JP2000324906A - Horizontal control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a horizontal control device for driving an actuator disposed between a frame and a working machine to adjust the rolling angle of the working machine, thus performing the horizontal control of the working machine, capable of preventing the over action or slow response of the working machine due to the rolling of the frame to improve the followingness of the working machine to the surface of a field. SOLUTION: An inclination sensor 41 for detecting the rolling angle of a frame and a rolling angle speed sensor 43 are arranged on the frame of a tractor 10, and a rolling cylinder 30 for adjusting the rolling angle of the working machine and a stroke sensor 31 for detecting the rolling angle of the working machine to the frame are arranged between the frame and the rotary work machine 12. The rolling angle of the rotary working machine 12 is calculated from the detection value of the inclination sensor 41 and the detection value of the stroke sensor 31, and the inclination direction and inclination angle of the frame are calculated from the detection value of the rolling angle speed sensor 43. The rolling angle of the rotary work machine 12 is corrected on the calculated results.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal control device, and more particularly to a horizontal control device such as an agricultural tractor or a riding control machine.

[0002]

2. Description of the Related Art In an agricultural work vehicle such as an agricultural tractor or a riding management machine, a work machine such as a rotary is connected to a rear portion of the body via a link mechanism.
An actuator for changing the rolling angle of the working machine with respect to the machine is provided between the machine and the working machine, and a tilt adjusting dial or the like for setting the rolling angle of the working machine is provided on the machine so that the rolling angle of the working machine is automatically set. Known are those equipped with a horizontal control device for adjustment.

In this horizontal control device, a sensor for detecting the rolling angle of the working machine is provided between the machine body and the working machine, and an inclination sensor for detecting the rolling angle of the machine body is provided on the machine body. Calculate the rolling angle of the machine and the rolling angle of the working machine based on the above, and output a drive signal to the actuator to maintain the rolling angle of the working machine horizontal regardless of the posture of the machine, or the rolling angle of the machine The actuator is driven so as to maintain the rolling angles of the working machine and the working machine in parallel.

In general, a tilt sensor is configured such that a pendulum that always moves in a vertical direction is suspended in a housing, and a change in the angle of left and right tilt of the housing attached to the body with respect to the pendulum is detected. Due to the inertia of the pendulum itself,
For example, when the fuselage starts to lean downward, the pendulum is left relatively to the left. Therefore, at the beginning of the tilt, a detection signal in the direction opposite to the direction in which the aircraft is actually tilted is output, and subsequently, a detection signal in the same direction as the tilt of the aircraft is output. Further, when the inclination of the body in the downward right direction is stopped, the pendulum continues to move rightward due to the inertial force, and thus outputs a detection signal for increasing the inclination angle.

As described above, the inclination sensor outputs a detection signal in the opposite direction immediately after the start of the inclination of the body, and a time delay occurs in the output of the detection signal, thereby promptly detecting the inclination of the body. Is not good. Therefore, when the rolling angle of the working machine is adjusted based on the detection value of the tilt sensor, when rolling occurs in the machine body, the output of the drive signal to the actuator may be delayed or overrun, and the The ability to follow the ground deteriorates.

Therefore, when the actuator provided between the machine and the working machine is driven to adjust the rolling angle of the working machine to perform horizontal control, it is possible to prevent the working machine from going too far and delaying the response due to the rolling of the machine. Therefore, there arises a technical problem to be solved to improve the ability to follow the ground, and an object of the present invention is to solve this problem.

