JP3271306B2 - Work machine control mechanism for tractors, etc. - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tilt control device, a tillage depth control device, a tillage cover rotation control device and the like of a working machine attached to a tractor or the like.

[0002]

2. Description of the Related Art Conventionally, a technique relating to an angle control mechanism of a working machine has been known. However, in the related art, a sensor for detecting the inclination of the work implement is attached to a cultivation cover portion such as a rotary cultivator, and when the work implement is replaced, the work implement-side sensor also needs to be replaced. It is. Also, it was necessary to interpose a harness, a cable, and the like between the sensor disposed on the working machine side and the tractor side.

[0003]

SUMMARY OF THE INVENTION In the present invention, a sensor for detecting the inclination of a work machine is attached to a work vehicle such as a tractor without being attached to the work machine.
While the work implement side sensor is attached to the tractor side, the position of the part where the lower end of the lift link is connected to the lower link so that the inclination angle is the same as the inclination of the work implement,
A sensor wire is transmitted to the work implement-side sensor support, and the work implement-side sensor support is provided with a mechanism that rotates up and down around a pivot shaft, and the work implement-side sensor is mounted on the work implement-side sensor support. Is mounted, and the work implement sensor is tilted at the same angle as the work implement. However, in this configuration, the lower end of the lift link is provided with a plurality of connection holes that can adjust the connection state with the lower link, and when the connection holes are changed, the work implement-side sensor support and the work implement The tilt angle of the side sensor has been changed,
There is a discrepancy in control. The present invention provides a mechanism for correcting the change in the position of the connection hole. Further, the correction by the connection hole does not need to be corrected when the working machine is at the highest position or when the tractor is in the horizontal state. Therefore, when such a condition occurs,
The control mechanism is configured to set the correction value to zero.

[0004]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. A tilt control mechanism of the working machine which is attached to the tractor side and interposed working machine tilt control cylinder C in the lift link 27, the expansion and contraction length of the lift link 27, the working machine side sensor support arranged on the tractor side Stand 14
When the work machine side sensor 13 is mounted on the work machine side sensor support 14 and the connection hole between the lift link 27 and the lower link is changed, the work machine side sensor 13 is In the configuration for correcting the detection value of the sensor 13, the correction value Y is set to the sensor value y of the work implement-side sensor 13.
, The sensor value x of the lift arm angle sensor 10
And the sensor value Z of the unit side sensor 43 multiplied by a constant k
Of the lift arm angle sensor.
When the sensor value x of the sensor 10 is 49 degrees or more,
Is detected, or the unit's sensor
43 when the sensor value Z is 0 or very close to 0, ie
When the tractor is horizontal, the constant k is set to 0 .

[0005]

Next, the operation will be described. In the working machine angle control mechanism of the present invention, the working machine sensor 13 for controlling the inclination angle of the working machine is disposed on the working machine sensor support 14 on the machine side. While being placed on the machine side,
The position of the tip of the lift link 27 is transmitted to the work implement-side sensor support 14 via the lift arm 44 so that the inclination of the work implement can be detected, and the work implement-side sensor support 14 is connected to the work implement. Incline in the same way.
As a result, the work implement-side sensor 13 has the same inclination as the work implement, so that it is not necessary to provide the work implement-side sensor on the work implement side.

[0005]

Next, an embodiment will be described. FIG. 1 is a side view of a tractor showing an arrangement of a work machine-side sensor 13 and a machine-side sensor 43 of an angle control mechanism of a work machine according to the present invention.
3 is a side view of a portion of the work machine side sensor support base 14 and the sensor arm 6, FIG. 3 is a rear view thereof, and FIG. 4 is a side view of an embodiment in which the connection holes 1, 2, 3, and 4 are provided in the lift link 27. FIG. 5 is a side view of an embodiment in which connection holes A and B are provided in the lower link 26, FIG. 6 is a plan view of a correction dial D, and FIG.
FIG. 8 is a view showing the relationship between the connection holes 1, 2, 3, 4 and the correction dial D. FIG. 8 is a flowchart of control for setting the correction value to 0 when the work implement is at the highest position and when the tractor is in the horizontal state. Drawing, FIG. 9 is a side view showing a wireless control mechanism between the tractor and the working machine, FIG. 10 is a block diagram for performing power supply to a sensor on the working machine side by an optical signal including electromagnetic waves, FIG.
FIG. 1 is a block diagram of a mechanism in which a control signal is applied to the optical signal of FIG.

A description will be given with reference to FIGS. 1, 2 and 3. The hydraulic case 5 is disposed below the seat of the tractor, the main unit-side sensor 43 is disposed on the left side of the hydraulic case 5, and the work implement-side sensor 13 is disposed on the right side. A position setting lever 15 is disposed on the right side of the seat, and a position setting potentiometer 42 is disposed at a base of the position setting lever 15. A tillage depth feedback potentiometer 11 for tillage depth control is arranged on the right side of the hydraulic case 5, and is configured to transmit the rotation angle of the rear cover of the rotary tillage device by a wire and rotate the potentiometer arm. The position detection potentiometer 10 is arranged at the base of the lift arm 44, and detects the rotation position of the lift arm 44.

