JPH021Y2 - - Google Patents
Info
- Publication number
- JPH021Y2 JPH021Y2 JP1980099000U JP9900080U JPH021Y2 JP H021 Y2 JPH021 Y2 JP H021Y2 JP 1980099000 U JP1980099000 U JP 1980099000U JP 9900080 U JP9900080 U JP 9900080U JP H021 Y2 JPH021 Y2 JP H021Y2
- Authority
- JP
- Japan
- Prior art keywords
- lift
- ground work
- work device
- attitude
- rolling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000005096 rolling process Methods 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 33
- 230000008602 contraction Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
Description
【考案の詳細な説明】
〔産業上の利用分野〕
本考案は、走行本機とその後方に配置された対
地作業装置とを、左右一対のロアーリンクを介し
て連結し、リフトシリンダの伸縮作動に基づいて
左右同時に上下揺動駆動される一対のリフトアー
ムを機体後方に向けて延設するとともに、前記各
リフトアームと前記各ロアーリンクとを、左右一
対のリフトロツドを介して連結し、前記リフトア
ームの上下揺動に連動して対地作業装置を昇降自
在に構成するとともに、前記左右一対のリフトロ
ツドのうちの一方のリフトロツドを駆動伸縮自在
に構成し、さらに、走行本機の左右傾斜に伴う対
地作業装置のローリングを検出して、前記駆動伸
縮自在なリフトロツドの長さを、対地作業装置の
対地姿勢が一定に維持されるように変更調節する
ローリング制御機構を備えた作業機に関する。[Detailed description of the invention] [Field of industrial application] The present invention connects the traveling main machine and the ground work device placed behind it through a pair of left and right lower links, and the telescopic operation of the lift cylinder. A pair of lift arms that are driven to swing up and down simultaneously on the left and right sides are installed toward the rear of the aircraft body, and each of the lift arms and each of the lower links are connected via a pair of left and right lift rods. The ground working device is configured to be able to move up and down in conjunction with the vertical swing of the arm, and one of the pair of left and right lift rods is configured to be movable and telescopic, and furthermore, the ground working device is configured to be able to move up and down in conjunction with the vertical swinging of the arm. The present invention relates to a working machine equipped with a rolling control mechanism that detects rolling of the working machine and changes and adjusts the length of the drive telescopic lift rod so that the ground attitude of the ground working machine is maintained constant.
従来、この種の作業機では、例えば実開昭54−
39302号公報に示されているように、対地作業装
置としての耕耘装置に、Ｕ字管を利用した左右傾
斜の検出装置を設け、その検出装置の検出結果に
基いて、リフトロツドを伸縮させ、耕耘装置の左
右対地姿勢を所定の水平姿勢に維持するように構
成されていた。
Conventionally, in this type of work machine, for example,
As shown in Publication No. 39302, a tilling device as a ground work device is equipped with a left/right tilt detection device using a U-shaped tube, and based on the detection results of the detection device, the lift rod is extended and contracted to perform tilling. It was configured to maintain the left and right posture of the device in a predetermined horizontal posture.
このように構成された従来のものでは、
(イ) 左右傾斜の検出装置が対地作業装置側に付設
されているため、作業装置を交換する場合に
は、その作業装置の全部に検出装置を設けなけ
ればならず、コスト高になり易い。
With conventional devices configured in this way, (a) the left/right inclination detection device is attached to the ground work equipment side, so when replacing the work equipment, it is necessary to install the detection device on all of the work equipment. This can lead to high costs.
(ロ) 本機側の駆動装置の制御を行うために、前記
対地作業装置側の検出装置を接続し直さなけれ
ばならず、作業装置の着脱に伴う付随作業が煩
雑となる。(b) In order to control the drive device on the machine side, it is necessary to reconnect the detection device on the ground work device side, which complicates the work associated with attaching and detaching the work device.
上記(イ)，(ロ)の問題点があつた。 There were problems in (a) and (b) above.
