JP2014152563A - Snow remover - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an attitude control method similarly even for pitching although rolling control is developed from before as attitude control especially over a snow removing part so as to enable anybody to easily operate a compact walk type snow remover.SOLUTION: An inclination sensor is arranged at one of a snow removing part 1 and a machine body 4, placed in elevation operation simultaneously with the snow removing part 1, in a pitch direction of a degree of freedom of machine body motion so as to configure snow removing part pitching automatic control for driving the snow removing part 1 by an actuator to automatically operate to return and stay at a reference inclination angle position as its front-rear pitching inclination angle position in a machine body travel direction under lift dump automatic control over the snow removing part.

Description

The present invention mainly relates to an improvement in snow removal work efficiency and maneuverability in a small walking type snow remover used in individuals, farmers, stores, offices, small and medium businesses, and the like.

Small-sized walking type snowplows are now widely used for the above-mentioned individual mouths in the snowy country, apart from large snowplows used on public roads and public facilities managed by the country and prefectures. Especially in mountainous areas and mountainous areas where large aircraft cannot enter, demand is as high as the necessities of snowy countries. Traditionally, snow removal using this snowplow has been done by adult boys, but gradually it has become a declining birthrate and an aging population. Along with this, various contrivances and improvements in operability have been made by manufacturers so that elderly people and women without physical strength and strength can perform snow removal work as well as skilled men. Above all, the attitude control of the snow removal part has been developed for a long time, including automatic horizontal control.

JP 6-23445 Japanese Patent No. 3630899

  However, all the snow removal unit posture control so far has been only in the roll direction. (Patent Document 1 and Patent Document 2) It is easy to think as automatic control of a snowplow, and it is also because an effect that the operator can immediately see the movement of the automatic control. There have been no significant advances since several improvements and developments in this rolling direction snow removal part rolling automatic control. In the end, it was because the work equipment was highly automatically controlled, but the snow removal workability and the maneuverability were not improved dramatically. On the other hand, no effort has been made to control the posture in the pitch direction with respect to the roll direction. Certainly, both the manufacturing side and the user side were difficult to notice as the subject of the idea of automatic control. However, the attitude of the aircraft during snow removal is much greater in the pitch direction than in the roll direction. In a snowy country with a few meters of snow, the snow removal work is performed on snow that removes snow in stages from the top (stepped snow removal). Even if the snow surface looks flat and white, it is very irregular and uneven due to the condition of the ground below, as well as the quality of the snow, the snow leopard, and the puddle. During work, due to the unevenness and irregularity of the snow surface, it always tilts to the left and right (roll), and rises and sinks forward (pitch).

  Of these, the conventional automatic snow removal rolling control is effective to some extent with respect to the left / right inclination. That is, if the aircraft is inadvertently tilted to the left or right, the snow removal unit automatically returns to the set tilt angle position to continue snow removal, and the traveling unit rides on the snow removal surface and returns to the original posture. On the other hand, the effect of snow removal work due to the posture change in the pitch direction is so serious that the worst work is interrupted. The roll direction effect of the body posture depends only on the snow surface condition, but the pitch direction effect is added to the snow removal load effect. If the snow removal load is large, the snow removal part will be lifted against the snow removal reaction force, and the aircraft will also be lifted. Also, if you lose this, you will make the cut angle of the snow removal part deeper, but if you make it too deep, it will sink into the snow. In the case of floating, it is only necessary to back and resume snow removal (intermittent snow removal), but in the case of subduction, it is worst, and when it becomes noticed, it is impossible to escape (reverse). When a beginner who is unfamiliar with maneuvering removes snow on a medium-sized aircraft, this always happens, and the worst is that the truck or crane needs to be lifted. When an expert man manually operates, all the nerves are put into the adjustment of the snow removal part lift (lift dump) position.

