JPS648124B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a stirring depth control device for a road stabilizer used to improve the supporting force of a roadbed.

Road stabilizers are used to improve the bearing capacity of roadbeds and roadbeds. Incidentally, the work site is generally uneven, and at best the ground is leveled using a pushing bulldozer, grader, etc., and the road stabilizer is irregularly tilted in the traveling direction and the transverse direction during the work.

In particular, since one of the traveling devices will run onto the water that has already been stirred, the road stabilizer must be tilted in one direction to carry out the stirring work.

For this reason, with conventional load stabilizers, the stirring depth of the stirring device cannot be avoided due to the inclination in the traveling direction and the transverse direction. Currently, it is necessary to advance the stabilizer and slide the stirring device in the transverse direction. Therefore, there are inconveniences such as not being able to perform stirring work according to the set values and not being able to expect high-quality stirring work.
If construction is attempted as close to the design value as possible, the operator will have to perform frequent operations, which poses a problem in that safe work performance and high work efficiency cannot be ensured.

This invention has been made in view of the above points, and the present invention immediately and automatically corrects the inclination of the stirring device in the traveling direction and the transverse direction due to the inclination of the load stabilizer in the traveling direction and the transverse direction. It is an object of the present invention to provide a stirring depth control device such as a load stabilizer that can accurately set a stirring device to a predetermined stirring depth.

Therefore, in order to achieve this object, the present invention sets the swing center of the support arm at a point on both sides of the frame corresponding to the vicinity of the center of gravity of the traveling body (hereinafter simply referred to as the body) with respect to the body. a swingably supported stirring device; a pair of left and right tilt cylinders that connect the stirring device and the machine body and operate the tilt angle and depth of the stirring device with respect to the machine body; and the stirring device a first inclination angle detector attached to the agitation device 4 for detecting an inclination angle of the agitation device in the advancing direction with respect to a horizontal reference line;
A second inclination angle detector 22 is attached to the stirring device and detects the inclination angle in the transverse direction with respect to the horizontal reference line of the stirring device, and the first inclination angle detector 21 is fixed, and the inclination angle is determined with respect to the traveling direction. an inclination angle detector mounting member 23 that is freely settable and attached to the outer wall surface of the cover 4a of the stirring device; and a mounting angle indicating gauge that is attached to the outer wall surface of the cover 4a of the stirring device and indicates the mounting angle of the mounting member 23. 24
The detection signal of the first inclination angle detector 21 is compared with a preset control reference angle and a dead zone, and the stirring device is moved so that the inclination angle in the direction of movement falls within the dead zone and maintains the control reference angle. depth control means for correcting the inclination angle of the direction and controlling the expansion and contraction of the pair of cylinders to bring the stirring device to a predetermined stirring depth position set in advance with respect to the machine body; The detection signal is compared with a preset control reference angle and a dead zone, and the transverse tilt angle of the stirring device is adjusted at the same time as the depth control means so that the transverse tilt angle is within the dead zone and the control reference angle is maintained. The present invention is characterized by comprising a tilt control means for correcting the above-mentioned cylinders and individually controlling expansion and contraction of the pair of cylinders.

The present invention will be explained below with reference to an illustrated embodiment.

FIG. 1 is a side view of a load stabilizer equipped with a stirring depth control device according to the present invention;
Reference numeral 1 denotes a road stabilizer body that is self-propelled by wide crawlers 2, and a tine device 4 as a stirring device is installed at the rear of the body 1 via a tine support device 3.

First, the tine support device 3 will be described in detail. The tine support device 3 includes a pair of left and right support arms 5, 5 attached to the left and right side frames of the body 1 so as to extend rearwardly, and a pair of right and left support arms 5, 5. A center shaft 6 fixed between the movable end portions 5b, 5b, a slide plate 7 connected to the center shaft 6, and a pair of support members 8, 8 for connecting the tine device 4 to the slide plate 7. It is composed of

The support arms 5, 5 have a base 5 at one end thereof.
a, 5a are connected to the left and right side frames of the fuselage 1 by pivots 1a, 1a, respectively, and mating flanges 9, 9 as attachment parts are provided at the other moving side ends 5b, 5b. ing. The center of the pivots 1a and 1a above is the reference line (ground line) GL of the road surface while the road stabilizer is moving.
It is set at the left and right side frames of the aircraft body 1 corresponding to the position where vertical movement is least relative to the aircraft body 1, that is, near the center of gravity of the aircraft body 1. In addition, the mating flange 9,
The flange surfaces 9a, 9a of 9 are inwardly opposed to each other, and a plurality of bolt insertion holes 9b are provided in the flange surfaces 9a, 9a. The movable end portions 5b, 5b are extended to the rear of the body 1 and are swingable about the pivots 1a, 1a.