そこで、上述したような、走行本機と対地作業
装置とを連結するロアーリンクを、左右一対のリ
フトアームとそのリフトアームに連結されたリフ
トロツドとを介して吊持ちするという前提構成を
備えたものではないが、例えば実開昭53−40601
号公報に記載されているような、左右一対のリフ
トシリンダの一端側を走行本機に駆支連結し、他
端側を対地作業装置に連結して、そのリフトシリ
ンダの伸縮作動を伴つて対地作業装置としてのブ
レードを、昇降ならびにローリング自在に構成す
るとともに、左右傾斜の検出装置を走行本機側に
設け、その走行本機の傾斜に基いて左右のリフト
シリンダを伸縮作動させ、ローリング調節を行う
ようにすることも考えられなくはない。しかしな
がら、このように構成した場合には、対地作業装
置の昇降とローリングとを、ともに左右のリフト
シリンダの伸縮量で判断しなければならないた
め、左右傾斜の検出結果に基づくリフトシリンダ
の制御が複雑となり、また、走行本機と対地作業
装置とをリフトシリンダで直接連結するため、シ
リンダそのものが、長いストロークと強大な力と
を要する大型のものとなり易い問題がある。 Therefore, as mentioned above, the lower link connecting the traveling main machine and the ground work device is suspended via a pair of left and right lift arms and a lift rod connected to the lift arms. Although it is not, for example, Utsukai Showa 53-40601
As described in the publication, one end side of a pair of left and right lift cylinders is connected to the traveling machine, the other end side is connected to a ground work device, and the lift cylinders are extended and contracted to perform ground work. The blade as a working device is configured to be able to move up and down and roll freely, and a left and right inclination detection device is installed on the side of the running machine, and the left and right lift cylinders are operated to expand and contract based on the inclination of the running machine to adjust the rolling. It is not impossible to consider doing so. However, with this configuration, both lifting and rolling of the ground work equipment must be determined based on the amount of expansion and contraction of the left and right lift cylinders, making control of the lift cylinders based on the detection results of left and right inclinations complicated. Furthermore, since the traveling main machine and the ground work device are directly connected by a lift cylinder, there is a problem that the cylinder itself tends to be large, requiring a long stroke and great force.
本考案は、複数種類の対地作業を、ローリング
制御形態で行う上で便利なように、走行本機側に
左右傾斜の検出手段を設けるにあたり、制御の複
雑な、また、大型化し易いリフトシリンダを用い
ず、構造的に簡素で小型化し易いローリング調節
構造を備えた作業機を得ることにその目的があ
る。 In order to conveniently carry out multiple types of ground work using rolling control, the present invention provides a means for detecting left and right inclinations on the traveling main machine side, and eliminates the need for a lift cylinder that is complex to control and easily increases in size. The purpose is to obtain a working machine equipped with a rolling adjustment structure that is structurally simple and easy to downsize.
上記目的を達成するための本考案の技術手段
は、走行本機とその後方に配置された対地作業装
置とを、左右一対のロアーリンクを介して連結
し、リフトシリンダの伸縮作動に基づいて左右同
時に上下揺動駆動される一対のリフトアームを機
体後方に向けて延設するとともに、前記各リフト
アームと前記各ロアーリンクとを、左右一対のリ
フトロツドを介して連結し、前記リフトアームの
上下揺動に連動して対地作業装置を昇降自在に構
成するとともに、前記左右一対のリフトロツドの
うちの一方のリフトロツドを駆動伸縮自在に構成
し、さらに、走行本機の左右傾斜に伴う対地作業
装置のローリングを検出して、前記駆動伸縮自在
なリフトロツドの長さを、対地作業装置の対地姿
勢が一定に維持されるように変更調節するローリ
ング制御機構を備えた作業機において、走行本機
の水平に対する絶対的な姿勢である基準姿勢にお
いて対地作業装置の水平に対する姿勢を設定する
とともに、前記ローリング制御機構に、走行本機
の基準姿勢からの左右傾斜量を、走行本機がわに
備えたローリング検出センサーの検出結果に基い
て検出して、この左右傾斜量検出結果に基づい
て、走行本機の基準姿勢からの左右傾斜にともな
う対地作業装置の設定姿勢からの左右傾斜量を算
出する第一検出機構と、前記設定姿勢からの対地
作業装置の姿勢変化に伴う前記両リフトロツドど
うしの相対長さの差を検出して、対地作業装置の
走行本機に対する相対的な左右傾斜量を算出する
第二検出機構とを備えさせ、かつ、このローリン
グ制御機構では、前記第一検出機構によつて算出
された左右傾斜量と、前記第二検出機構によつて
算出された左右傾斜量との差が設定範囲内になる
ように、前記リフトロツドの伸縮作動を制御すべ
く構成したことであり、かかる構成から、次の作
用ならびに効果を奏する。