The invention of the present application is the first to realize automatic pitching control of the snow removal part, which corrects the attitude of the snow removal machine itself against the unintentional behavior such as the lifting and sinking of the body mainly during snow removal work as described above. The present invention provides an excellent snow remover capable of continuing snow removal work stably without interruption, suspension, or difficulty of work in any snowy condition or snow removal running condition. In addition to the conventional automatic snow removal unit rolling control, the "snow maneuvering can be controlled by the elderly and women as well as the skilled male worker", which could not be achieved satisfactorily alone We provide an excellent snowplow with dramatically improved performance and snow removal efficiency.

  Means taken in the present invention to solve the above-mentioned problems include a prime mover such as an engine or a power motor, a pair of left and right crawlers, an auger that cuts and collects snow, a blower that discharges snow, and snow throwing A walk-type rotary snow remover that constitutes a snow removal part with a shooter that determines the direction, and a snow removal part that can be lifted and dumped up and down with respect to the traveling direction of the aircraft by driving the snow removal part with a hydraulic or electric actuator. An inclination sensor is arranged in one of the airframes that move up and down simultaneously with the snow removal part, and the snow removal part is moved forward and backward relative to the airframe traveling direction by driving by the actuator according to the signal of the sensor. The pitching tilt angle position is automatically returned to the set reference tilt angle position by lift dump control of the snow removal part, and settled. The pitching orientation to the self-correction is that you (pitching automatic control) configuration.

  Further, after setting the reference inclination angle setting operation to the inclination angle position of the snow removal part to be snow-removed by a manual operation by the actuator switch or joystick or the like in advance during the snow removal work by the operator, a push button or a touch sensor, With a one-touch operation device such as a touch panel, the output value of the tilt sensor at the snow removal part pitching tilt angle position is taken into the control unit, set to the reference tilt angle, and the automatic pitching control is immediately started. The tilt angle can be set to be absolutely horizontal by another operation method such as the pressing time and touch time of the one-touch operation device.

The automatic pitching control to the set reference inclination angle position including the absolute horizontal angle of the snow removal portion is performed by the pulse drive control of the actuator that follows the output value of the inclination sensor. Furthermore, this control has been developed so that it can be performed by substantially time-division proportional control of the hydraulic or electric actuator that follows the output value of the tilt sensor, and the accuracy of the snow removal portion has been greatly improved.

  The present invention has the following effects by applying the above means.

  The snow removal work efficiency can be dramatically improved because the snow removal work can be stably continued without interrupting, stopping, or being difficult in any snow accumulation situation or snow removal running situation.

  Automatic control of the body posture in conjunction with conventional automatic rolling control completely realizes that “senior and female girls can control as well as skilled male workers”, which could not be achieved satisfactorily with the snow removal part rolling automatic control alone. And the maneuverability is greatly improved.

  Since the reference inclination angle of pitching automatic control during snow removal work can be set each time according to the operator's will according to the work sensation, unlike the automatic control that operates according to the predesigned designer's idea, the user (operator) It works with the user's will, and has a human interface that backs up the user's snow removal work, dramatically improves operability and increases work efficiency.

Rather than pre-determining the basic inclination angle of the pitching automatic control of the snow removal part from the basic characteristics of the sensor, in order to capture the output value of the inclination sensor at the time of automatic control during snow removal work,
Since it cancels without depending on the environmental change (temperature, humidity, etc.) of the output characteristic value, which is the fate of the sensor characteristic, and the secular change, the performance is stable until the sensor breaks, and maintenance such as accuracy re-adjustment There is no need, and it is very easy to maintain for work machines.

  Since the snow removal portion is controlled by pulse drive to the set reference inclination angle position, the overrun is less and the settling accuracy is higher than in the conventional analog feedback control, so that the operator feels uncomfortable and the work efficiency is improved.

Furthermore, the snow removal part is set to the set tilt angle position by pulse-driven substantially time-division proportional control, so that the static accuracy is dramatically improved, ideal automatic control is achieved, and there is no discomfort to the driver. Pitching automatic control dramatically improves operability and increases work efficiency.