Next, the center shaft 6 will be explained. The center shaft 6 has a substantially T-shape, and mating flanges 10, 10 are provided at opposing positions of the center shaft 6, and a cylindrical insertion shaft 11 is provided at the center of the center shaft 6. is formed to protrude. The mating flanges 10, 10 have the same shape as the mating flanges 9, 9 of the support arms 5, 5, and when the insertion shaft 11 is directed toward the rear of the fuselage 1, the mating flanges 9, 9 and corresponding mating flanges 10, 10 of the center shaft 6 are fixed.

Next, the slide plate 7 will be explained.
On the front surface of the slide plate 7, a cylindrical center boss 12 into which the insertion shaft 11 is inserted, and two mounting pieces 13, 13 on the left and right sides are fixedly provided. The inner diameter of the center boss 12 is slightly larger than the outer diameter of the insertion shaft 11, as shown in FIG. is inserted into. or,
The above mounting pieces 13, 13 and this mounting piece 13, 13
Right and left tilt hydraulic cylinders (hereinafter referred to as tilt cylinders) 15 and 16, which serve as operating means for the tine device 4, are provided between the fuselage 1 and the fuselage 1 located directly below the tine device 4.
A mounting piece 7a is provided at the right end of the rear surface of the slide plate 7.

On the other hand, on the front side of the upper surface of the tine device 4, a pair of substantially C-shaped support members 8, 8 are protruded, and between these guide grooves 8a, the slide plate 7 is arranged horizontally. It is supported in a slidable manner. Also, a mounting piece 1 is attached to the support member 8 on the left side in the direction of travel.
7 is provided, and a shift hydraulic cylinder 18 is provided between this mounting piece 17 and the mounting piece 7a of the slide plate 7.

Note that the tine device 4 includes a tine rotor 1.
9 is housed therein, and can be freely driven by a drive device 20.

Next, a tilt angle detector 21 as a first tilt angle detector that detects the tilt angle α of the tine device 4 in the front-rear direction, that is, the traveling direction, and a tilt angle β of the tine device 4 in the left-right direction, that is, the transverse direction. The inclination angle detector 22 as a second inclination angle detector for detecting the angle will be explained with reference to FIGS. 1 to 5.

The tilt angle detector 21 and the tilt angle detector 22
For example, the inclination angle detector 21 is configured to be able to convert the detected inclination angles α and β into detected voltage signals corresponding to the inclination angles in real time. The tilt angle detector 22 is attached to the front end side of a mounting beam 23 as a tilt angle detector mounting member, and the tilt angle detector 22 is fixed to the upper part of the tine cover 4a. The mounting beam 23 is configured to have an arbitrary inclination angle with respect to the direction of movement, and intersects with the rotation center M of the tine rotor 19, so that when the tine rotor 19 is set to a preset stirring depth _h0, , is positioned parallel to the horizontal reference line FL along the direction of travel. That is, when the tine rotor 19 is set at the stirring depth _h0 , the detected angle of the inclination angle detector 21 with respect to the horizontal reference line FL is zero, and the detected voltage output is zero.
Further, the tine cover 4a is provided with a beam mounting angle indicating gauge 24 on an extension of the mounting beam 23. The beam mounting angle indicating gauge 24 is designed to indicate the mounting angle of the mounting beam 23 with respect to the tine cover 4a.

Further, the inclination angle detector 22 detects the inclination angle of the tine device 4 with respect to the horizontal reference line SL along the transverse direction of the load stabilizer, about the tilt center N.

Next, a control circuit for controlling the stirring depth of the tine device 4 will be explained with reference to FIG.

The stirring depth control circuit is composed of a depth control means and a tilt control means, and is controlled by a depth control circuit section 25, a tilt control circuit section 26, and a command from the depth control circuit section 25 and tilt control circuit section 26. , solenoid valves SOL ₁ and SOL ₂ that extend and retract the tilt cylinders 15 and 16 are provided.

