arms 3, 3 for raising and lowering working equipment are installed at the rear of a tractor with a driver's seat 2 installed between the left and right rear wheels 1, 1 by means of a single-acting hydraulic cylinder 4. In addition to being provided with swingable operation,
A rotary tiller 7 is connected via a three-point link device consisting of left and right lower links 5, 5 and a top link 6.
is connected to the rear of the tractor so that it can be raised and lowered, and
The pair of lift arms 3, 3 are respectively connected to the left and right lower links 5, 5 via a lift rod 8 and a double-acting hydraulic cylinder 9 for rolling operation. A riding type cultivator is constructed that can be driven up and down with respect to a tractor and can be driven and rolled.The rolling control mechanism will be described below.

As shown in FIGS. 1 and 2, a sensor 1 is provided at the rear of the tractor for detecting the horizontal inclination angle of the tractor with respect to the horizontal plane as a variation in the voltage signal θ.
0, and a sensor 11 that detects the expansion/contraction position of the double-acting hydraulic cylinder 9 as the tractor rolling posture of the tiller 7 and outputs the detection result as a voltage signal fluctuation is attached to the double-acting hydraulic cylinder 9. It is attached to the fluid pressure cylinder 9. Based on the signal θ from the inclination angle sensor 10, a double-acting cylinder 9 suitable for maintaining the horizontal inclination angle of the tilling device 7 with respect to the horizontal plane within a set range.
an arithmetic circuit 12 that calculates the target expansion/contraction position of the computer and outputs a voltage signal _L0 accordingly, and determines whether the difference between the signal L0 from the signal _L0 and the signal of the rolling sensor 11 is within the dead band width Δ In addition, a determination circuit 13 that determines the operating direction of the double-acting cylinder 9, a circuit 14 that generates a pulse signal based on information from the circuit 13, and a shortening circuit for the control valve 15 of the double-acting cylinder 9. AND circuits 18 and 19 for selectively operating the extension operation circuits 16 and 17 are provided, and the tilling device 7
The double-acting cylinder 9 is configured to automatically expand and contract so as to maintain the left and right inclination angle with respect to the horizontal plane within a set range.

However, the setting range of the horizontal inclination angle of the tilling device 7 with respect to the horizontal plane is determined to be a range close to zero, so that the left-right inclination posture of the tilling device 7 is maintained in a near-horizontal posture.

As shown in FIG. 3, a so-called linear movement type potentiometer is constructed in which a rod-shaped body 20b having a contact point that slides on the resistor is slidably inserted into a cylindrical body 20a having an electric resistor attached to the inner surface. A sensor 20 using a meter is attached across the left and right lower links 5, 5, so that the interval between the left and right lower links 5, 5 can be detected as a change in the voltage signal D.

As shown in FIG. 2, in order to correct the expansion/contraction control amount of the cylinder 9 in two stages as the tractor tilts by a unit angle, the signal from the tilt angle sensor 10 input to the arithmetic circuit 12 is amplified. A circuit 21 for changing the rate in two steps is connected to the arithmetic circuit 12, and the increase rate changing circuit 21 is set to a high rate increase state when the lower link interval is equal to or greater than the set interval, and It is configured to be automatically operated based on the signal from the interval detection sensor 20 in order to switch to a small amplification rate state when the link interval is smaller than the set interval.

In short, the tilling device 7 is operated in a rolling manner using the connection point with the lower link 5 to which the lift rod 8 is connected as a fulcrum, and as a result, the larger the lower link interval, the more the cylinder 9 operates by a unit amount. Although the rolling operation amount tends to decrease due to this, this is offset by the above-mentioned change in the amplification rate. In other words, as shown in the graph _of FIG.
S If you have _one line and the lower link spacing is large,
It will be determined by S ₂ lines. However, the signal θ of the tilt angle sensor 10 and the index expansion/contraction position _L0 are zero when the tractor is horizontal, negative when the tractor tilts upward to the left, and positive when the tractor tilts downward to the left. It shows. Note that the detection signal D of the interval detection sensor 20 changes with the rolling operation, but the range of change does not exceed the point at which the voltage value changes due to the change in the lower link interval.