The technical means of the present invention to achieve the above object is to connect the traveling main machine and the ground work device placed behind it through a pair of left and right lower links, and to use the left and right A pair of lift arms that are driven to swing vertically at the same time are installed toward the rear of the aircraft, and each of the lift arms and each of the lower links are connected via a pair of left and right lift rods, and the lift arms are driven to swing vertically. The ground work device is configured to be able to move up and down in conjunction with the movement of the ground work device, and one of the pair of left and right lift rods is configured to be movable and telescopic, and furthermore, the ground work device is configured to move up and down in conjunction with the movement of the machine. In a working machine equipped with a rolling control mechanism that detects and changes and adjusts the length of the drive telescoping lift rod so that the ground attitude of the ground work device is maintained constant, In addition to setting the horizontal attitude of the ground work device in a standard posture, which is a standard posture, the rolling control mechanism also uses a rolling detection sensor provided next to the traveling machine to detect the amount of left and right inclination of the traveling machine from the reference posture. a first detection mechanism that calculates the amount of left and right inclination from the set attitude of the ground work device, which is caused by the left and right incline of the traveling machine from the reference attitude, based on the detection result of the amount of left and right inclination; and a second detection for calculating the amount of left and right inclination of the ground working device relative to the traveling main machine by detecting the difference in relative length between the two lift rods as the posture of the ground working device changes from the set posture. and in this rolling control mechanism, the difference between the left and right tilt amount calculated by the first detection mechanism and the left and right tilt amount calculated by the second detection mechanism is set within a setting range. This structure is configured to control the expansion and contraction operation of the lift rod so that the lift rod is located within the center of the lift rod, and this structure provides the following functions and effects.
(i) 走行本機側にローリング検出センサーを設け
ているので、対地作業装置自体は左右傾斜の検
出手段を要さず、また、その対地作業装置を取
り替える毎に、ローリング検出センサーと駆動
装置とを繋ぎ替えるというような煩雑な作業も
要しない。
(i) Travel Since a rolling detection sensor is installed on the main machine side, the ground work device itself does not require a means to detect left and right inclination, and each time the ground work device is replaced, the rolling detection sensor and drive device must be connected. There is no need for complicated work such as changing connections.
(ii) 走行本機と対地作業装置とはロアーリンクで
連結され、そのロアーリンクをリフトアームと
リフトロツドで吊持ちして、リフトアームの揺
動で対地作業装置全体の昇降調節が行われ、一
方のリフトロツドの伸縮で対地作業装置のロー
リング調節が行われるように構成されていると
ともに、前記本機側に設けられた左右傾斜の検
出手段と、左右のリフトロツドどうしの長さの
差の検出結果とをもつて、対地作業装置のロー
リング調節を行うように構成されているので、
一対の長いリフトシリンダを直接的に伸縮させ
て対地作業装置のローリング調節を行う場合に
比べ、全体構造の小型化を図ることができ、ま
た、リフトアームには関係なく一方のリフトロ
ツドを伸縮させるだけでローリング調節を行え
るので、制御構造も簡素化し易い。(ii) The traveling main machine and the ground work equipment are connected by a lower link, and the lower link is suspended by a lift arm and a lift rod, and the entire ground work equipment is adjusted in elevation by the swinging of the lift arm. The rolling adjustment of the ground work device is performed by the expansion and contraction of the lift rod of the machine, and the device is configured to detect the left and right inclination provided on the machine side, and detect the difference in length between the left and right lift rods. Since it is configured to adjust the rolling of the ground work equipment,
Compared to adjusting the rolling of ground work equipment by directly extending and contracting a pair of long lift cylinders, the overall structure can be made more compact, and only one lift rod can be extended and contracted regardless of the lift arm. Since the rolling adjustment can be performed with , the control structure can be easily simplified.
