JP3313588B2 - Working device rolling operation structure of work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for rolling operation of a working device in a working vehicle in which the working device is rotatably connected to an airframe.

[0002]

2. Description of the Related Art In a working vehicle such as an agricultural tractor in which a rotary tilling device (corresponding to a working device) is connected to a rolling operable by an actuator, an angle sensor for detecting a left and right inclination angle of the working device with respect to a horizontal surface, With a setting device that can freely set the left and right set tilt angles of the working device to be maintained, so that the working device is maintained at the set tilt angle with respect to the horizontal plane based on the detection value of the angle sensor, Some include a rolling control function for operating an actuator. Accordingly, the working device is maintained at the set inclination angle with respect to the horizontal plane regardless of the left and right inclination of the body traveling on the uneven ground.

In addition to the above-described rolling control function, while the body is traveling along a slope along a contour line, the right and left inclination angles of the working device with respect to the inclined surface are detected. In some cases, the work equipment is provided with a rolling control function on an inclined ground to perform a rolling operation of the working device by using an actuator.

[0004]

In the above-described rolling control function, the right and left inclination angles of the working device with respect to the horizontal plane are detected by an angle sensor at every elapse of a set time (sampling), and the rolling of the working device is performed. You are performing an operation. Similarly, in the slope rolling control function, the inclination angle of the slope with respect to the horizontal plane is detected by the angle sensor every elapse of the set time (sampling),
The inclination angle of the right and left of the working device with respect to the inclined surface is detected by the angle sensor every time a set time elapses (sampling), and the rolling operation of the working device is performed. The present invention relates to rolling on an inclined surface based on the above-described inclined surface.
In a working device rolling operation structure of a working vehicle having a control function, it is an object of the present invention to accurately perform a rolling operation of a working device even when a traveling speed of an aircraft body is particularly high.

[0005]

SUMMARY OF THE INVENTION A feature of the present invention is that a work vehicle is provided.
In the working device rolling operation structure of
Is to achieve. [1] Connect the working device to the machine in a freely rolling manner
An actuator that rolls the device relative to the aircraft
To detect the left and right inclination angles of the aircraft with respect to the horizontal plane
A second angle sensor that performs a second
Calculating means for calculating a moving average of the detected values of the angle sensor
And the set tilt angle of the left and right of the work equipment with respect to the moving average value
And a setting device for setting the working device with respect to the horizontal surface.
A first angle sensor for detecting a left-right inclination angle, and a first
Every time the fixed time elapses, based on the value detected by the first angle sensor
The working equipment maintains the set tilt angle with respect to the moving average
Control means for operating the actuator so that
And the second set time is longer than the first set time.
It is set to be long.

[2] In the configuration of the preceding paragraph [1], the traveling speed of the airframe is detected.
The aircraft is equipped with a speed sensor.
When the traveling speed is high, the first and second set times are short.
It is configured to be changed to a new one.

[3] The working device is rotatably connected to the machine body,
Actuator that performs rolling operation of the work equipment with respect to the aircraft
The aircraft's left and right inclination angles with respect to the horizontal plane.
A second angle sensor for detecting, and for every traveling of the second set distance
Calculating means for calculating the moving average of the detection values of the second angle sensor
Step and left and right set inclination angles of the working equipment with respect to the moving average value
A setting device for setting the degree, a working device for a horizontal surface
A first angle sensor for detecting the left and right inclination angles of the
Based on the value detected by the first angle sensor for each run of the set distance
The working equipment maintains the set tilt angle with respect to the moving average
Control means for operating the actuator so that
And the second set distance is greater than the first set distance.
It is set to be long .

[0008]

[0009]

[0010]

[0011]

[0012]

[0013]

[0014]

[0015]

[0016]

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION

(1) FIG. 1 shows a rear part of an agricultural tractor, which is an example of a work vehicle. A rotary tillage device 4 is mounted on a transmission case 3 via a top link 1 that can swing vertically and a pair of lower links 2 on the left and right. Connected. A pair of lift arms 6 is provided on the upper part of the transmission case 3 and is driven to swing up and down by a hydraulic cylinder 5.
And the lower link 2 are connected via a lift rod 7 and a double-acting hydraulic cylinder 8.