[0007]

SUMMARY OF THE INVENTION The present invention has been proposed to achieve the above-mentioned object, and a working machine is connected to a rear portion of the machine via a link mechanism, and the machine is provided between the machine and the working machine. An actuator for changing the rolling angle of the working machine with respect to the machine and means for detecting the rolling angle of the working machine with respect to the machine, and further, an inclination sensor for detecting the rolling angle of the machine and the rolling angle of the working machine are set for the machine. In a horizontal control device provided with an inclination setting means, a means for detecting an angular velocity when the body rolls on the body is provided,
A horizontal control device configured to adjust a rolling angle of a work implement according to a set value of the inclination setting means, based on the detected value of the rolling angular velocity and the detection value of the inclination sensor, and the rolling angular velocity detection means When the rolling angular velocity of the machine body that is equal to or more than the predetermined value is detected, the rolling angle of the work machine is adjusted based on the detected value of the rolling angular velocity, and when the rolling angular velocity is not detected, the detected value of the inclination sensor is used. A horizontal control device configured to adjust the rolling angle of the working machine based on the detected value of the rolling angular speed of the machine when the rolling angular speed of the machine body is not detected by the rolling angular speed detecting means; Adjusting the rolling angle of the work implement based on the value detected by the tilt sensor, delayed from the output There is provided a horizontal control apparatus urchin configuration.

[0008]

An embodiment of the present invention will be described below in detail with reference to the drawings. FIGS. 1 and 2 show a small tractor 10 as an example of a work vehicle, and a rotary work machine 12 is connected to a rear part of the body via a link mechanism 11.
In the vicinity of the driver's seat 13, a position lever 15 serving as a lifting / lowering position setting means of the working machine, a tillage adjusting dial 16 serving as a working depth setting means of the working machine, and a tilt serving as a tilt setting means for setting a rolling angle of the working machine. An adjustment dial 17 and the like are provided. On the upper surface of the transmission case 18, an inclination sensor 41 for detecting the rolling angle of the fuselage and a means for detecting the angular velocity when the fuselage is pitching are provided at a substantially central portion of the upper position near the rear axle 19. A pitching angular velocity sensor 42 and a rolling angular velocity sensor 4 which is means for detecting an angular velocity when the aircraft rolls.
3 are integrally accommodated in the case 44.

The link mechanism 11 comprises a top link 20 and left and right lower links 21 and 21. The distal ends of the left and right lift arms 22 and 22 are connected to the lower links 21 and 21 by lift rods 23 and 23, respectively. When the lift arm 22 is rotated by the drive of, the lower links 21 and 21 move up and down via the lift rods 23 and 23. In this way, the rotary working machine 12 moves up and down around the distal ends of the lower links 21 and 21.

[0010] A lift arm angle sensor 25 is provided at the rotation base of the lift arm 22 as means for detecting the elevation position of the work machine. The lift arm angle sensor 25 detects the rotation angle of the lift arm 22. Then, the controller 50 calculates the elevation of the rotary working machine 12. A rear cover 27 is attached to the rear end of the main cover 26 of the rotary work machine 12 so as to be vertically rotatable. A rotation angle of the rear cover 27 is detected by a rear cover sensor 28, and the controller 50 controls the rotation of the rotary work machine 12. Calculate the tillage depth.

On the other hand, as an actuator for changing the rolling angle of the rotary working machine 12 with respect to the machine body,
A rolling cylinder 30 is provided in the middle of one of the right and left lift rods 23, and the rolling cylinder 30 is expanded and contracted to change the lift amount of the lower link 21 in the left and right directions, thereby changing the inclination of the rotary working machine 12 relative to the machine body in the left and right direction. It is formed so that it can be done.

The rotary working machine 12 for the machine body
A stroke sensor 31 is provided adjacent to the rolling cylinder 30 as means for detecting the rolling angle of
The rerolling cylinder 30 is controlled by the stroke sensor 31.
Of the rotary working machine 12 with respect to the machine
Is calculated by the controller 50, and the rolling cylinder 30 is driven in accordance with the set value of the tilt adjustment dial 17, so that the horizontal control of the rotary work machine 12 can be performed.

A steering handle 32 is provided in front of the driver's seat 13 as a steering operation part of the fuselage. A forward / backward switching lever 33 is provided near the steering handle 32, and the forward / backward switching lever 33 is provided. Is operated, the driving force transmitted to the rear wheels 34 is reversed, so that the traveling direction of the aircraft can be selected. Further, a shift lever 35 is provided at a lower front portion of the driver's seat 13, and left and right brake pedals 36, 36 which can be depressed independently of each other are provided. The rotation operation of the steering handle 32 is transmitted to the steering device 37, and the front wheel 38 turns in accordance with the steering amount. The steering amount of the front wheel 38 is detected by a front wheel turning angle sensor 39.