(iii) ローリング検出センサーでの検出結果をその
ままローリング修正の目標値として用いるので
はなく、走行本機の基準姿勢からの左右傾斜量
と、対地作業装置の設定姿勢からの両リフトロ
ツドの長さの差による対地作業装置の走行本機
に対する相対的な左右傾斜量とからローリング
修正の目標値を算出するので、フイードバツク
のための別途のローリング検出手段を要さず、
フイードフオワード的に簡素に、かつ、精度良
く制御し易く、この点でも制御構造を簡素化し
易い。(iii) Rather than using the detection results from the rolling detection sensor as they are as target values for rolling correction, we calculate the amount of left and right inclination of the traveling machine from the reference posture and the length of both lift rods from the set posture of the ground work device. Since the target value for rolling correction is calculated from the relative left and right inclination amount of the ground work equipment to the running machine due to the difference, there is no need for a separate rolling detection means for feedback.
It is easy to control the feed forward simply and with high precision, and the control structure can also be simplified in this respect.
上記(i)〜(iii)の作用から、左右傾斜の検出手段を
走行本機側に設けて、対地作業装置の取り替えに
拘らず、検出手段は本機側のものだけで良く、取
り替え付帯作業も簡単で済み、また、ローリング
制御構造の複雑化や、全体構造の大型化を避け易
い効果がある。
Based on the effects of (i) to (iii) above, a means for detecting left and right inclination is provided on the side of the traveling machine, and regardless of whether the ground work device is replaced, the detection means only needs to be on the machine side, and the incidental work of replacement can be done. It is also simple and has the effect of easily avoiding complication of the rolling control structure and enlargement of the overall structure.
以下、本考案の実施例を図面に基づいて説明す
ると、第１図に示すように、トラクタ利用走行本
機１の後部に、多連プラウ２（対地作業装置の一
例）を、左右一対のリフトアーム３，３′に連動
連結する左右一対のロアーリンク４，４′とトツ
プリンク５とから成る三点リンク６を介して連結
してあり、リフトシリンダ１９の駆動伸縮に基づ
いて前記リフトアーム３，３′を一体に上下揺動
させ、多連プラウ２を前記走行本機１と一体にロ
ーリングする状態で駆動昇降自在に連結してある
作業機において、第２図に示すように、前記走行
本機１の水平に対して平行な姿勢を基準姿勢とし
て、この基準姿勢からの走行本機１のローリン
グ、つまり、水平に対する傾き角度θを検出する
検出センサー７を前記走行本機１側に付設し、こ
れによる検出に基づいて、前記相対応するロアー
リンク４，４′とリフトアーム３，３′とを連係さ
せる左右一対のリフトロツド８，８′の一方８′を
油圧シリンダ９を介して伸縮することにより、前
記多連プラウ２の対地左右姿勢を、これが走行本
機１が基準姿勢にあるときに設定された水平に対
する姿勢、つまり、設定姿勢（水平姿勢）となる
ように自動的に修正するローリング制御機構Ａを
設けてある。
Hereinafter, an embodiment of the present invention will be described based on the drawings. As shown in FIG. The lift arms 3 are connected via a three-point link 6 consisting of a pair of left and right lower links 4, 4' and a top link 5, which are interlocked with the arms 3, 3'. . A detection sensor 7 is attached to the side of the running main machine 1 to detect the rolling of the running main machine 1, that is, the tilt angle θ with respect to the horizontal, with the attitude parallel to the horizontal direction of the main machine 1 as a reference attitude. Based on this detection, one side 8' of the pair of left and right lift rods 8, 8' that link the corresponding lower links 4, 4' and lift arms 3, 3' is extended and retracted via the hydraulic cylinder 9. By doing so, the horizontal attitude of the multiple plow 2 relative to the ground is automatically corrected so that it becomes the horizontal attitude set when the traveling main machine 1 is in the reference attitude, that is, the set attitude (horizontal attitude). A rolling control mechanism A is provided.