In carrying out the present invention, a double-acting hydraulic cylinder 9
In addition, a screw-type telescopic rod, which can be driven and operated by an electric motor, can be used, and these are collectively referred to as a hanging support.

Further, in addition to the rotary tilling device 7, it can be applied to controlling the rolling of working devices such as plows and planters.

Further, as the expansion/contraction control amount correction mechanism, in addition to providing an amplification rate changing circuit 21 for correcting the detection signal θ of the inclination angle sensor 10, a circuit for correcting the detection signal of the expansion/contraction position detection sensor 11 is provided.
Various changes can be made.

In addition, to detect the lower link interval, the linear movement potentiometer type sensor 2 described in the embodiment is used.
0, for example, as shown in FIG. 5, the strain gauge 22 may be provided so as to be pulled toward the lower link 5 by an elastic body such as a spring 23, or as shown in FIG. , the left and right lower links 5, 5 which will be connected to the pivot pin 25 with a relief joint.
Potentiometers 24, 24 for detecting left and right swing angles for each tractor are connected to the lift arm 5.
Various modifications can be made, such as providing an arm 24a that swings integrally with the potentiometers 24 and calculating the interval from the detection signals of the potentiometers 24, 24, and these are collectively referred to as interval detection sensors. In order to correct the expansion/contraction control amount based on the detection result, the correction may be made in two stages, three or more stages, or in a stepless manner. Incidentally, in order to perform the stepless correction, in addition to detecting the lower link swing angle, for example, the linear movement type potentiometer 20 may be moved between the free ends of the left and right lower links 5, 5. Additionally, the rolling operation may be performed by detecting the interval while supposing that the detection signal changes with the rolling operation.

[Brief explanation of drawings]

The drawings show an embodiment of a tractor with a rolling control mechanism according to the present invention, in which FIG. 1 is a perspective view of the rear part of the tractor, FIG. 2 is a circuit diagram showing a specific configuration of the rolling control mechanism, and FIG. 3 is a distance detection sensor. 4 is a graph showing the relationship between the amount of expansion/contraction control and the horizontal inclination angle of the tractor. FIG. 5 is a plan view of another embodiment. FIG. 6 is a diagram of another embodiment. FIG. 3...Lift arm, 5...Lower link, 7...
... Working device, 9... Hanging support, 10... Tilt angle detection sensor, 11... Telescopic position detection sensor,
20, 22, 24, ... interval detection sensor, 21
...Expansion control amount correction mechanism.

Claims (1)

[Scope of Claims] 1. A suspension support 9 that suspends and supports the lower link 5 of a three-point link device that connects the working device 7 to the tractor with respect to the lift arm 3 for lifting and lowering the working device.
A sensor 1 is provided to be extendable and retractable to drive the working device 7 for rolling operation, and a sensor 1 detects the horizontal inclination angle of the tractor with respect to a horizontal plane.
0 and the sensor 11 that detects the extended/contracted position of the suspension support 9, the suspension support is configured to maintain the horizontal inclination angle of the working device 7 with respect to the horizontal plane within a set range. A tractor with a rolling control mechanism is provided with a control mechanism for automatically extending and contracting the suspension support 9, and a mechanism 21 for correcting the amount of control of the extension and contraction of the suspension support 9 as the tractor tilts by a unit angle. Based on information from a sensor that detects the distance between the pair of left and right lower links 5, 5 in the point link device, the larger the distance between the respective lower links 5, 5, the larger the expansion/contraction control amount is corrected; The tractor with a rolling control mechanism is provided such that the smaller the interval between the lower links 5, 5, the smaller the expansion/contraction control amount is automatically operated. 2. The tractor with a rolling control mechanism according to claim 1, wherein the distance detection sensor is a linear movement type potentiometer attached across the left and right lower links 5, 5. 3. The tractor with a rolling control mechanism according to claim 1, wherein the interval detection sensor is a potentiometer that detects a left-right swing angle of each of the left and right lower links 5, 5 with respect to the tractor.