FIG. 3 is a block diagram of a control system. The target value of the rotary working machine 12 is set by the working depth adjustment dial 16, and the lift position of the rotary working machine 12 is detected by a detection signal of the lift arm angle sensor 25. , And the rotation angle of the rear cover 27 is detected by the rear cover sensor 28 to calculate the plowing depth of the rotary work machine. Then, in order to maintain the rotation angle of the rear cover 27 at a predetermined angle corresponding to the target plowing depth set by the plowing depth adjustment dial 16, the rising solenoid or the descending solenoid of the electromagnetic control valve that drives the lift cylinder 24 is moved to The controller 50 outputs a control signal. Accordingly, the lift arm 22 is rotated up and down, the rotary work machine 12 is raised and lowered, and the rear cover 27 is rotated so that the detection value of the rear cover sensor 28 is controlled to match the tillage depth target value.

On the other hand, the operator can arbitrarily set the rolling angle of the rotary working machine 12 by using the tilt adjusting dial 17. The rolling angle of the machine with respect to the ground is detected by the inclination sensor 41, and the rolling angle of the rotary work machine 12 with respect to the machine is detected by the stroke sensor 31. Accordingly, the rolling angle of the rotary working machine 12 with respect to the ground can be calculated from the detection values of both sensors, and the rolling cylinder 30 is driven to maintain the rolling angle of the working machine set by the tilt adjustment dial 17. The control signal is output from the controller 50 to the right-up solenoid or the right-down solenoid of the electromagnetic control valve. Therefore,
When the rolling cylinder 30 expands and contracts, the rotary work machine 12
Is controlled so that the detected value of the stroke sensor 31 matches the target value of the horizontal control.

The pitching angular velocity sensor 42 and the rolling angular velocity sensor 43 use a vibrating gyroscope system, respectively, and have a simple structure, precision, and low cost. However, a sensor of another system other than the vibration gyro system may be used. The inclination sensor 41, the pitching angular velocity sensor 42, and the rolling angular velocity sensor 43 are provided at a substantially central portion in the upper position near the rear axle 19, and are closer to the center of gravity of the body than when installed on the front wheel 38 side. As a result, there is little vibration in the vertical direction, and it is difficult to receive disturbance, and the measurement accuracy is improved. In addition, all of the three sensors are the case 44
Since it is housed integrally inside, the installation space is compact, and the power supply circuit can be shared.

Further, a horizontal mode switch, a machine body parallel mode, and an angle setting mode can be selected by a horizontal changeover switch 45, and the horizontal changeover is performed while detecting the relative tilt of the machine and the work machine and the tilt with respect to the ground. The target value of the horizontal control is determined according to the mode set by the switch 45, and the rolling cylinder 30 is driven to drive the rotary working machine 12
Adjust the tilt of.

For example, when the horizontal switch 45 is set to the horizontal mode, the rotary work machine 1 is determined based on the detected value of the inclination sensor 41 and the detected value of the stroke sensor 31.
2 is calculated with respect to the ground, and a target value of the horizontal control is determined so as to make this tilt zero. Then, a control signal is output from the controller 50 to the right-up solenoid or the right-down solenoid of the electromagnetic control valve that drives the rolling cylinder 30 so that the measured value of the stroke sensor 31 matches this target value. Therefore, regardless of the attitude of the machine body, control is performed such that the tilt of the rotary work machine 12 in the left-right direction is horizontal.

On the other hand, when the horizontal changeover switch 45 is set to the body parallel mode, the left and right lower links 21 are set.
The target value of the horizontal control is determined so that the lift amounts of the two are equal. Then, in order to drive the rolling cylinder 30 so that the measured value of the stroke sensor 31 matches this target value, a control signal is output from the controller 50 to the above-mentioned right-up solenoid or down-right solenoid. Therefore, control is performed so that the inclination of the rotary working machine 12 in the left-right direction is parallel to the inclination of the body.