前記のローリング制御機構Ａは、第３図乃至第
５図に示すように、前記油圧シリンダ９にて伸縮
される側のリフトロツド８′の長さｌを検出する
検出器１０と、他方のリフトロツド８の長さl0に
相当する基準長さ信号を出力する基準信号出力器
１１及び、これからの信号に基づいて、前記伸縮
リフトロツド８′の伸縮に伴つて変化するロアー
リンク４，４′対と多連プラウ２との枢支連結点
R1，R1′対の相対上下距離h′（h′＝L2／L1（ｌ−l0）
で
L1は、ロアーリンク４，４′基端部からリフトロ
ツド８，８′との枢支連結点R2，R2′までの長さ
であり、L2は、ロアーリンク長さである。）、つ
まり、多連プラウ２の走行本機１に対する基準相
対姿勢（この場合、走行本機の基準姿勢も多連プ
ラウ２の設定姿勢も共に水平姿勢であるから、実
質的に水平姿勢である。）からの左右傾斜量を算
出する差動増幅器１２から成る第二検出機構Ｃ、
並びに、前記センサー７による検出傾き角度θに
基づいて、走行本機１のローリングに伴つて生じ
た前記ロアーリンク４，４′対と多連プラウ２と
の枢支連結点R1，R1′対の相対上下距離ｈ（ｈ＝
Losinθ≒Loπ／180θで、Loは、前記枢支連結点
R1，R1′間距離である。）つまり、走行本機１の
基準姿勢からのローリングにともなう多連プラウ
２の左右傾斜姿勢を設定姿勢（水平姿勢）に復帰
させるに必要とされる制御量を算出する増幅器１
３から成る第一検出機構Ｂとを設け、かつ、ｈ−
h′を算出する減算器１４と、これによる減算結果
と不感帯設定器１５からの出力とを比較して、ｈ
−h′＝０となるように、つまり、走行本機１に対
する多連プラウ２の姿勢変化を考慮した上で、多
連プラウ２が設定姿勢（水平姿勢）に復帰するよ
うに、前記油圧シリンダ９の電磁弁１６に対する
伸長作動回路１７と収縮差動回路１７′を作動さ
せる比較器１８，１８′を設けて構成してある。 As shown in FIGS. 3 to 5, the rolling control mechanism A includes a detector 10 for detecting the length l of the lift rod 8' on the side extended and contracted by the hydraulic cylinder 9, and a detector 10 for detecting the length l of the lift rod 8' on the side extended and contracted by the hydraulic cylinder 9, A reference signal output device 11 that outputs a reference length signal corresponding to the length l 0 of Pivotal connection point with continuous plow 2
Relative vertical distance between R 1 and R 1 ′ pair h′ (h′=L 2 /L 1 (l−l 0 )
where L 1 is the length from the base end of the lower links 4, 4' to the pivot connection points R 2 , R 2 ' with the lift rods 8, 8', and L 2 is the length of the lower link. ), that is, the reference relative attitude of the multi-unit plow 2 with respect to the running main machine 1 (in this case, since both the reference attitude of the running main unit and the set attitude of the multi-unit plow 2 are horizontal, it is substantially a horizontal attitude. ) a second detection mechanism C comprising a differential amplifier 12 that calculates the left and right tilt amount from the
Furthermore, based on the inclination angle θ detected by the sensor 7, the pivot connection points R 1 , R 1 ′ between the pair of lower links 4, 4′ and the multiple plow 2, which occur due to the rolling of the traveling main machine 1 , are detected. Pair relative vertical distance h (h=
Losinθ≈Loπ/180θ, where Lo is the distance between the pivot connection points R 1 and R 1 '. ) In other words, the amplifier 1 calculates the control amount required to return the left and right tilted posture of the multi-plow 2 to the set posture (horizontal posture) due to the rolling of the traveling main machine 1 from the reference posture.