1 is an overall view showing a walking rotary snow remover. Example 1 It is a right view which shows snow removal part pitching control operation | movement. (Example 1) (Example 2) It is a figure which shows mounting | wearing of the inclination sensor to an auger housing. (Example 1) (Example 2) It is a see-through | perspective perspective view which shows the hydraulic drive mechanism which makes a snow removal part lift dump (lifting / lowering) operation | movement and rolling operation | movement. (Example 1) (Example 2) It is a perspective view which shows the hydraulic cylinder (return cylinder) which is an actuator, and a hydraulic solenoid valve (four-way switching valve). (Example 1) (Example 2) It is a block diagram which shows the hydraulic control circuit which makes a snow removal part lift dump (lifting / lowering) operation | movement and rolling operation | movement. (Example 1) (Example 2) It is a substantive diagram showing a hydraulic control circuit which makes a snow removal part lift dump (lifting) operation and rolling operation. (Example 1) (Example 2) It is a control circuit block diagram of a snow removal part lift dump & rolling manual operation and pitching automatic control. Example 1 It is an input-output characteristic figure of an inclination sensor. (Example 1) (Example 2) It is a control flowchart figure of a snow removal part pitching automatic control. Example 1 It is a figure which shows the operation panel for operation of the pushbutton type operating device for snow removal part pitching automatic control, and a snowplow. Example 1 It is a figure which shows the liquid crystal touch panel type operating device for snow removal part pitching automatic control, and the operation panel for operation of a snow remover. (Example 2) It is a figure which shows the snow removal machine control surface side of Example 1 and Example 2. FIG. It is the figure which compared and showed the mode of the hydraulic solenoid valve pulse drive control (upper figure) of a snow removal part pitching automatic control, and a hydraulic solenoid valve substantially time-division proportional control (lower figure).

In the practical application of this application, from the viewpoint of safety and human interface priority, when manually operating the lift dump (lifting / lowering) of the snow removal part during the snow removal part pitching automatic control, it is set to manual priority interlock control that immediately stops the automatic operation. Even if it is automatic driving, it does not move as expected from the pilot. After correcting the snow-removal portion attitude to the snow-removal portion pitching posture position to be controlled by the operator, when the push button 632 is pressed again (Example 1), the pitching automatic control operation is performed so as to maintain the corrected snow-removal portion pitching posture as it is. to go into. Continue the pilot's intention with one touch. This is an automatic operation control that does not require any other setting operations, and is the most advanced control for using conventional control operation devices such as switches and push buttons. In addition, a liquid crystal touch panel operation model for the next generation control operation device has been manufactured as a concept model (Example 2). However, even better operability that cannot be achieved with conventional switches and push buttons can be realized.

  Embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a perspective view of the snow remover according to the first embodiment when viewed from the snow removal side (upper view) and the control side (lower view). The snow remover usually scrapes or removes snow with the auger 11 and collects and collects it in the center, and the blower (not shown) in the center of the auger 11 rotates at high speed and discharges at the peripheral speed of the blower. Snow is thrown to the place intended by the pilot by the shooter 3. In the case of manual operation, the snow removal unit 1 operates the lift position and the left and right rolling position with the snow removal unit cross lever switch 61 on the operation panel 6. Similarly, in the snow throwing, the left and right directions and the snow throwing distance are operated by the shooter cross lever switch 62. These augers, blowers, and shooters are mounted on the upper body 4 together with other control parts and a prime mover (not shown). On the other hand, a crawler 51 for moving the snowplow and a traveling mission (not shown) are mounted on the lower body 5.