The depth control circuit section 25 and the tilt control circuit section 2
6 has the same configuration, and first the depth control circuit section 2
5 will be explained. The tilt angle detector 21 is connected to one end of each input side of the voltage level comparison comparators CP ₁ and CP ₂ . A dead zone (-) direction setting volume VoL ₁ and a _control reference angle setting volume VoL ₃ are connected to the other end of the input side of the voltage comparison comparator CP ₁ . At the other end,
Dead zone (+) direction setting volume VoL ₂ and control reference angle setting volume VOL ₄ are connected. Further, the output side of the voltage ratio comparator CP ₁ is connected to the solenoid valve SOL 1 via the amplifier AMP ₁ and the power transistor TR ₁ , and the output side of the voltage comparison comparator CP ₂ is connected to the solenoid valve SOL ₁ via the amplifier AMP 1 and the power transistor TR 1.
It is connected to the solenoid valve SOL ₂ via the amplifier AMP ₂ and the power transistor TR ₂ . still,
The solenoid valves SOL ₁ and SOL ₂ are control valves for expanding and contracting the tilt cylinders 15 and 16.

Next, the tilt control circuit section 26 will be explained. The tilt angle detector 22 is connected to one end of each input side of the voltage level comparison coparators CP ₃ and CP ₄ . The other end of the input side of the voltage comparison comparator _CP3 has a dead zone (-) direction setting volume VoL ₅ and a control reference angle setting volume.
VOL ₇ is connected, and a dead zone (+) direction setting volume VoL ₆ and a control reference angle setting volume VoL ₈ are also connected to the other input end of the voltage comparison comparator CP ₄ . and,
The output side of the voltage comparison comparator CP ₃ is connected to the amplifier
connected to the above solenoid valve SOL ₁ via AMP ₃ and power transistor TR ₃ ;
The output side of the voltage comparison comparator CP ₄ is connected to the amplifier
It is connected to the solenoid valve SOL ₂ via AMP ₄ and power transistor TR ₄ .

Here, in the depth control circuit 25, a dead zone (-) direction setting volume VoL ₁ and a dead zone (+) direction setting volume VoL ₂ are used.
As shown in FIG. 4, the dead zone of the inclination angle α in the advancing direction of the tine rotor 19 is defined by the horizontal reference line F.
It can be set arbitrarily in advance within the range of −α ₀ ≦ α ≦ + α ₀ with L. as a reference. Further, the control reference angle setting volumes VoL ₃ and VoL ₄ are the control reference angle α _x of the inclination angle α in the traveling direction, that is, the maximum control range of the tine rotor 19 with respect to the horizontal reference line FL as shown in FIG. It is possible to set it arbitrarily in advance within the range of α _y ≦α _x ≦+α _y . In other words, when the roadbed or roadbed to be agitated is a slope, etc.
A control reference angle is set so that the inclined surface can be stirred at a constant depth, and the tine rotor 19 is arranged parallel to the inclined surface.

Similarly, in the tilt control circuit section 26, a dead zone (-) direction setting volume VoL ₅ and a dead zone (+) direction setting volume VoL ₆ are set.
As shown in FIG.
−β ₀ ≦ with respect to the vertical reference line HL perpendicular to
It can be set arbitrarily in advance within the range β≦+β ₀ . In addition, the control reference angle setting volume VoL ₇ ,
VoL ₈ is the control reference angle β _x of the transverse inclination angle β,
In other words, as shown in Figure 5, the vertical reference line HL
The maximum control range of the tine rotor 19 can be arbitrarily set in advance within the range -β _y ≦β _x ≦ +β _y with reference to . In other words, when the roadbed or roadbed to be stirred is an inclined surface, the tine rotor 19 can be corrected to be parallel to the inclined surface.

In addition, struts 27 and 2 are provided on the left and right sides of the fuselage 1.
Depth indicating pointers 28, 28 of the tine rotor 19 are attached to 7 so as to be movable up and down. End 5
b, 5b. However, the guideline 2
The upper ends of the depth indicator gauges 8 and 28 are configured to indicate scales corresponding to the stirring depth of the tine rotor 19 on the depth indicator gauges 30 and 30.

The effects of the above configuration are shown in Fig. 6, Figs. 10 to 12 showing the advancing direction control model, Figs. 7 to 9 showing the transverse direction control model, and Fig. 13 showing the stirring depth control flowchart. Figure and 14th
4, which shows the depth control pattern, and FIG. 5, which shows the tilt control pattern.