3, and a first detection mechanism B consisting of h-
The subtracter 14 calculates h', and the result of the subtraction is compared with the output from the dead zone setting device 15.
-h' = 0, that is, after considering the change in the attitude of the multiple plow 2 with respect to the traveling main machine 1, the hydraulic cylinder is adjusted so that the multiple plow 2 returns to the set attitude (horizontal attitude). Comparators 18 and 18' are provided to operate an extension operating circuit 17 and a contraction differential circuit 17' for the electromagnetic valve 16 of No. 9.
図面は本考案に係る作業機の実施例を示し、第
１図は要部の側面図、第２図は要部の背面図、第
３図は制御ブロツク図、第４図は走行本機のロー
リングとこれに伴う対地作業装置の傾動との関係
を示す概略背面図、第５図はリンク機構の概略斜
視図である。
１……走行本機、２……対地作業装置、３，
３′……リフトアーム、４，４′……ロアーリン
ク、１９……リフトシリンダ、Ａ……ローリング
制御機構、７……ローリング検出用センサー、
８，８′……リフトロツド、Ｂ……第一検出機構、
Ｃ……第二検出機構。
The drawings show an embodiment of the working machine according to the present invention. Fig. 1 is a side view of the main parts, Fig. 2 is a rear view of the main parts, Fig. 3 is a control block diagram, and Fig. 4 is a diagram of the main traveling machine. FIG. 5 is a schematic rear view showing the relationship between rolling and the accompanying tilting of the ground working device, and FIG. 5 is a schematic perspective view of the link mechanism. 1... Traveling main machine, 2... Ground work device, 3,
3'...Lift arm, 4,4'...Lower link, 19...Lift cylinder, A...Rolling control mechanism, 7...Rolling detection sensor,
8, 8'... Lift rod, B... First detection mechanism,
C...Second detection mechanism.
Claims (1)
置２とを、左右一対のロアーリンク４，４′を介
して連結し、リフトシリンダ１９の伸縮作動に基
づいて左右同時に上下揺動駆動される一対のリフ
トアーム３，３′を機体後方に向けて延設すると
ともに、前記各リフトアーム３，３′と前記各ロ
アーリンク４，４′とを、左右一対のリフトロツ
ド８，８′を介して連結し、前記リフトアーム３，
３′の上下揺動に連動して対地作業装置２を昇降
自在に構成するとともに、前記左右一対のリフト
ロツド８，８′のうちの一方のリフトロツド８′を
駆動伸縮自在に構成し、さらに、走行本機１の左
右傾斜に伴う対地作業装置２のローリングを検出
して、前記駆動伸縮自在なリフトロツド８′の長
さを、対地作業装置２の対地姿勢が一定に維持さ
れるように変更調節するローリング制御機構Ａを
備えた作業機において、走行本機１の水平に対す
る絶対的な姿勢である基準姿勢において対地作業
装置２の水平に対する姿勢を設定するとともに、
前記ローリング制御機構Ａに、走行本機１の基準
姿勢からの左右傾斜量を、走行本機１がわに備え
たローリング検出センサー７の検出結果に基いて
検出して、この左右傾斜量検出結果に基づいて、
走行本機１の基準姿勢からの左右傾斜にともなう
対地作業装置２の設定姿勢からの左右傾斜量ｈを
算出する第一検出機構Ｂと、前記設定姿勢からの
対地作業装置２の姿勢変化に伴う前記両リフトロ
ツド８，８′どうしの相対長さの差を検出して、
対地作業装置２の走行本機１に対する相対的な左
右傾斜量h′を算出する第二検出機構Ｃとを備えさ
せ、かつ、このローリング制御機構Ａでは、前記
第一検出機構Ｂによつて算出された左右傾斜量ｈ
と、前記第二検出機構Ｃによつて算出された左右
傾斜量h′との差が設定範囲内になるように、前記
リフトロツド８，８′の伸縮作動を制御すべく構
成してあることを特徴とする作業機。 The traveling main machine 1 and the ground work device 2 disposed behind it are connected via a pair of left and right lower links 4, 4', and are simultaneously driven to swing up and down on the left and right sides based on the expansion and contraction operation of the lift cylinder 19. A pair of lift arms 3, 3' are provided to extend toward the rear of the aircraft body, and each lift arm 3, 3' and each lower link 4, 4' are connected via a pair of left and right lift rods 8, 8'. connected to the lift arm 3,
The ground working device 2 is configured to be able to move up and down in conjunction with the up and down movement of the ground work device 3', and one of the pair of left and right lift rods 8, 8' is configured to be freely movable and telescopic. The rolling of the ground work device 2 caused by the left and right tilt of the machine 1 is detected, and the length of the drive telescopic lift rod 8' is changed and adjusted so that the ground attitude of the ground work device 2 is maintained constant. In a working machine equipped with a rolling control mechanism A, the horizontal attitude of the ground work device 2 is set in a reference attitude, which is the absolute horizontal attitude of the traveling main machine 1, and