When the horizontal changeover switch 45 is set to the angle setting mode, a target value of the horizontal control is determined according to the set value of the tilt adjustment dial 17 arbitrarily set by the operator, and the measurement of the stroke sensor 31 is performed. In order to drive the rolling cylinder 30 so that the value coincides with the target value, a control signal is output from the controller 50 to the above-mentioned right-up solenoid or the down-right solenoid. Therefore,
Control is performed such that the inclination becomes an arbitrary inclination set by the rotary work machine 12.

[0021]

[Table 1] Next, the change of the detection signal of the inclination sensor 41 and the change of the detection signal of the rolling angular velocity sensor 43 with respect to the rolling of the aircraft will be described with reference to Table 1. For example, if the aircraft rolls downward from the horizontal state to the right while the horizontal changeover switch 45 is set to the horizontal mode, the inclination sensor 41 is used immediately after the inclination of the aircraft is started due to the inertial force of the pendulum of the inclination sensor 41. Outputs a detection signal in a direction opposite to the actual direction when the machine body is lowering to the left, and the rolling angle of the rotary working machine 12 obtained from the detection value of the inclination sensor 41 and the detection value of the stroke sensor 31 is as shown in Table 1. As shown in column a of "a", it is erroneously recognized as "lower left",
The rolling angular velocity sensor 43 detects "there is an angular velocity in the rightward tilt direction". In such a case, it is determined that there is an error in the calculation result of the rolling angle of the rotary work machine 12, and the rolling angle adjustment signal is not output to the electromagnetic control valve for driving the rolling cylinder.

If the pendulum of the inclination sensor 41 returns to the vertical state slightly after the start of the inclination of the body, as shown in column b,
The rotary working machine 12 outputs a calculation result indicating that the rotation is horizontal, and the rolling angular velocity sensor 43 outputs a detection signal indicating that there is an angular velocity in the rightward tilt direction. In such a case, an adjustment signal is output to the right-up solenoid of the electromagnetic control valve for driving the rolling cylinder in order to correct the downward rotation of the rotary work machine 12 with respect to the machine body. Further, when the machine body continues to tilt, the pendulum of the tilt sensor 41 moves to the right side, and as shown in a column c, the rotary working machine 12 outputs a calculation result indicating that it is "downward to the right", and outputs the rolling angular velocity. The sensor 43 continues to output the detection signal of “there is an angular velocity in the right tilt direction”. At that time, an adjustment signal is output to the right-up solenoid of the electromagnetic control valve for driving the rolling cylinder in order to correct the downward descent of the rotary work machine 12 with respect to the aircraft, but since the inclination of the aircraft is advanced,
The adjustment signal to the right-up solenoid is made larger than in column b, and the rotary work machine 12 is promptly returned to the horizontal state.

On the other hand, when the aircraft rolls from the horizontal state to the lower left direction, it is assumed that the inclination sensor 41 is "downward to the right" due to the inertial force of the pendulum of the inclination sensor 41 immediately after the inclination of the aircraft is started. Outputs a detection signal in the reverse direction, and the detection value of the inclination sensor 41 and the stroke sensor 31
As shown in the column d of Table 1, the rolling angle of the rotary work machine 12 determined from the detected value of “1” is erroneously recognized as “downward to the right”, but the rolling angular velocity sensor 43 determines that “there is an angular velocity in the left tilt direction”. To detect. In such a case, it is determined that there is an error in the calculation result of the rolling angle of the rotary work machine 12, and the rolling angle adjustment signal is not output to the electromagnetic control valve for driving the rolling cylinder.

