JP3271350B2 - Work machine angle control mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tilting device for a working machine attached to a working vehicle such as a tractor, which can select a means for detecting the tilt of the working machine when the working machine is changed. The present invention relates to a mechanism for enabling correction.

[0002]

2. Description of the Related Art Conventionally, a technique relating to an angle control mechanism of a working machine has been known. A sensor for detecting the inclination of the work machine is provided on a tillage cover such as a rotary tillage device.
No. 257102, and those in which a sensor is provided on the machine side such as a tractor, for example,
No. 002 publication.

[0003]

However, when the working machine is replaced, if the sensor is provided on the machine side,
It is necessary to adjust the position of the link mounting hole of the three-point link type work machine mounting device according to the work machine, and it is necessary to correct it horizontally each time, but without replacing the sensor every time the work machine is replaced Can be easily replaced,
This also prevents the disconnection of the wiring connecting the sensor and this machine, and can reduce the cost as compared with the case where the sensor is attached to each work machine. In addition, when a sensor is provided on the work machine side, no matter which work machine is installed, it is not necessary to correct the link hole of the work machine mounting device, etc., which reduces the burden on the operator and is a sensor unique to the work machine. Therefore, the control accuracy also increases. As described above, since both have advantages and disadvantages, the present invention seeks to enable selection of sensors so as to make use of the characteristics of both.

[0004]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. According to the present invention, in a tilt control device of a work machine attached to a work vehicle, a controller including a calculation unit / storage unit or a part thereof of the control device and a panel unit including a setting device or a display device are separately provided. In order to make the working machine horizontal, a correcting means for correcting a difference generated due to a connection condition of the three-point link hitch is provided, and a detecting means for a horizontal angle of the working machine attached to the machine side, separately from the detecting means, The work machine is provided with means for detecting the horizontal angle of the work machine provided on the work machine side, and it is possible to select which of the horizontal angle detection means to use.

[0005] In claim 2, it is attached to the working vehicle.
In the inclination control device of the work machine,
A controller including a storage unit or a part thereof, and a setting unit or table
Separate the panel unit including the display device from the
Generated by the connection condition of the three-point link hitch
Provision of correction means for correcting differences, and work attached to the machine
Detecting means for the horizontal angle of the machine and working separately from the detecting means
Equipped with means for detecting the horizontal angle of the work machine
The detection means for the horizontal angle of the work machine provided on the industrial machine side is connected.
Means for detecting the horizontal angle of the work equipment attached to the machine
Signal is cut off, and the horizontal angle of the working machine
A switching circuit that performs horizontal control based on the signal from the detection means is provided.
It is a digit .

According to a third aspect of the present invention , in the angle control mechanism according to the first aspect, when the work equipment is changed , the inclination detection means of the work equipment mounted on the machine is switched to the inclination detection means mounted on the work equipment. At the time, or vice versa, there is provided a deviation preventing and correcting means for preventing deviation of the output values of the respective inclination detecting means.

According to a fourth aspect of the present invention , the deviation preventing and correcting means according to the third aspect is also used as an angle control setting means.

[0008]

Next, the operation will be described. In the angle control mechanism for a work machine according to the present invention, the work machine sensor 3 for detecting the inclination angle of the work machine and the machine sensor 2 are connected to a controller via a changeover switch or a changeover circuit. In the case of a changeover switch, the angle can be controlled by arbitrarily switching according to the type of work, and in the case of a changeover circuit, when the work machine sensor and the controller are connected, the work machine sensor is automatically selected and the High angle control is provided. And the signal from the work machine sensor and this machine sensor may be different depending on the work machine, so that it can be controlled in the same way when switching, it is corrected by the shift prevention correction means,
The deviation prevention correction means is also used as the angle control setting means.
Thus, if the angle can be set by the dial, the angle can be controlled arbitrarily.