  FIG. 2 shows a state of the lift dump control operation of the snow removal unit 1. A pitching cylinder H3 is pivotally supported between an upper frame 41 that supports the entire upper body 4 including the snow removal part 1 and a lower frame 53 that supports the lower body 5 that constitutes the traveling part. The entire upper body 4 including the upper frame 41 rotates up and down around the axis of the driving sprocket 52 of the crawler 51 on the opposite side of the upper frame 41 from the snow removal part 1 support side. The upper figure shows the almost horizontal state of the upper body, and the lower figure shows the state where the pitching cylinder H3 is stretched and lifted. On the other hand, the snow removal portion 1 is supported in a metal configuration by the body side of the auger case 12 and the tip portion of the upper frame 41 of the upper body 4, and a rolling cylinder H1 is pivotally supported between them (FIG. 4). The snow removal part 1 rotates to the left and right with respect to the snow removal machine traveling direction around the metal. In the early days when the pitching cylinder H3 started to be used, a single-acting cylinder was used, but now, due to the importance of the snow removal function for stepping, it is pushed down more actively below the horizontal (dump) ) Because of the necessity, the return cylinder is almost used at present. That is, when the snow removal unit 1 is lowered (dumped) below the level on the road surface, the front of the traveling unit 5 rises accordingly. The above is a general configuration of the walking type snowplow that is widely spread now.

  FIG. 3 shows a mounting state of the inclination sensor S2 that detects the lift dump angle of the snow removal unit 1. A bracket 121 is fixed substantially horizontally on the back side of the auger housing 12, and an inclination sensor S2 is bolted to the substantially horizontal plane. In addition, a motor for rotating the shooter 3 and a gear reducer are also mounted on the bracket 121. FIG. 5 shows a schematic perspective view of a hydraulic pitching cylinder H3 and a hydraulic solenoid valve H2 that are actuators that cause the snow removal section 1 to perform lift dumping. The pitching cylinder H3 is a general back-acting single rod cylinder of a both-ends support type. The hydraulic solenoid valve H2 is also a general four-way switching valve and is the most basic of a spring center type using a sliding spool type solenoid solenoid.

  FIG. 4 shows a mechanism for lift dumping and rolling the snow removal unit 1 with the above components. The four-way output of the solenoid valve H2 is connected to the input ports of the expansion / contraction of the pitching cylinder H3 and the expansion / contraction of the rolling cylinder H1. The rolling of the snow removal unit 1 is rolling (rotating) in front of the upper body 4 alone with the shooter 3, whereas the lift dump of the snow removal unit 1 is the whole of the upper body 4 including the snow removal unit 1 of the sprocket 52. A lift dumping (turning) operation is performed with the shaft as a support axis.

  FIG. 6 is a hydraulic circuit diagram for causing the snow removal unit 1 to perform a lift dump operation, FIG. 7 is a substantial diagram thereof, and FIG. 8 is an electronic control block diagram for controlling the hydraulic circuit. The basic operation of the snow removal unit 1 is to make the snow removal unit 1 perform lift dumping (elevating) by extending and retracting the return-type pitching cylinder H3 from a set of two-way switching valve outputs A1 and B1 ports of the hydraulic solenoid valve H2. On the other hand, from the other two-way switching valve outputs A2 and B2 ports, the backward-acting rolling cylinder H1 is expanded and contracted to cause the snow removal section 1 to roll. Currently, the cross lever switch 61 is usually used for the manual switching operation in the hydraulic four-circuit direction. The hydraulic solenoid valve H2 outputs any one of the four ports, and a plurality of ports cannot output simultaneously.

  The automatic pitching control of the present invention will be described. Either the start of snow removal work or during the snow removal work can be performed, but after the lift dump position of the snow removal part 1 is determined by the operation of the snow removal part cross lever switch 61, the push button of the pitching automatic switch 632 (FIGS. 1 and 8) is pressed. The pitching automatic control unit U1 (FIG. 8) immediately reads and captures the output value of the tilt sensor S2 at the lift dump position, sets the reference tilt angle of the pitching automatic control, that is, the upper limit angle and the lower limit angle, and performs the pitching automatic control operation. Start. That is, after the snow removal work is in progress, the airframe will be inadvertently lifted or submerged in the irregular surface of the snow removal surface, and the reference inclination set by the output value of the inclination sensor S2 attached to the snow removal part 1 will be set. When the angle value is exceeded, the unit U1 operates the solenoid valve H2 so that the lift dump inclination angle of the snow removal unit 1 falls within the reference inclination angle value, operates the pitching cylinder H3, and causes the snow removal unit 1 to perform a lift dump operation. Thereafter, the crawler 51 of the traveling unit rides on the snow removal surface that has been removed at the reference inclination angle, and the aircraft returns to the set inclination posture, and the snow removal unit 1 also returns to the inclination position.