If the pendulum of the inclination sensor 41 returns to the vertical state slightly after the start of the inclination of the body, as shown in the column e,
The rotary work machine 12 outputs a calculation result indicating that the rotation is horizontal, and the rolling angular velocity sensor 43 outputs a detection signal indicating that “there is an angular velocity in the left tilt direction”. In such a case, an adjustment signal is output to the solenoid for lowering the right of the electromagnetic control valve for driving the rolling cylinder in order to correct the lowering of the rotary working machine 12 with respect to the machine body. Further, when the machine body continues to tilt, the pendulum of the tilt sensor 41 moves to the left, and as shown in the column f, the rotary working machine 12 outputs a calculation result indicating that the machine is “downwardly depressed”, and outputs the rolling angular velocity. The sensor 43 continues to output a detection signal indicating that "there is an angular velocity in the left tilt direction". In such a case, an adjustment signal is output to the lowering solenoid of the electromagnetic control valve for driving the rolling cylinder in order to correct the lowering of the rotary work machine 12 with respect to the aircraft, but since the inclination of the aircraft is advanced,
The adjustment signal to the lower right solenoid is made larger than in column e, and the rotary work machine 12 is returned to the horizontal state promptly.

The rotary work machine 1 obtained from the detected value of the inclination sensor 41 and the detected value of the stroke sensor 31
2 is calculated as “horizontal” as shown in the g column, and when the rolling angular velocity sensor 43 detects “no angular velocity”, the rotary work machine 12
Is determined to be 0, and no rolling angle adjustment signal is output to the electromagnetic control valve for driving the rolling cylinder. In the columns a and d, it has been described that the rolling angle adjustment signal is not output at all to the electromagnetic control valve for driving the rolling cylinder. However, the adjustment signal may be output so as to move up and down very slowly.

As described above, the rolling angle of the rotary work machine 12 is calculated based on the detected value of the inclination sensor 41 and the detected value of the rolling angular velocity sensor 43, so that the rolling angle adjustment signal can be output accurately and promptly. And the responsiveness of horizontal control is improved.

Here, as shown in the flowchart of FIG. 4, when the horizontal control is started, first, the states of various sensors, switches, dials, and the like are read into the controller 50 (Step 100). Routine (Step 110) and a tilt sensor reference value setting routine (Ste
p120).

In a vibration gyro type angular velocity sensor such as the above-mentioned rolling angular velocity sensor 43, the reference voltage easily drifts due to a temperature change. Therefore, a voltage which is regarded as having no angular velocity, that is, a reference value may vary depending on environmental conditions. Although there is a method of guaranteeing the temperature for the angular velocity sensor, it is necessary to combine a temperature sensor separately, which increases the cost. Therefore, the detection value of the angular velocity sensor is sampled at regular time intervals, and data whose variation in the detected value is within the prescribed value is moving averaged to obtain a reference value.

As shown in FIG. 5, when the specified time has elapsed (Step 111) and the detected value of the angular velocity sensor is within the specified value (Step 112), the detected value measured this time is used as the current data (Step 111). Step113). On the other hand, if the detected value of the angular velocity sensor deviates from the specified value when the specified time has elapsed, the data added last time is used as the current data without using the detected value measured this time (Step 114). And
Clear the oldest data of the angular velocity sensor and recalculate the moving average of the inclination of the aircraft to which this data was added (Step 11)
5) The result of this calculation is stored as a reference value with no change in angular velocity (Step 116). As shown in FIG. 6, the reference value of the inclination sensor 41 is set such that the rolling angular velocity of the airframe is zero.
In this case (Step 121), a moving average process is performed using the current tilt sensor value, and the average value: sp1 is stored (Step 122). Then, it is determined whether or not the horizontal switch 45 is in the horizontal mode (Step 123). When the horizontal mode is set to the above-described horizontal mode, the horizontal reference value of the inclination sensor 41 is set to SP.
= Sp1. On the other hand, the horizontal switch 4
5 is set to a mode other than the horizontal mode (for example, the body parallel mode or the like), the horizontal reference value of the tilt sensor 41 is set to S.
Let P = sp0.

Thus, the angular velocity sensor reference value setting routine (Step 110) and the inclination sensor reference value setting routine (Step 1)
After the end of 20), as shown in FIG. 4, the detection value of the inclination sensor 41, the set value of the inclination adjustment dial 17, and
From the target value of the stroke sensor 31 based on the current horizontal reference value SP of the tilt sensor and the current detection value of the stroke sensor 31, a rolling angle of the current rotary work machine 12 with respect to the ground is calculated (Step 130). It is determined whether or not the changeover switch 45 is in the horizontal mode (St.
ep140).