[0009]

Next, an embodiment will be described. FIG. 1 is a rear view of a working machine mounting device in which an angle sensor of an angle control mechanism of the working machine of the present invention is provided on the working machine side, and FIG. 2 is a rear view of a working machine mounting device provided with the same angle sensor on the machine side. 3 is a perspective view of an operation panel unit, FIG. 4 is a control block diagram, FIG. 5 is a diagram showing a case where a connector of a switching circuit is disconnected and connected, and FIG. 6 is a switching circuit of another embodiment including a correction circuit. FIG. 7 and FIG. 7 are circuit diagrams in the case of correcting the sensor value or controlling the angle.

In FIG. 1 and FIG. 2, a working machine mounting device mounts a hydraulic case 5 on a transmission case 1 and mounts a cylinder in the hydraulic case 5 so that a working machine G described later can be raised and lowered. Lift arms 24 protrude rearward from both sides of the hydraulic case 5, and lift links 27 27 are pivotally supported at the tips of the lift arms 24 24, and one lift link 27 is integrally provided with a lift cylinder 27 a. The working machine G can be tilted left and right. Lower links 26, 26 are pivotally supported on both lower sides of the transmission case 1, and the lower links 26, 26 are protruded rearward to pivotally connect the lift links 27, 27 in the middle. Is installed. The pivotal link between the lower link 26 and the lift link 27 is provided with several adjustment holes in the longitudinal direction, and can be adjusted in accordance with the working machine by changing the insertion position of the pin according to the type of the working machine. The upper part of the work machine G and the rear surface of the transmission case 1 are connected by a top link (not shown) to form a work machine mounting device.

In such a configuration, when an angle sensor (a sensor for detecting an inclination angle from a horizontal position, which is a rotational position sensor for detecting an absolute angle) is disposed on the working machine side, as shown in FIG. An angle sensor (hereinafter referred to as “working machine sensor”) 3 is arranged at an arbitrary position of the working machine G, for example, on the upper surface of the tillage cover, and the working machine sensor 3 is connected via a wiring 17 to a control box 16 provided on the machine side. Connected to the controller 10 and the connector 1
3 is provided so that the work machine G can be detached when the work machine G is replaced. A changeover switch 14 is provided between the connector 13 and the control box 16.
6 and a solenoid of a swing valve 20 composed of an electromagnetic valve to control the pressure oil sent from the hydraulic pump P via the flow control valve 21 to extend and retract the lift cylinder 17 to adjust the angle of the working machine G. It can be changed.

In the case where the angle sensor is disposed on the side of the machine, as shown in FIG. 2, an angle sensor comprising a rotation position sensor for detecting an absolute angle at an arbitrary position of the machine such as an upper portion of the hydraulic case 5 or the like. (Hereinafter referred to as a sensor of the present device) 2, and the sensor 2 of the present device is disposed on a sensor support 9,
A sub-controller 19 is connected to the main unit sensor 2, and the sub-controller 19 is connected to the control box 16 via the changeover switch 14. It is connected. This connection is made by the controller 10 and the work implement sensor 3 as shown in FIG.
Further, the changeover switch 14 is disposed between the sensor 2 and the main unit.

A switching circuit 14 'as shown in FIG.
Is connected, the work machine sensor 3 and the controller 10 are connected, and a signal can be input from the work machine sensor 3 to perform more accurate angle control. That is, if the connector 13 is not connected, the voltage from the controller 10 is not input to the amplifier circuit 22 and the relay 2
3 also does not operate and is connected to the main unit sensor 2. Connector 1
3 is connected, the voltage from the controller 10 is input to the amplifier circuit 22, the relay 23 is operated, and the contact 23a
Rotates and is connected to the work equipment sensor 3 and the connector 13
The sensor can be automatically selected by attaching / detaching.

It is also possible to switch automatically using an IC, and as shown in FIG.
The signal is output to the controller 10 via the amplifier 40, the FET 41, and the OP amplifier 42. The signal from the work machine sensor 3 is input to the OP amplifiers 43 and 44. When there is an input from the work machine sensor 3, the OP amplifier 44 is turned on, and the FET 41 is turned off via the inverter 45 to turn off the FET 41 from the main machine sensor 2. The input is cut off, and the FET 46 is turned on. If the input of the OP amplifier 43 is not equal to the reference voltage from the correction dial D, which will be described later, if the input is not equal to the reference voltage from the correction dial D, the controller 10
To control the angle.