  If the pitching posture position is to be adjusted again during the snow removal operation, the automatic automatic control is canceled by operating the snow removal unit cross switch 61, and the snow removal unit 1 can be operated with manual priority. It is possible to operate the solenoid valve H2 directly with the snow removal unit cross switch 61, and to input a switch output to the pitching automatic control unit U1 in parallel, and when the switch 61 is operated, a manual priority interlock control circuit that immediately cancels the automatic control. It is composed. (FIG. 8) After adjusting the pitching posture position again, if the push button of the pitching automatic switch 632 (FIGS. 1 and 8) is pressed again, the pitching automatic control operation is continued at the new reference inclination angle position. The driver's intention is automatically continued with one touch without any other setting operations.

This automatic pitching control is also equipped with an automatic horizontal operation control function. If the push button of the pitching automatic control switch 632 is continuously pressed for 2 seconds or more, the absolute horizontal angle value of the inclination sensor S2 (described later) registered in the snow removal unit pitching automatic control unit U1 at the time of manufacture, that is, near 2.6 V of the sensor product specification (FIG. 9) is set as a reference inclination value, and automatic pitching operation is started.
This function is effective for finishing the snow surface just before the end of snow removal work. In order to avoid the complication of using many operating devices, the pitching control does not change at any tilt angle or absolute horizontal angle.

  The above is the pitching attitude control of the snow removal machine body by the lift dump control of the snow removal unit 1. This is why the snow removal part pitching automatic control was named. The snow removal part pitching automatic control is the snow removal part lift dump control of the snow removal surface and the pitching attitude control of the airframe at the same time. This function is very effective compared to the conventional rolling control when removing snow on the snow, which is a snow meter, rather than to the ground condition. The snow cover condition is very irregular and non-uniform even though it appears to be flat in white as a whole.Surroundings such as unexpected uneven surfaces, soft snow, hard snow, and snow removal load due to snow cover condition and snow condition. Due to sudden changes in the aircraft, the aircraft constantly rises and sinks during snow removal. In the case of floating, the snow removal work is temporarily interrupted (intermittent snow removal), but there is no problem, but in the case of subduction, it is worst, and when it is noticed, it will be impossible to escape (reverse) and it will be difficult to continue the snow removal work . For the first time by the present invention, snow removal on snow in a snowy country has made it possible for anyone to perform snow removal work stably without requiring an expert operation of an adult expert in any snowy state. Furthermore, its functional performance was commercialized with inexpensive general element parts.

  In the above description, the pitching control of the present invention is not a pitching control in a strict sense. Similarly, conventional rolling control is not rolling control in a strict sense. It just names it. Attitude control of an exercise machine, so-called rate control, requires high-response and high-speed feedback control using a vector sensor rate sensor (gyro sensor). In that sense, the control technique of the present invention can be said to be attitude “correction” control, not attitude control. The reason why this attitude “correction” control is made possible by a tilt sensor as a scalar sensor and an inexpensive hydraulic circuit is that the snow removal traveling speed is extremely slow compared to other exercise machines. Two orders of magnitude slower than automobiles and three to four orders of magnitude slower than aircraft. Depending on the snow removal load, it will be slower than the infant's walk. Naturally, the attitude change of the aircraft is also extremely slow. However, there is no problem even if the left and right inclinations are tilted and the return operation is performed. However, before it becomes too late, it is necessary to reset the posture before it is too late.