As a result, as shown in FIG. 3, the three-position switching type lifting / lowering control valve 16 for the hydraulic cylinder 5 is operated, and the rotary tilling device 4 is raised / lowered by the hydraulic cylinder 5 and the lift arm 6. 3 for hydraulic cylinder 8
By operating the position switching type rolling control valve 17, the rotary tilling device 4 is rolled around the connection point with the lift rod 7 by the expansion and contraction operation of the hydraulic cylinder 8.

(2) This agricultural tractor has an automatic tillage depth control function for maintaining the rotary tillage device 4 at a set height from the ground and keeping the tillage depth constant.
And a rolling control function for maintaining the left and right inclination angles of the rotary tilling device 4 at the set inclination angle, and a slope rolling control function.

As shown in FIGS. 1 and 3, the rotary tillage device 4 is provided with a rear cover 9 which is vertically swingable, and a tillage depth sensor 10 for detecting the vertical swinging angle of the rear cover 9 with respect to the rotary tillage device 4. Is provided. Therefore, by the automatic tillage depth control function, the detection value of the tillage depth sensor 10 is
Potentiometer type tillage depth setting device 1 provided on the fuselage
The lift control valve 16 is operated so that the set till depth is 1, and the rotary till device 4 is automatically moved up and down by the hydraulic cylinder 5 and the lift arm 6.

An angle sensor 13 for detecting the vertical angle of the lift arm 6 with respect to the body is provided at the base of the lift arm 6. Thus, the lift control valve 16 is operated by the hydraulic cylinder 5 so that the lift arm 6 is moved by the hydraulic cylinder 5 so that the position control function allows the detection value of the angle sensor 13 to become the target value set by the position setting device 12 provided on the body. It is operated to swing up and down.

Therefore, when the rotary tilling device 4 is positioned above the ground, the operator operates the position setting device 12 so that the position of the rotary tilling device 4 with respect to the body can be arbitrarily set by the position control function. Can be changed up and down. Position setting device 12
When the rotary tillage device 4 is lowered to a position where it comes into contact with the ground, the state automatically switches to a state in which the automatic tillage depth control function is activated, and the detection value of the tillage depth sensor 10 is equal to the set tillage depth of the tillage depth setting device 11. As a result, the rotary tilling device 4 is automatically moved up and down.

(3) In this agricultural tractor, the rotary tilling device 4 is adjusted so that the left and right tilt angles B1 of the rotary tilling device 4 with respect to the horizontal plane H are maintained at the set tilt angle A1.
Rolling control function for rolling operation, and FIG.
The rotary tilling device 4 is provided with a rolling control function for rolling the rotary tilling device 4 so that the left and right tilt angles B1 of the rotary tilling device 4 with respect to the inclined surface K as shown in FIG.

Next, the configuration of the rolling control function will be described. As shown in FIGS. 1 and 3, the hydraulic cylinder 8
Stroke sensor 14, which detects the amount of expansion and contraction of the horizontal plane H
A weight-type tilt sensor 15 for detecting the right and left tilt angles of the body with respect to the vehicle is provided. Thereby, the right and left inclination angles of the rotary tilling device 4 with respect to the body can be detected based on the amount of expansion and contraction of the hydraulic cylinder 8, and the horizontal inclination angle of the rotary tilling device 4 with respect to the body and the detection value of the inclination sensor 15 determine the horizontal plane. The right and left inclination angles B1 of the rotary tilling device 4 with respect to H can be detected.

An inclination setter 20 is provided for setting the left and right set inclination angles A1 of the rotary tilling apparatus 4 to be maintained with respect to the horizontal plane H. The tilt setting device 20 is of a dial type, and is configured so that the set tilt angle A1 can be arbitrarily and continuously changed from a horizontal position to a lower right side and a lower left side. A changeover switch 18 and a rear wheel 19, which can be set and changed over, to control the above-mentioned rolling control function and the rolling control function on an inclined ground (see FIGS. 1 and 2).
Further, a speed sensor 21 for detecting a rotation speed of a transmission shaft (not shown) to a front wheel (not shown) and detecting a traveling speed V of the body is provided.

With the above configuration, as shown in FIG. 4, when the rolling control function is selected by the changeover switch 18 (step S1) (horizontal plane), the first timer starts counting the first set time T1 (step S1). Step S
2) The traveling speed V of the body is detected by the speed sensor 21 (step S3). In this case, if the traveling speed V of the aircraft is higher than the set speed V1 (step S1).
4) The first set time T1 is changed from the initial value to a slightly shorter one (step S5), and if the traveling speed V of the body is lower than the set speed V1 (step S4), the first set time T1 is initialized. The value is changed to a slightly longer one (step S6). If the traveling speed V of the airframe is substantially the same as the set speed V1 (step S4), the first set time T1 is kept at the initial value (returned to the initial value) (step S4).
7).