The support structure of the sensor 2 of the present invention is such that one side of the sensor support 9 is pivotally supported by the shaft 4 arranged in the front-rear direction and can be tilted left and right, and the other side of the sensor support 9 is turned from below. The moving pin 7 is abutted, and the rotating pin 7 is fixed to the rotating arm 6. One end of the rotating arm 6 is connected to a wire 12.
And the wire 12 is turned by pulling the wire 12, and at the same time, the sensor pin 9 is tilted by pushing up (or down) the turning pin 7. When the other end of the wire 12 is connected to the movable side of the lift link 27 provided with a lift cylinder 27a, when the lift cylinder 27a expands and contracts, the wire 12 is pulled and the sensor support base is turned via the rotation pin 7. 9 can be tilted. That is, when the work machine is tilted at an arbitrary angle with respect to the machine, the lift cylinder 27a is expanded and contracted to pull the wire 12, and the tilt angle is detected.
When the desired angle difference is reached, the expansion and contraction is stopped. Also,
In the case of horizontal control, if the main unit side is tilted on an inclined surface or unevenness, the main unit sensor 2 is also tilted together with the main unit, and the angle difference between the tilt angle of the main unit sensor 2 and the horizontal is detected, and the angle difference is detected. The work machine G is controlled to be horizontal by expanding and contracting the lift cylinder 27a.

In the case where an angle sensor is provided on the machine side, it is necessary to make a correction in accordance with the working machine, and the correction is made by adjusting the correction dial D according to the position of the pivot link between the lift link 27 and the lower link 26. By turning it in accordance with the position, the controller 10 in the control box 16 calculates a correction value so that the angle from the sensor 2 of the machine can be controlled in the same manner as in the standard time. However, it is also possible to configure to switch according to the type of work machine. The correction dial D also serves as a left and right tilt angle setting dial, and can be used as it is when the working machine is in a standard state.

That is, the lift link 27 and the lower link 26
Since the pivoting position of the part differs depending on the work equipment, the inclination is shifted from the standard position.If the same amount of inclination is input to the opposite side of this deviation, it will be zero and it will be corrected and controlled like standard time it can. This specific example will be described with reference to an electric circuit diagram shown in FIG. 7. A signal b from the main unit sensor 2 is input to the comparators 47 and 48, and a value a from the correction dial D is also input to the comparators 47 and 48. . If the working machine matches the standard working machine, a is zero, and if there is a shift, the shift value becomes a and becomes a correction value. For example, if the work implement is shifted upward to the right, the correction dial D is turned to add a value equivalent to the shift so that the downward shift to the right is corrected to zero. Therefore, the signal b from the main unit sensor 2 is compared by the comparators 47 and 48, and a value obtained by adding the difference X and b is output to the controller 10. This correction dial D can also be applied to tilt control, and if it rotates further than the correction value, the working machine will be tilted by a value deviated from the correction value. The tilt control becomes possible.

As shown in FIG. 3, the correction dial D is disposed on an operation box 30 on the side of the seat. On the operation box 30, the changeover switch 14, the backup button 31, the automatic Depth / tilt control button 3
2. A work implement elevating switch 33, a depth dial 34, and a position control lever 35 on the side thereof are connected as shown in FIG. That is, the controller 10 includes a position sensor that detects the rotation angle of the position control lever 35, a rotation cover sensor that detects the rotation angle of the rear cover of the work implement, a lift angle sensor that detects the rotation angle of the lift arm 24, and the like. Operation unit such as a sensor, a backup button 31, an automatic cultivation depth / inclination control button 32, a work implement elevating switch 33, a depth dial 34, and a display unit for displaying the depth and inclination on an operation panel before driving are connected. ing. The main unit sensor 2 is connected to a changeover switch 14 or a changeover circuit 14 'via a sub-controller 19. The changeover switch 14 includes:
The swing valve 22 is connected to the controller 10 so as to be connectable to the work equipment sensor 3.
And a lift electromagnetic valve 36 for rotating the lift arm 24.