[0007] In response to signals from the position setting potentiometer 42, the cultivation depth feedback potentiometer 11, and the lift arm angle sensor 10, the lift arm 44 protruding from the hydraulic case 5 rotates up and down to lift and lower the work implement. The lift link 27 of the present invention is connected to the lift arm 44 so that the lift link 27 is connected to the lower link 2.
6. A work machine tilt control cylinder C is interposed between the lift arm 44 and one of the lift links 27, and the controller determines the signals from the work machine side sensor 13 and the machine side sensor 43 by the controller. By controlling the expansion and contraction of the tilt control cylinder C, the working machine is controlled to a desired angle state.

In the configuration of the angle control mechanism of the working machine,
The sensor for detecting the inclination angle of the work implement is not provided on the side of the work implement, but is disposed as a work implement-side sensor 13 on the side surface of the hydraulic case 5. In order to detect the tilting state of the working machine by the working machine sensor 13 disposed on the machine side, the working machine sensor 13 is disposed on a working machine sensor support base 14, and the working machine sensor 13 is provided. The support table 14 is set at the same angle as the tilt angle of the working machine.
It is pushed up from below by the rotating pin 7 and tilted. In the present invention, the correction dial D is disposed at a position above the sensor arm 6 at which the operator can easily operate, and the position of the connection holes 1, 2, 3, and 4 of the lift link 27 and the connection hole of the lower link 26 are adjusted. When the positions of A and B are different, a correction value is input to the control circuit so that the control is always performed normally.

The pivot arm 7 is operated by the sensor arm 6. The sensor arm 6 includes a lift link 27
Position of the sensor arm 6 via the sensor wire 41.
Has been communicated to. The arc wire guide 12 is fixed to the sensor arm 6 so that the expansion and contraction of the sensor wire 41 and the arc rotation of the sensor arm 6 accurately correspond to each other. By providing the arcuate wire guide 12, as shown in FIGS. 2 and 3, the inner of the sensor wire 41 having the outer fixed to the outer receiver 20 always draws an arc along the arcuate wire guide 12. Since the connection position P at the tip of the sensor arm 6 always moves on the circular arc with P1 and P2 because the wire extends and contracts in the state, the wire does not pass through the shortest position that is the chord position. The extension amount and the rotation position of the sensor arm 6 accurately correspond to each other.

The sensor arm 6 is pivotally supported by a pivot shaft 17, and the other end of the sensor arm 6 pivotally supported by the pivot shaft 17 is fixed with a pivot pin 7. The rotation pin 7 is supported on the lower surface of the work implement-side sensor support 14,
When the rotation pin 7 moves up and down, the work implement-side sensor support 1
4 goes up and down. The work machine-side sensor support 14
Since one end is pivotally supported by the pivot shaft 18, the work implement-side sensor support base 14 is inclined at the same angle as the inclination angle of the work implement, and the work implement-side sensor 13 is also inclined at the same angle. is there. A return spring 16 is interposed in the sensor arm 6.

When connecting the lift link 27 and the lower link 26, if the work equipment is changed, the connection state is changed accordingly. For example, the rotary tilling device cuts into the soil, so the connection hole 4 at a lower position is used. However, in the case of a mower mower or the like, since the work is performed while floating to some extent from the ground, the connection hole 1 is not used. They are connected. Connecting holes 1, 2, 3 on the side of the lift link 27
If the adjustment cannot be made with only 4, the connection holes A, B, and C on the side of the lower link 26 are selected, and the positional relationship between the tractor and the work implement is further adjusted.

In FIG. 4, connecting holes 1, 2, 3, 4 and 4 are formed on the side of the lift link 27, and three connecting holes A, B, C are formed on the side of the lower link 26. Has been established. Further, in the embodiment shown in FIG. 5, only the long hole is provided on the side of the lift link 27, but two connecting holes A and B are provided on the side of the lower link 26. In the embodiment of FIGS. 4 and 5, the correction dial D is changed as shown in FIG. 7 depending on which of the connection holes 1, 2, 3, 4 or the connection holes A, B, C is selected. .

Next, the main part of the present invention will be described with reference to FIG. The correction formula for the correction dial D is determined as shown in the flowchart of FIG. 8. When the scale of the correction dial D and SW1 to SW4 are selected, a constant k obtained from the correction value data table is input. . The present invention relates to the connection holes 1, 2, 3, 4 and the connection holes AB as described above.
The constant k for obtaining the correction value Y based on the connection state is set to 0 when the tractor is in the horizontal state and when the work machine is raised to the highest position in order to rotate at the field end, so that the correction is not performed. It is. In other words, the correction value as shown in FIG. 8
Y is represented by a sensor value y of the work implement-side sensor 13.
The sensor value x of the lift arm angle sensor 10 and the
Of the sensor 43 of the sensor 43 and a constant k.
Of the lift arm angle sensor 10.
Sensor value x is 49 degrees or more, and the work equipment is in the highest state
Is detected, or the sensor 43 of the main unit side sensor 43 is detected.
-If the value Z is 0 or very close to 0, i.e.
In the case of flat, the constant k is set to 0 .