When the first set time T1 has elapsed (step S8), the left and right inclination angles B1 of the rotary tilling device 4 with respect to the horizontal plane H are detected by the stroke sensor 14 and the inclination sensor 15 (step S8).
9) The rolling control valve 17 is set so that the tilt angle B1 becomes the set tilt angle A1 set by the tilt setting device 20.
The rotary tilling device 4 is automatically rolled by the hydraulic cylinder 8 (step S10). As described above, the count of the first set time T1, the change of the first set time T1 based on the traveling speed V of the airframe, the detection of the left and right inclination angles B1 of the rotary plow 4 with respect to the horizontal plane H, and the rotation of the rotary plow 4 The rolling operation is repeated.

(4) Next, a rolling control function of the slope tilling device 4 for rolling the rotary tilling device 4 so that the left and right tilt angles B2 of the rotary tilling device 4 with respect to the slope K is maintained at the set tilt angle A2. The configuration will be described. In the slope ground rolling control function, as shown in FIG. 2, when the aircraft travels along the inclined surface K along the contour line, the left and right inclination angles of the aircraft with respect to the horizontal plane H (the inclination angles of the ground on which the aircraft travels with respect to the horizontal plane H). Is detected as the moving average value C1, while the right and left inclination angles B1 of the rotary tilling device 4 with respect to the horizontal plane H are detected, and the rolling operation of the rotary tilling device 4 is performed.

First, the left and right inclination angles of the aircraft with respect to the horizontal plane H (the inclination angles of the ground on which the aircraft travels with respect to the horizontal plane H)
Will be described as a moving average value C1. As shown in FIGS. 4 and 5, when the slope rolling control function is selected by the changeover switch 18 (step S1) (slope), the second setting time T2 by the second timer (the above-described first setting time T1) Is started (step S11), and the traveling speed V of the body is detected by the speed sensor 21 (step S11).
12).

In this case, if the traveling speed V of the body is higher than the set speed V1 (step S13), the second set time T2 is changed from the initial value to a slightly shorter one (step S14), and the body travels. If the speed V is lower than the set speed V1 (step S13), the second set time T2 is changed from the initial value to a slightly longer one (step S1).
5). If the traveling speed V of the airframe is substantially the same as the set speed V1 (step S13), the second set time T2 is kept at the initial value (returned to the initial value) (step S1).
6).

When the second set time T2 has elapsed (step S17), the inclination sensor 15 detects the horizontal plane H.
Is detected (step S18), and the moving average value C is calculated based on the newly detected inclination angle and a plurality of previously stored inclination angles.
1 is calculated (step S19). In this case, if the newly detected inclination angle is an abnormal value that greatly deviates from the range of the plurality of previously stored inclination angles, such an abnormal value is ignored and the previously stored inclination angle is stored. The moving average value C1 is calculated only from the plurality of inclination angles. As described above, the counting of the second set time T2, the change of the second set time T2 based on the traveling speed V of the aircraft, the detection of the left and right inclination angles of the aircraft with respect to the horizontal plane H, and the calculation of the moving average value C1 are repeated. .

(5) When the moving average value C1 is repeatedly calculated and updated as described in (4) above, at the same time, as shown in FIG. 5, the first set time T1 of the first timer is set by the first timer. The counting is started (step S20), and the traveling speed V of the aircraft is detected by the speed sensor 21 (step S21).

In this case, if the running speed V of the body is higher than the set speed V1 (step S22), the first set time T1 is changed from the initial value to a slightly shorter one (step S23), and the running of the body is performed. If the speed V is lower than the set speed V1 (step S22), the first set time T1 is changed from the initial value to a slightly longer one (step S2).
4). If the traveling speed V of the body is substantially the same as the set speed V1 (step S22), the first set time T1 is kept at the initial value (returned to the initial value) (step S2).
5). As a result, when the first set time T1 has elapsed (step S26), the stroke sensor 14 and the inclination sensor 15 detect the left and right inclination angles B1 of the rotary tilling device 4 with respect to the horizontal plane H (step S27).