[0019]

As described above, the present invention has the following advantages. With this configuration, the working machine sensor and the main body sensor can be used by being switched arbitrarily. When horizontal accuracy is required as in the case of farming, horizontal control is performed by a signal from the working machine sensor. When horizontal accuracy is not required much like tilling work in paddy fields, or when the work equipment is often replaced like harvesting work, the horizontal control can be performed by the signal from the sensor of this machine. Thus, it has become possible to perform horizontal (tilt) control by switching to a better detection method.

Further, since the connector of the work machine sensor is connected by the switching circuit, the signal from the machine sensor is cut off and the signal from the work machine sensor is automatically cut off. As a result, angle control is performed, and it is possible to prevent a decrease in accuracy due to forgetting to switch sensors or the like.

[0021] In addition, since it is configured as in claim 3, work
Depending on the machine, the work machine sensor or work from the machine sensor
Switch angle sensor to main unit sensor to perform angle control
At the same time, there is a gap between the two sensors.
It can be corrected by the deviation prevention correction means,
Angle control can be performed.

[0022] According to a fourth aspect of the present invention, there is provided a camera according to the third aspect.
The correction means is configured by angle control setting means.
Therefore, misalignment can be corrected by the angle control setting means.
Therefore, it is necessary to provide a separate
In addition, the setting means for angle control can be shared.

[Brief description of the drawings]

FIG. 1 is a rear view of a work implement mounting device in which an angle sensor of an angle control mechanism of a work implement according to the present invention is on the work implement side.

FIG. 2 is a rear view of the work implement mounting device in which an angle sensor is provided on the machine side.

FIG. 3 is a perspective view of an operation panel unit.

FIG. 4 is a control block diagram.

FIG. 5 is a diagram illustrating a case where a connector of a switching circuit is disconnected and a case where the connector is connected.

FIG. 6 is a switching circuit diagram of another embodiment including a correction circuit.

FIG. 7 is a circuit diagram in a case where a value of a sensor is corrected or an angle is controlled.

FIG. 8 is a connection diagram of a changeover switch.

[Explanation of symbols]

 D Correction dial G Work machine 2 Machine sensor 3 Work machine sensor 10 Controller 14 Changeover switch 14 'Changeover circuit

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A01B 63/10

Claims (4)

(57) [Claims] 1. A tilt control device for a working machine attached to a working vehicle, wherein a controller including a calculation unit / memory unit or a part thereof of the control device and a panel unit including a setting device or a display device are provided separately. Correction means for correcting the difference caused by the connection condition of the three-point link hitch for leveling the work machine is provided. An angle control mechanism for a working machine, comprising means for detecting the horizontal angle of the working machine provided on the machine side, and selecting which of the horizontal angle detecting means to use. 2. A tilt control device for a working machine attached to a working vehicle.
In the device, the calculation unit / storage unit of the control device or a part thereof
Including a controller and a panel including a setting device or display device
Three points link to separate the part and level the work machine
Correction method to correct the difference caused by the hitch connection condition
Detecting the horizontal angle of a work machine attached to this machine with a step
Means and a working machine provided on the working machine side separately from the detecting means
Work provided on the work machine side with means for detecting the horizontal angle of
When the horizontal angle detection means of the machine is connected,
The signal of the means for detecting the horizontal angle of the attached work machine is cut off,
Signal from the detector for detecting the horizontal angle of the working machine provided on the industrial machine side
An angle control mechanism for a working machine, comprising: a switching circuit for performing horizontal control by using the control circuit . 3. The angle control mechanism according to claim 1, wherein
When the work equipment is changed, when the inclination detection means of the work equipment mounted on the machine is switched to the inclination detection means mounted on the work equipment, or vice versa, the output value of each of the inclination detection means of the two. An angle control mechanism for a working machine, comprising a shift prevention correcting means for preventing the shift of the work machine. 4. An angle control mechanism for a working machine, wherein the deviation preventing and correcting means according to claim 3 is also used as an angle control setting means.