FIG. 9 is a side view of a configuration for wirelessly exchanging signals between the tractor and the work implement. The rotary tillage device R, which is a working machine, is provided with a rear cover sensor 30 for detecting the rotation angle of the rear cover 28 and a tillage cover rotation sensor 31 for detecting the rotation position of the tillage cover 33. However, signals are exchanged between the wireless transmitter 22 and the wireless receiver 21. In addition to the control signal, the operating power of the sensor and the tiller cover rotating cylinder 2
It is necessary that the electric power of the rotary motor 25 operating the motor 9 be separately supplied as a large current from the tractor side to the work implement side. Conventionally, the electric power is provided by providing a contact-type power supply device separately from the control signal. It was transmitted.

In this configuration, the sensor driving power, the driving power of the rotating motor 25, and the like are converted into optical signals including electromagnetic waves by the radio transmitter 22 of the work implement side bracket 24.
Between the radio receivers 21 of the tractor-side bracket 23. In FIG. 10, the bulb is turned on by the power supply on the tractor side.
Then, the light signal is used to irradiate the light from the bulb to the solar cell provided on the side of the working machine to obtain electric power, and the electric power is stored in the battery for use. Also, when working in a field on a sunny day, sunlight is obtained from a solar cell, stored in a battery, and used as power on the working machine side. FIG.
In the first method, a light signal is emitted by a light emitting element, received by a light receiving element such as a solar cell, a control signal is applied to the light signal, and the received signal is received by the light receiving element. It was configured to be used as a control signal after molding.

[0016]

As described above, the present invention has the following advantages. First, when the tractor is horizontal, it is not necessary to control the tilt angle of the work implement. Even in this case, when the correction value Y is transmitted, the work implement tilted to the horizontal tractor is mounted. There is a danger of collision with an obstacle even when traveling on the road. In this state, the risk can be avoided by setting the constant k for obtaining the correction value Y to 0 in this state. Secondly, even when the work implement is in the highest state and goes around the field edge, if the work implement does not return to a horizontal position, there is a possibility that the work implement will collide with an obstacle that should not collide. The present invention, even in this state,
By setting the constant k for obtaining the correction value Y to 0, danger could be avoided.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor showing an arrangement of a work machine side sensor 13 and a machine side sensor 43 of an angle control mechanism of a work machine according to the present invention.

FIG. 2 is a side view of a part including a work machine-side sensor support 14 and a sensor arm 6;

FIG. 3 is a rear view of the work machine-side sensor support 14 and the sensor arm 6;

FIG. 4 is a side view of an embodiment in which connection holes 1, 2, 3, and 4 are provided in a lift link 27;

FIG. 5 is a side view of an embodiment in which connection holes AB are provided in a lower link 26;

FIG. 6 is a plan view of a correction dial D.

FIG. 7 is a drawing showing a relationship between connection holes 1, 2, 3, 4 and a correction dial D.

FIG. 8 is a flowchart of control for setting a correction value to 0 when the working machine is at the highest position and when the tractor is in a horizontal state.

FIG. 9 is a side view showing a wireless control mechanism between the tractor and the work implement.

FIG. 10 is a block diagram in which electric power is supplied to a sensor on the working machine side by an optical signal including an electromagnetic wave.

11 is a block diagram of a mechanism in which a control signal is applied to the optical signal of FIG.

[Explanation of symbols]

 A, B, and C connection holes D Correction dial G Model setting dial 1, 2, 3, 4 Connection holes 5 Hydraulic case 6 Sensor arm 7 Rotating pin 13 Work implement side sensor 14 Work implement side sensor support 21 Radio receiver 22 Wireless transmitter 26 Lower link 27 Lift link 30 Rear cover sensor 31 Tilling cover rotation sensor

Claims (1)

(57) [Claims] 1. A tilt control mechanism of the working machine which is attached to the tractor side and interposed working machine tilt control cylinder C in the lift link 27, the expansion and contraction length of the lift link 27, and arranged on the tractor side When the work machine side sensor 13 is mounted on the work machine side sensor support 14 and the connection hole between the lift link 27 and the lower link is changed, the angle is converted to the inclination angle of the work machine side sensor support 14. in the configuration for correcting the detected value of the working machine side sensor 13 by the correction value, complement
The positive value Y is calculated with respect to the sensor value y of the work implement sensor 13.
And the sensor value x of the lift arm angle sensor 10 and the
Multiplied by a sensor value Z of the side sensor 43 and a constant k.
The lift arm angle sensor 1
When the sensor value x of 0 is 49 degrees or more, the work machine is in the highest position
Is detected or when the sensor 43 of the main unit side is detected.
If the sensor value Z is 0 or very close to 0,
A work machine control mechanism for a tractor or the like , wherein a constant k is set to 0 when the table is horizontal .