The rolling control mechanism A detects the left and right inclination amount of the traveling main unit 1 from the reference posture based on the detection result of the rolling detection sensor 7 provided beside the traveling main unit 1, and detects the left and right inclination amount detection result. On the basis of the,
A first detection mechanism B that calculates the amount of left and right inclination h from the set attitude of the ground work device 2 due to the left and right inclination of the traveling main machine 1 from the reference attitude; Detecting the relative length difference between the two lift rods 8, 8',
The rolling control mechanism A is provided with a second detection mechanism C that calculates the horizontal inclination amount h' relative to the traveling main machine 1 of the ground work device 2, and the rolling control mechanism A Left and right tilt amount h
and the horizontal tilt amount h' calculated by the second detection mechanism C is configured to control the expansion and contraction operation of the lift rods 8, 8' so that the difference between Featured work equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1980099000U JPH021Y2 (en) | 1980-07-10 | 1980-07-10 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1980099000U JPH021Y2 (en) | 1980-07-10 | 1980-07-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5720807U JPS5720807U (en) | 1982-02-03 |
| JPH021Y2 true JPH021Y2 (en) | 1990-01-05 |
Family
ID=29460687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1980099000U Expired JPH021Y2 (en) | 1980-07-10 | 1980-07-10 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH021Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6658957B2 (en) | 2001-01-18 | 2003-12-09 | Denso Corporation | Link mechanism |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58198204A (en) * | 1982-05-14 | 1983-11-18 | 井関農機株式会社 | Apparatus for inclining working machine of power agricultural machine |
| JPS58216603A (en) * | 1982-06-08 | 1983-12-16 | 株式会社クボタ | Working vehicle with rolling control mechanism |
| JPS5914707A (en) * | 1982-07-16 | 1984-01-25 | 株式会社クボタ | Working vehicle with rolling control mechanism |
| JPS5914510U (en) * | 1982-07-19 | 1984-01-28 | 株式会社クボタ | Work vehicle with rolling control mechanism |
| JPS60191109U (en) * | 1984-05-30 | 1985-12-18 | 三菱農機株式会社 | Horizontal control device for work equipment in work traveling equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5340601B2 (en) * | 1974-11-08 | 1978-10-28 | ||
| JPS5439302B2 (en) * | 1975-07-07 | 1979-11-27 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS508029U (en) * | 1973-05-25 | 1975-01-28 | ||
| JPS5728946Y2 (en) * | 1976-09-13 | 1982-06-24 | ||
| JPS6230883Y2 (en) * | 1977-08-23 | 1987-08-08 |
-
1980
- 1980-07-10 JP JP1980099000U patent/JPH021Y2/ja not_active Expired
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5340601B2 (en) * | 1974-11-08 | 1978-10-28 | ||
| JPS5439302B2 (en) * | 1975-07-07 | 1979-11-27 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6658957B2 (en) | 2001-01-18 | 2003-12-09 | Denso Corporation | Link mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5720807U (en) | 1982-02-03 |
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