When the rolling control function is selected as described in (3) above, the set tilt angle A1 with respect to the horizontal plane H is set by the tilt setter 20;
When the slope rolling control function is selected, the slope setting unit 20 sets the set slope angle A2 with respect to the slope K. As shown in FIG. 2, in general, the aircraft body is not parallel to the inclined surface K on the inclined surface K, and the rear wheel 19 on the lower side of the inclined surface K sinks, and the airframe is larger than the inclined surface K. Often inclined. As a result, the correction value C2 is stored in advance as the angle of the sinking in anticipation of the sinking with respect to the inclined surface K. This correction value C2
Can be arbitrarily changed. Generally, when the soil on the inclined surface K is hard, the correction value C2 is small, and when the soil on the inclined surface K is soft, the correction value C2 is increased.

With the above configuration, as shown in FIG. 5, the right and left inclination angles B1 of the rotary tillage device 4 with respect to the horizontal plane H.
Is detected (step S27), the tilt angle B1 is set to the set tilt angle A2 set by the tilt setting device 20 (moving average value C1 ± set tilt angle A2-correction value C2 with respect to the horizontal plane H). )), The rolling control valve 17 and the hydraulic cylinder 8 automatically perform the rolling operation of the rotary tillage device 4 (step S28). As described above, the count of the first set time T1, the change of the first set time T1 based on the traveling speed V of the airframe, the detection of the left and right inclination angles B1 of the rotary plow 4 with respect to the horizontal plane H, and the rotation of the rotary plow 4 The rolling operation is repeated.

[Another Embodiment of the Invention] Instead of the structure shown in FIGS. 4 and 5, a structure shown in FIGS. 6 and 7 may be used. As shown in FIG. 6 and FIG. 7, when the rolling control function is selected by the changeover switch 18 (Step S
31) (Horizontal plane), the detection of the travel distance D of the aircraft is started by the speed sensor 21 and the third timer (step S32) (the travel speed of the aircraft V × elapsed time). As a result, when the travel distance D of the aircraft reaches the first set distance D1 (step S33), the stroke sensor 14 and the inclination sensor 15 move the left and right of the rotary tilling device 4 relative to the horizontal plane H, similarly to steps S9 and S10 in FIG. Is detected (step S34), and the inclination angle B1 is set by the inclination setting device 20.
Then, the rolling control valve 17 and the hydraulic cylinder 8 automatically perform the rolling operation of the rotary tillage device 4 (step S35). As described above, the first
The detection of the set distance D1, the detection of the left and right inclination angles B1 of the rotary tilling device 4 with respect to the horizontal plane H, and the rolling operation of the rotary tilling device 4 are repeated.

Next, when the slope rolling control function is selected by the changeover switch 18 (step S31).
(Slope), detection of the travel distance D of the aircraft by the speed sensor 21 and the fourth timer is started (step S3).
6) (Vehicle running speed V × elapsed time). As a result, when the travel distance D of the aircraft reaches the second set distance D2 (which is sufficiently longer than the first set distance D1) (step S37), FIG.
As in steps S18 and S19 of FIG.
, The left and right inclination angles of the aircraft with respect to the horizontal plane H are detected (step S38), and the moving average value C1 is calculated from the newly detected inclination angle and a plurality of previously stored inclination angles. (Step S39).
As described above, the detection of the second set distance D2, the horizontal plane H
The detection of the left and right inclination angles of the aircraft with respect to and the calculation of the moving average value C1 are repeated.

In a state where the rolling control function for the slope is selected by the changeover switch 18 (step S3).
1) When the moving average value C1 is repeatedly calculated and updated as described above, at the same time, as shown in FIG.
The detection of the travel distance D of the aircraft is started by the speed sensor 21 and the third timer (step S40) (the travel speed of the aircraft V × elapsed time).

When the travel distance D of the body reaches the first set distance D1 (step S41), the rotary tilling device for the horizontal plane H is detected by the stroke sensor 14 and the inclination sensor 15 as in steps S27 and S28 in FIG. 4 is detected (step S42), and the inclination angle B1 is set to the set inclination angle A2 set by the inclination setting device 20 (with respect to the horizontal plane H (moving average value C1 ± setting). The rolling tiller 4 is automatically rolled by the rolling control valve 17 and the hydraulic cylinder 8 so that the tilt angle is equal to the tilt angle A2−the correction value C2) (step S43). As described above, the detection of the first set distance D1, the detection of the left and right inclination angles B1 of the rotary tilling device 4 with respect to the horizontal plane H, and the rolling operation of the rotary tilling device 4 are repeated.