7 to 9 are views of the load stabilizer viewed from the rear. When stirring work is performed using the tine rotor 19, initially the left and right crawlers 2, 2 of the load stabilizer are moved as shown in FIGS. 7 and 10. is on a relatively horizontal roadbed or roadbed, the inclination angle β in the transverse direction between the machine body 1 and the tine rotor 19 is 0, and the tine rotor 19 stirs at a predetermined stirring depth h ₀ . However, as the work progressed, one of the crawlers 2 ran onto the area that had already been stirred and raised, causing the load stabilizer body 1 and tine rollers 19 to be damaged.
will be tilted in the transverse direction.

First, a case will be described in which the left crawler 2 runs aground, the body 1 and the tine rotor 19 tilt to the right by an inclination angle β=β ₁ ≦0, and the body 1 tilts by an inclination angle α about the pivots 1a, 1a.

The inclination angle in the transverse direction β=β ₁ ≦0 is determined by the inclination angle detector 2.
2 detects and generates a detection voltage Vβ ₁ as a detection signal, which is input to voltage comparison comparators CP ₃ and CP ₄ . Further, the detection voltage Vβ ₁ is compared with the set voltage of the (-) direction setting volume VoL ₅ and the set voltage of the (+) direction setting volume VoL ₆ of the dead zone.

Now, during stirring work using the load stabilizer,
As shown in FIG. 8, the inclination angle β in the transverse direction of the fuselage 1 and the tine rotor 19 is β<0 (downward to the right).
The operation mode for extending/contracting or stopping the left and right tilt cylinders 16 and 15 of the aircraft differs depending on whether β>0 (downwards to the left). operates in the mode shown in FIG. 14, and switching between the modes shown in FIG. 13 and FIG. 14 is performed manually or automatically based on the state of the machine body 1 at the time of startup.

First, the mode shown in Fig. 13 will be explained.
This is selected when the state of the aircraft 1 at the time of starting the road stabilizer is β<0 (downward to the right) or tends to be downward to the right.

Now, as shown in Fig. 13, the tine rotor 1
The inclination angle β1 of 9 is inclination angle β ₁ ≧−β ₀ and β ₁ ≦β ₀
If so, the tilt angle β ₁ is in the dead zone, SOL ₂ is not activated and the left and right tilt cylinders 16 and 15 of the aircraft are in a stopped state, but when β ₁ ≧ − β ₀ is not, that is, when β ₁ < 0. is β ₁ ≧−β ₀
The solenoid SOL ₂ is operated until the left tilt cylinder 16 is contracted and the right tilt cylinder 15 is stopped, or when β ₁ ≦β ₀ , that is, when β ₁ >0, β ₁ ≦β ₀ The left tilt cylinder 16 is extended so that the lowermost end of the tine rotor 19 becomes parallel to the horizontal reference line SL.

In this way, the right tilt angle β ₁ is detected by the tilt angle detector 22.
is detected, and the tine rotor 19 is aligned with the horizontal reference line SL.
Similarly, the inclination angle α in the traveling direction is detected by the inclination angle detector 21, and
The detected voltage changes from V ₀ at the horizontal time to Vα, and is input to voltage comparison comparators CP ₁ and CP ₂ . Therefore, the detection voltage Vα is compared with the set voltage of the (-) direction setting volume VoL ₁ and the set voltage of the (+) direction setting volume VoL ₂ of the dead zone.
That is, when the tilt angle α≦α 0 and α≧−α _{0 ,} the tilt angle α is in the dead zone, SOL ₁ is not activated, and the right tilt cylinder 15 is in a stopped state. Furthermore, when α≦α ₀ is not the case, in other words, when α>α ₀ and the stirring depth is expressed as (h ₀ +hk) as shown in Fig. 11, SOL ₁ is maintained until α≦α ₀ . When activated, the right tilt cylinder 15 is extended. Furthermore, when α≧−α ₀ , in other words −α<−α ₀
When the stirring depth is expressed as (h ₀ −hk), SOL ₁ is operated and the right tilt cylinder 15 is operated to contract until α≧−α ₀ . From this,
The mounting beam 23 of the tine device 4 is the horizontal reference line FL
At the same time, the tine rotor 19 is moved up and down by hk, the stirring depth is indicated by the depth gauge 30, and the lowest end of the tine rotor 19 is positioned at the preset stirring depth h ₀ .