If the horizontal mode is not set, the rotary work machine 12 is set in parallel with the machine or at a predetermined angle based on the detected value of the rolling angular velocity sensor 43 and the calculated rolling angle to the ground of the rotary work machine. An adjustment signal is output to the electromagnetic control valve that drives the rolling cylinder 30 so as to satisfy (Step 150). Therefore, on an inclined land, control parallel to the inclined ground along the ridge line is possible.

On the other hand, when the horizontal mode is set, the value detected by the rolling angular velocity sensor 43 and the calculated rolling angle with respect to the ground of the rotary working machine are calculated as follows.
An adjustment signal is output to an electromagnetic control valve that drives the rolling cylinder 30 so that the rotary working machine 12 is always horizontal with respect to the ground. However, when the rolling angular velocity is not detected, even if there is a detection value of the inclination sensor 41, No adjustment signal is output to the electromagnetic control valve of the rolling cylinder (Step 160).

This is because, for example, in the scraping work, unlike the ordinary plowing work, the turning is performed with the rotary work machine 12 lowered, but at this time, since the horizontal G acts on the machine body, even if the machine body is horizontal, the machine is inclined. The sensor 41 may output a detection signal indicating that there is an inclination. In such a case, since the body is kept horizontal, the rolling angular velocity sensor 43 outputs a detection signal indicating no change in angular velocity. From this, Step
In 160, when the rolling angular velocity is not detected, the inclination sensor value is regarded as 0 and the output of the adjustment of the rolling angle is not performed.

[0034] Here, as shown by the solid line in FIG. 7, when the rotary working machine 12 there is a tilting between the time of t ₁ to time point t _m, from the inclination sensor 41 and the stroke sensor 31 rolling angle of the rotary working machine 12 to be operated, as shown by the dotted line, (the time from t ₁ t ₂₎ tilt starting immediately outputs a detection signal in the opposite direction. And
After the actual tilting operation stops at the point of time t _m, the result of the calculation of the rolling angle converges to a certain angle at the point of time t _m2 . Thus, immediately after the start of the inclination, the inclination sensor 41 outputs a detection signal in the reverse direction, so that the inclination sensor 41 cannot calculate the correct rolling angle of the rotary work machine 12.

On the other hand, as indicated by a chain line in the figure, the rolling angular velocity sensor 43 from the time t ₁ the inclined operation is started
Immediately detects a rolling angular velocity of the vehicle body, the detection signal is eliminated at the time t _m which tilting movement stops. Therefore, when the rolling angular velocity signal is detected, it is determined that the aircraft is performing a tilting operation, and the detection value of the rolling angular velocity sensor 43 is prioritized over the detection value of the inclination sensor 41, and based on the detection value of the rolling angular velocity sensor 43. Rotary work machine 12
If the rolling angle of the rotary working machine 12 is adjusted and the rolling angle of the rotary work machine 12 is adjusted based on the detected value of the inclination sensor 41 when the rolling angular velocity signal is not detected, the horizontal control is performed extremely quickly and accurately. be able to.

If the rolling angular velocity of the body detected at the rolling angular velocity 43 is ω and the detection time is T,
The rolling angle θ of the airframe is represented by the following equation.

Θ = ω × T From the rolling angle θ of the body obtained by the above equation and the detection value of the stroke sensor 31,
The rolling angle of the rotary work machine 12 is calculated, and an adjustment signal is output to the electromagnetic control valve for the rolling cylinder according to the set value of the tilt adjustment dial 17. When the rolling angular velocity has not been generated for a predetermined time or more, the adjustment based on the detected value of the inclination sensor 41 is not performed but the adjustment based on the detected value of the rolling angular velocity is performed in order to eliminate the calculation error.