  At the beginning of the development, although the rate sensor is essential for pitching control, plus the premise that a high-speed hydraulic circuit is necessary, it is difficult to achieve it at the product level of a work machine, and the experiment of pitching attitude correction is surveyed in a survey using only the rate sensor. I continued. The output signal of the rate sensor was found to have no significant difference in waveform and phase difference from the output signal from the tilt sensor used for rolling control, which had been observed side by side. We were able to find out that the low-priced hydraulic equipment that is currently used within the dynamic characteristics range of the tilt sensor is sufficient for controlling the pitching attitude of the snowplow.

  Although the operability is remarkably improved by the above control method as compared with the conventional method, it also exhibits excellent true value in terms of maintenance. In other words, until the sensor, actuator, and control unit are broken, replacement of the sensor is performed in the case of deviation of the sensor itself, deterioration of the sensor itself, looseness, deformation, etc. No need for readjustment or resetting.

  This is shown in FIG. 9 by the product input / output characteristics of the tilt sensor 1. Sensor characteristics are largely classified into sensitivity characteristics and zero point characteristics. In addition, there are linearity and reproducibility, but sensor performance is mainly shown by these two. These two variations, environmental performance, durability performance, aging, etc., determine the basic performance and durability performance of the product that uses the sensor. Of these two characteristics, the sensitivity characteristic is mainly due to the physical properties of the sensor element itself, and since the environmental performance (particularly temperature change) is controlled from the time of sensor development, it is extremely stable. In addition, the technology for compensating for environmental performance has advanced, and recent products are extremely stable. However, in the case of a snowplow, the environment, mainly the temperature effect, has almost no effect since there is no significant temperature change around the freezing point during work. Contrary to this, the zero point (in this application, it is a tilt sensor ± 2.6V near the median value of the 5V power supply because of ± input / output, but in general the sensor is 0.5V or 1V if it is a single 5V power supply for detection 0 input. ) The zero point characteristic is affected by all the sensor components as well as the physical properties of the sensor element itself, the members, adhesion, tightening, molding distortion, and how to attach the sensor product itself. “Δ zero” in FIG. 9 indicates a change in sensor characteristics and a product variation due to a zero point change. The so-called sensor characteristic translates substantially within the δ-zero range after environmental influence, endurance, and aging. On the other hand, the sensitivity V / a itself is very stable. The control method of the present invention aims to cancel all the causes of the characteristic change due to the sensor zero point deviation described above.

  Although the operability and maintenance are significantly improved by the control method of the present invention, it brings about a great change in the manufacturing process apart from the functional performance of the snowplow. In the conventional process of automatic horizontal control of the snow removal unit, the snow removal unit 1 is placed on a large horizontal surface plate on the tilt sensor mounting bolt, and the sensor output is the absolute horizontal value of the product specification characteristics (2 for this sensor). .6V), and several gap adjustment shims were inserted and adjusted. This troublesome shim adjustment is performed in the same manner even when the sensor characteristics are deviated due to durability deterioration or aging deterioration. If readjustment was not possible, the sensor was replaced and readjusted and reset. As described above, the conventional method requires troublesome adjustment in using the snowplow, but it has become a big bottleneck process in the production line. In the method of the present application, setting of the absolute horizontal value of the horizontal control to be arranged in parallel is only that the push button of the pitching automatic switch 632 (FIGS. 1 and 8) is continuously pressed for 5 seconds or more after the machine body is placed on the horizontal surface plate. It is not necessary to match the absolute horizontal standard value 2.6V of the sensor product characteristics. It does not matter whether it is 2.61V or 2.58V. It is the absolute horizontal value of the inclination sensor S2 attached to the machine when the machine of the completed machine is absolutely horizontal. When this value is pressed for 5 seconds or more, the snow removal part rolling automatic control unit Read and register in U1. Sensor characteristics variations, sensor installation errors to the snow removal part, and auger cases, brackets, and other manufacturing variations can all be offset.