Next, the mode shown in FIG. 14 will be explained.
This is selected when the aircraft 1 is β>0 (downward to the left) or tends to be downward to the left.

First, the right crawler 2 runs over and the inclination angle β=
Tilts to the left by β ₁ ≧ 0, and aircraft 1 pivots to pivot 1
A case where the lens is tilted by an inclination angle α with a and 1a as the center will be described.

The inclination angle in the transverse direction β=β ₁ ≧0 is determined by the inclination angle detector 2.
2 detects and generates a detection voltage Vβ ₁ , which is input to voltage comparison comparators CP ₃ and CP ₄ . Therefore,
The detected voltage Vβ ₁ is compared with the set voltage of the (-) direction setting volume VoL ₅ and the set voltage of the (+) direction setting volume VoL ₆ of the dead zone. That is, as shown in FIG. 14, if the inclination angle β ₁ of the tine rotor 19 is inclination angle β ₁ ≧−β ₀ , then the inclination angle β ₁
has entered the dead zone, SOL ₂ is not activated and the tilt cylinder 15 is in a stopped state, but β ₁ ≧
When −β is not ₀ , the solenoid is operated until β≦−β ₀ .
When SOL ₁ is activated, the right tilt cylinder 15 is retracted, or when β ₁ ≦ β ₀ , the right tilt cylinder 15 is extended so that β ₁ ≦ β ₀ , and the lowest end of the tine rotor 19 is horizontal. It becomes parallel to the reference line SL.

In this way, the left tilt angle β ₁ is detected by the tilt angle detector 22.
is detected, and the tine rotor 19 is aligned with the horizontal reference line SL.
At the same time, the tilt angle detector 21 detects the tilt angle α in the traveling direction.
The detected voltage changes from V ₀ at the horizontal time to Vα, and is input to voltage comparison comparators CP ₁ and CP ₂ . Therefore, the detection voltage Vα is compared with the set voltage of the (-) direction setting volume VoL ₁ and the set voltage of the (+) direction setting volume VoL ₂ of the dead zone.
That is, when the tilt angle α≦α 0 and α≧−α _{0 ,} the tilt angle α is in the dead zone, SOL ₂ is not activated, and the left tilt cylinder 16 is in a stopped state. Also, when α≦α ₀ is not true, in other words, when α>α ₀ and the stirring depth is expressed as (h ₀ +hk) as shown in Fig. 11, SOL ₂ is increased until α≦α ₀ . When activated, the left tilt cylinder 16 is extended. Furthermore, when α≧−α ₀ is not the case, in other words, when α<−α ₀ and the stirring depth is expressed as (h ₀ +hk),
SOL ₂ is activated and the left tilt cylinder 16 is contracted until α≧−α ₀ . From this,
The mounting beam 23 of the tine device 4 is the horizontal reference line FL
At the same time, the tine rotor 19 is moved up and down by hk, the stirring depth is indicated by the depth indicating gauge 30, and the lowest end of the tine rotor 19 is positioned at the preset stirring depth h ₀ .

As described above, the depth control and tilt control of the tine rotor 19 are simultaneously performed in accordance with the inclination of the machine body 1 in the traveling direction and the transverse direction, and the lowest end of the tine rotor 19 is accurately adjusted to the preset stirring depth h ₀ . can be located.

That is, the tine rotor 19 can be always set at the preset stirring depth h ₀ by simultaneously automatically correcting the slope angles α and β for the slope in the traveling direction and the slope in the transverse direction.

The pivot point 1a, 1a of the frame on both sides of the aircraft body 1 corresponds to the vicinity of the center of gravity of the aircraft body 1, which is the point with the least vertical movement relative to the reference line GL, and these pivot points 1a, 1a are This system controls the depth and tilt of the tine rotor 19 on the assumption that it does not approximately change with respect to the reference line GL, and can automatically and accurately set the tine rotor 19 to a predetermined stirring depth during stirring work. Therefore, the workload of the driver of the road stabilizer can be significantly reduced, and construction can be performed accurately according to the design value.

In addition, when changing the stirring depth h ₀ set in advance, the mounting beam 23 is adjusted each time so that it is parallel to the horizontal reference line FL in the direction of movement, so that the direction of movement of the inclination angle detector 21 is adjusted. The detection angle can be set to an initial value of zero.