[0040]

According to the first and second aspects of the present invention, in the working device rolling operation structure of the work vehicle, even if the traveling speed of the body is particularly high, the detection point of one inclination angle and the next inclination angle are detected. Keep the distance from the detection point constant,
Depending on the situation, it is now possible to lengthen or shorten the interval described above. This makes it possible to accurately detect a moving average value of the right and left inclination angles of the working device with respect to the horizontal plane and the left and right inclination angles of the machine body with respect to the horizontal surface, thereby improving the accuracy of the rolling operation of the working device. Thus, the working accuracy and working efficiency of the working device can be improved.

According to the feature of the third aspect, in the working device rolling operation structure of the work vehicle, the interval between the detection point of one inclination angle and the detection point of the next inclination angle is made constant irrespective of the traveling speed of the body. It is now possible to maintain and, depending on the situation, slightly increase or decrease the interval. This makes it possible to accurately detect a moving average value of the right and left inclination angles of the working device with respect to the horizontal plane and the left and right inclination angles of the machine body with respect to the horizontal surface, thereby improving the accuracy of the rolling operation of the working device. Thus, the working accuracy and working efficiency of the working device can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view of a rear part of a agricultural tractor and a rotary tillage device.

FIG. 2 is a rear view showing a state on a slope.

FIG. 3 is a circuit diagram of a lifting operation system and a rolling operation system of the rotary tillage device.

FIG. 4 is a diagram showing a flow of a rolling control function of a rotary tillage device.

FIG. 5 is a diagram showing a flow of a slope tillage rolling control function of the rotary tillage device.

FIG. 6 is a diagram showing a flow of a rolling control function of a rotary tilling device in another embodiment of the present invention.

FIG. 7 is a diagram showing a flow of a rolling control function of a rotary tillage device on a slope according to another embodiment of the present invention.

[Explanation of symbols]

4 Working device 8 Actuator 14, 15 Angle sensor, 1st angle sensor, 2nd angle sensor 20 Setting device 21 Speed sensor T1, T2 Setting time D1, D2 Setting distance V Aircraft running speed C1 Moving average value H Horizontal plane A1, A2 Set tilt angle B1 Left and right tilt angles of the work equipment with respect to the horizontal plane

Claims (3)

(57) [Claims] 1. A second corner for connecting a working device to a body so as to be freely rotatable and comprising an actuator for rolling the working device with respect to the body, and detecting a left-right inclination angle of the body with respect to a horizontal plane.
Degree sensor and the second angle sensor each time a second set time elapses.
Calculating means for calculating a moving average of the detected values of the sensors,
Set left and right tilt angles of the working device with respect to the moving average value
And a setting device for setting the right and left inclination angles of the working device with respect to a horizontal plane.
A first angle sensor, and each time the first set time elapses,
1 Based on the detection value of the angle sensor, the working device
It is maintained at the set inclination angle with respect to the moving average.
Control means for operating the actuator.
And the second set time is longer than the first set time.
The working device rolling operation structure of the work vehicle that has been set . 2. A speed sensor for detecting a running speed of an airframe.
The traveling of the aircraft according to the detection value of the speed sensor
When the speed is high, the first and second set times are short.
The working device rolling operation structure for a work vehicle according to claim 1, wherein the work device rolling operation structure is configured to be changed to a work device. 3. A second angle for connecting a work device to the body in a freely rolling manner and including an actuator for rolling the work device to the body, and detecting an inclination angle of the body with respect to a horizontal plane.
Degree sensor and the second angle sensor each time the vehicle travels a second set distance.
Calculating means for calculating a moving average of the detected values of the sensors,
Set left and right tilt angles of the working device with respect to the moving average value
And a setting device for setting the right and left inclination angles of the working device with respect to a horizontal plane.
A first angle sensor, and the first angle sensor for every travel of a first set distance.
1 Based on the detection value of the angle sensor, the working device
It is maintained at the set inclination angle with respect to the moving average value.
Control means for operating the actuator.
And the second set distance is longer than the first set distance.
The working device rolling operation structure of the work vehicle that has been set .