  In the control method according to the present invention, after the shipment, the rolling automatic control intended by the driver is not affected by the sensor and its mounting state regardless of any environmental change, durability change or aging change. Maintain the function of. It is exactly self-compensation and self-healing control. There is no need for readjustment and resetting due to sensor characteristic deterioration due to wear and loose deformation of the sensor itself and the sensor mounting mechanism.

  As described above, the sensor feedback control has realized the ideal control. Although advanced control technology such as learning control has not been achieved, self-compensation and self-healing control that compensates for both durability deterioration and aging deterioration are realized by sufficiently compensating all manufacturing errors with this control. FIG. 10 shows an outline of a control flowchart.

  FIG. 11 shows a snowplow operation panel according to the first embodiment of the present application. Other than the switches and levers, the operation devices have other functions. FIG. 12 shows an operation panel of a snow remover in which the monitor and switches of the second embodiment of the present application are integrated into a liquid crystal touch panel. In the second embodiment, a unique touch button 643 for horizontal control is provided taking advantage of the liquid crystal screen. . This is a concept model, and other new developments are being carried out in addition to the present invention, and the entire operation unit is of the next generation type. FIG. 13 shows a front view of the snow removal machine of the first embodiment (left diagram) and the second embodiment (right diagram) of the present invention.

  Next, the lift dump control method of the snow removal part 1 is demonstrated. (FIG. 14) A rectangular line shows the drive signal to the solenoid valve H2 of the snow removal part pitching automatic control unit U1. Since there is a response delay from the driving signal transmission until the pitching cylinder H3 operates, the resulting continuous curve has a phase delay with respect to the input rectangular line. In conventional rolling control, if the aircraft tilt sensor output exceeds the set range during snow removal work, the solenoid valve is continuously operated in a direction to immediately put the sensor output in the set range, and immediately after the tilted rolling angle enters the set range. It was an ordinary analog comparator control method to stop the solenoid valve. Here, the earlier response delay becomes a problem. Of course, hydraulic cylinders also have a delay in stopping operation. It won't stop where you want it to stop. As a result, it overruns, and in severe cases, it may jump over the set range on the opposite side and roll hunting. Several improvements have been made to solve this. When the set range is entered, the operating solenoid valve is stopped and at the same time, the reverse solenoid valve is operated for a moment to reduce the influence of overrun (concept of instantaneous stop by momentary reverse rotation operation on a machine tool), hydraulic orifice, etc. Use to slow down the rolling speed itself. However, all of them are tremendous measures, and using the cheapest hydraulic equipment used in snowplows as work machines, the hydraulic cylinders should be expanded and contracted with analog continuous control with an accuracy of about ± 1 degree. It was impossible in itself.

  The upper diagram of FIG. 14 shows a control method according to the present invention that incorporates the idea of digital control in which intermittent operation (pulses) continues continuously. The longer the operating time of the hydraulic cylinder, the larger the overrun. Then, it is driven with a driving time that minimizes overrun, and this is repeated. In the present application, the operation time of the solenoid valve H2 is set in the vicinity of the operation delay time of the pitching cylinder H3 and within the plus stop delay time (several hundred msec), and this is repeated to operate the pitching cylinder H3 in a pulse manner (pulse control). Further, the value of the tilt sensor S2 is also checked immediately before driving. However, with this alone, a large return operation of 10 degrees or more takes time, so double detection reference inclination angles are provided (tentatively ± 5 degrees in the figure), and continuous return operation is performed up to ± 5 degrees, and within ± 5 degrees. I switched to pulse control. Then, when it is within the set accuracy reference inclination angle, the driving is stopped before driving, and is canceled immediately during driving so as to minimize the influence of overrun. As described above, the pitching stabilization accuracy is extremely stable.

  Initially, this pulse drive time was expected to be about several tens of msec, but in the case of a hydraulic circuit of a hydraulic cylinder and a hydraulic solenoid valve using a hydraulic flow force, it has exceeded 100 msec (0.1 seconds). It couldn't be like a pressure-only PWM control valve (for example, an ABS control valve) that doesn't use a flow rate. As a result, the pitching operation became a little awkward even when seen by the operator, but instead, at the end of the pitching return operation, it was possible to realize a sense of control stability that fits within the set accuracy. This pulse drive time (pulse width) and continuous control range are set to an optimum setting through experiments.