When the rolling angular velocity is no longer detected due to the stop of the body tilting operation, or when the rolling angular velocity is not detected from the beginning, the rotary work is performed based on the detected value of the inclination sensor 41 and the detected value of the stroke sensor 31. The rolling angle of the machine 12 is calculated, and an adjustment signal is output to the electromagnetic control valve for the rolling cylinder according to the set value of the tilt adjustment dial 17. In such a case, the adjustment signal based on the detection value of the inclination sensor 41 is output after being delayed from the adjustment signal based on the detection value of the rolling angular velocity sensor. This is because after the inclination of the rotary work machine 12 is almost corrected based on the rolling angular velocity, the inclination sensor 4
This is because the rolling angle is corrected on the basis of 1, and if the correction is made too large, the work implement may be overloaded. For example, there are various delay methods such as delaying the adjustment signal based on the detection value of the inclination sensor 41 with an output delay or slowing the operating speed of the rolling cylinder 30 by adjusting the opening of the electromagnetic control valve or pulsating. Conceivable.

The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[0040]

According to the present invention, as described in detail in the above embodiment, the invention according to claim 1 is based on the detection value of the inclination sensor of the machine body and the detected value of the rolling angular velocity of the machine body. Since the control is performed so as to adjust the angle, it is possible to prevent the work machine from going too far or delaying the response when the machine body rolls, and to improve the ability of the work machine to follow the ground.

According to a second aspect of the present invention, when the rolling angular velocity is detected, the detected value of the rolling angular velocity is prioritized over the detected value of the inclination sensor, and the rolling angle of the working machine is determined based on the detected value of the rolling angular velocity. , The response delay can be eliminated in adjusting the tilt of the working machine.

According to the third aspect of the present invention, when the rolling angular velocity is not detected, the rolling angle adjustment based on the detected value of the inclination sensor is output with a delay, so that the rolling angle of the work machine is excessively corrected due to excessively passing. Can be prevented.

[Brief description of the drawings]

 The figure shows an embodiment of the present invention.

FIG. 1 is a side view of a body of a tractor and a rotary working machine.

FIG. 2 is a rear view of FIG. 1 from which illustration of a rear cover sensor and the like is omitted.

FIG. 3 is a block diagram of a control system.

FIG. 4 is a flowchart showing a control procedure of the horizontal control device.

FIG. 5 is a flowchart showing an angular velocity sensor reference value setting routine.

FIG. 6 is a flowchart illustrating a tilt sensor reference value setting routine.

FIG. 7 is a graph showing a comparison between a tilting operation of the work implement and detection signals of a tilt sensor and a rolling angular velocity sensor.

[Description of Signs] 10 Tractor 12 Rotary work machine 17 Tilt adjustment dial 30 Rolling cylinder 31 Stroke sensor 43 Rolling angular velocity sensor 50 Controller

Claims (3)

[Claims] A work machine is connected to a rear portion of a machine body via a link mechanism, and an actuator for changing a rolling angle of the work machine with respect to the machine body between the machine body and the work machine, and detecting a rolling angle of the work machine with respect to the machine body. And a tilt control means for detecting a rolling angle of the machine and a tilt setting means for setting a rolling angle of the work machine, wherein the machine rolls on the machine. When the angular velocity of the work implement is adjusted based on the detected value of the rolling angular velocity and the detected value of the inclination sensor, based on the set value of the inclination setting means. Characteristic horizontal control device. 2. When the rolling angular velocity detecting means detects a rolling angular velocity of the machine body that is equal to or greater than a predetermined value, the rolling angle of the work machine is adjusted based on the detected value of the rolling angular velocity, and the rolling angular velocity is not detected. 2. The horizontal control device according to claim 1, wherein the rolling angle of the work implement is adjusted based on a value detected by the tilt sensor. 3. When the rolling angular velocity of the machine body is not detected by the rolling angular velocity detecting means, it is delayed from adjustment output of the working machine rolling angle based on the detected value of the rolling angular velocity, and is based on the detected value of the inclination sensor. 3. The horizontal control device according to claim 1, wherein the rolling angle of the working machine is adjusted.