As explained above, according to the present invention, the inclination of the stirring device in the traveling direction and the transverse direction due to the inclination of the load stabilizer in the traveling direction and the transverse direction is automatically corrected immediately, and the stirring device is adjusted to a predetermined stirring depth. Settings can be made accurately, and therefore high-quality stirring work can be carried out according to the set values, and the amount of work for the driver can be reduced, resulting in the effect of ensuring safe work performance and high work efficiency.

Further, according to the present invention, the first inclination angle detector 21 for detecting the inclination angle in the direction of movement is attached to the stirring device via the mounting member 23 whose inclination angle can be set with respect to the direction of movement. As a result, the stirring depth set for the stirring device body can be easily adjusted and reset, and this stirring depth can be read directly from the outside using the mounting angle indicator gauge. be.

[Brief explanation of drawings]

FIG. 1 is a side view showing a load stabilizer equipped with a stirring depth control device according to the present invention, FIG. 2 is an exploded perspective view showing a tine device and a tine support device of the load stabilizer, and FIG. A cross-sectional view of the tine support device, FIG. 4 is an explanatory diagram showing the depth control pattern of the tine rotor, FIG. 5 is an explanatory diagram showing the tilt control pattern of the tine rotor, and FIG. 6 is a stirring depth control circuit diagram. , Figures 7 to 9
The figure is an explanatory diagram showing the transverse direction control model, No. 10.
From the figure, Fig. 12 is an explanatory diagram showing a traveling direction control model, Fig. 13 is a control flowchart when the road stabilizer is tilted to the right (β≦0) when viewed from the rear, and Fig. 14 is a control flowchart when the road stabilizer is tilted to the left (β≧0). This is a control flowchart for case 0). 1... Aircraft, 1a, 1a... Pivot, 2, 2
... Crawler, 4 ... Tine device as stirring device, 15, 16 ... Tilt hydraulic cylinder as operation means, 19 ... Tine rotor, 21 ... First inclination angle detector, 22 ... Second Tilt angle detector, 23... Mounting beam as a tilt angle detector mounting member, 25, 26... Depth control circuit section and tilt control circuit section constituting a stirring depth control circuit, F.
L.……Horizontal reference line in the traveling direction, SL…Horizontal reference line in the transverse direction, N…Tilt center, M…Tine rotor rotation center, α…Inclination angle in the traveling direction, β…
...transverse slope angle.

Claims (1)

[Claims] 1. A stirring device that is swingably supported with respect to the traveling aircraft with support frames 5, 5 pivoting at points on both side frames of the aircraft corresponding to the vicinity of the center of gravity of the traveling aircraft, and the stirring device and the traveling a pair of left and right tilt cylinders that are connected to the aircraft body and operate the tilt angle and depth of the stirring device with respect to the traveling aircraft; and a tilt cylinder that is attached to the stirring device and tilts the stirring device in the traveling direction with respect to a horizontal reference line. a first tilt angle detector 21 that detects an angle; and a second tilt angle detector 2 that is attached to the stirring device 4 and detects a tilt angle of the stirring device in a transverse direction with respect to a horizontal reference line.
2, the first tilt angle detector 21 is fixed,
A tilt angle detector mounting member 23 is attached to the outer wall surface of the cover 4a of the stirring device so that the tilt angle can be freely set with respect to the direction of travel; and the mounting member 2 is attached to the outer wall surface of the cover 4a of the stirring device.
a mounting angle indicating gauge 24 that indicates the mounting angle of No. 3;
The detection signal of the first inclination angle detector 21 is compared with a preset control reference angle and a dead zone, and the inclination of the stirring device in the advancing direction is determined so that the inclination angle in the advancing direction is within the dead zone and the control reference angle is maintained. depth control means for correcting the angle and controlling the pair of cylinders to expand and contract the stirring device to a predetermined stirring depth position set in advance with respect to the traveling machine;
The detection signal of the second tilt angle detector 22 is compared with a preset control reference angle and a dead zone, and the depth control means is adjusted so that the tilt angle in the transverse direction is within the dead zone and the control reference angle is maintained. At the same time, the angle of inclination of the stirring device in the transverse direction is corrected,
An agitation depth control device such as a load stabilizer, comprising: tilt control means for individually controlling expansion and contraction of the pair of cylinders.