  The pulse control is further developed in the lower diagram of FIG. An approximate time division proportional control method is shown. The above pulse control is shown in the above figure for comparison. If the intermittent (pulse) drive time is minimized beyond the operation delay time of the pitching cylinder H3, the influence of overrun can be minimized, but if the intermittent operation is continued with the drive time and the pitching control operation is performed, the lift dump speed is It will be slower. However, it is necessary only when the inclination angle of the snow removal unit 1 is within the set accuracy range in the pitching return operation.

Here, the idea of time-division proportional control in temperature control developed in recent years was developed horizontally. In temperature control based on time-division proportional control, the value is not limited to the set value but is settled like an asymptote. In the present invention, the pulse driving time immediately before entering the set accuracy reference inclination angle is minimized, and is set to be a multiple time before that and a multiple time before that. The pulse driving time (pulse width) at which point in the pitching return operation is determined by the inclination sensor value picked up immediately before driving. When the pitching automatic control operation was performed by this control method, the stabilization accuracy was further improved as compared with the pulse control, and the lift dump operation was also smoothed. Although the function is not applied to the pulse width modulation, the same effect as the time division proportional control is obtained.

Incorporation of sensor values by one-touch operation is applied to all work machines that perform sensor feedback control, and the hydraulic circuit control method is applied to work machines (walking type agricultural machines, small and medium-sized construction machines, etc.) that have the same work speed as the snow removal machine of the present application. It can be used.

DESCRIPTION OF SYMBOLS 1 Snow removal part 3 Shuter 4 Upper body 5 Lower body 6 Control panel 11 Auger 12 Auger housing 41 Upper frame 51 Crawler 61 Snow removal part cross lever switch 62 Shooter cross lever switch 63 Monitor & switch operation panel 632 Pitching automatic control switch S1 Inclination of snow removal part Sensor H2 Snow removal part hydraulic solenoid valve H3 Snow removal part pitching cylinder U1 Pitching automatic control unit

Claims (5)

  A snow remover that is equipped with a prime mover and that forms a snow removal section with an auger that cuts and collects snow, a blower that discharges snow, and a shooter that determines the snow throwing direction. In a snowplow that can be lift dumped up and down with respect to the direction. An inclination sensor is arranged in the pitch direction of the degree of freedom of movement of the aircraft in either the snow removal unit or the aircraft that moves up and down simultaneously with the snow removal unit, and the snow removal unit is driven in the direction of the aircraft by driving by the actuator according to the signal of the sensor On the other hand, the pitching tilt angle position of the front and rear is automatically returned to the set reference tilt angle position by the lift dump automatic control of the snow removal part so as to be settled, and the pitching attitude of the aircraft is self-corrected (automatic pitching control) ) A snowblower in the configuration.   The reference inclination angle is set to the inclination angle position of the snow removal part to be snow-removed by manual operation by the actuator switch or joystick etc. in advance during the snow removal work by the operator, and then a push button or a touch sensor, a touch panel, etc. The one-touch operation device of claim 1, wherein the output value of the inclination sensor at the snow removal part pitching inclination angle position is taken into a control part, set to a reference inclination angle, and the automatic pitching control is immediately started. Snow blower to be listed.   3. The snowplow according to claim 1, wherein the reference inclination angle can be set to be absolutely horizontal by another operation method such as a pressing time and a touch time of the one-touch operation device.   The snow remover according to any one of claims 1 to 3, wherein the automatic pitching control to the set reference inclination angle position of the snow removal part is pulse drive control of the actuator that follows the output value of the inclination sensor.   The snow remover according to any one of claims 1 to 3, wherein the automatic pitching control of the snow removal part to the set inclination angle position is substantially time-division proportional control of the actuator that follows the output value of the inclination sensor.