JPH0265706A - Apparatus for controlling inclination of ground working machine - Google Patents

Abstract

PURPOSE:To subject a ground working machine to plowing working in a state free from remarkable unevenness by providing a correction means subtracting a detection value detected by an inclined posture detecting means in a definite amount based on the detection value and controlling inclined posture of ground working machine based on corrected value. CONSTITUTION:In the case set so that ground working machine 10 is horizontally kept, when rear wheels of traction vehicle are sank in a hollow and machine body is inclined, the ground working machine is inclined to the reverse direction side. In this case, angle correcting amount (alpha-beta) subtracting definite amount beta from an angle correcting amount alpha for retaining the ground working machine to horizontal state is obtained by the correcting means and the ground working machine is inclined based on the corrected angle.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a tilt control device for a ground work machine connected to a power vehicle such as a tractor.

[Prior art] Conventionally, this type of device connects a tractor, which is a string pulling vehicle, and a ground work machine via a three-point linkage mechanism, etc. so as to be able to move up and down, and connects a lift arm of the tractor with a lower link. At least one of them is constituted by a hydraulic expansion/contraction mechanism, and the ground work machine is maintained at a predetermined angle by operating the hydraulic expansion/contraction mechanism. in this case.

The tractor side is equipped with a sensor that detects the lateral tilt of the tractor and a setting device that sets the inclination of the ground work equipment, and a sensor is installed between the tractor and the ground work equipment to detect the amount of relative tilt deviation between the two. It is common to provide a stroke sensor to In other words, when the tractor is tilted significantly to one side, by determining the relative angle between the tractor and the ground work equipment and turning the ground work equipment in the opposite direction to the tractor's inclination, the ground work can be performed. This allows the machine to be held at a predetermined angle.

[What does invention try to solve? However, in such a conventional method *i, for example, as shown in Fig. 4, when performing ridge breaking work etc. while holding the ground work machine a in a horizontal position, the rear wheel on one side of the tractor may dent. If the ground falls into the depression C, the tilled soil may move and flow into the depression C because the ground work machine A is controlled to always maintain a horizontal position regardless of the inclination of the tractor. Because of this, there was a problem in that recesses remained in the plowing area.

[Means for Solving the Problems] This invention is proposed in view of the above problems, and includes:
To this end, the following technical measures were taken.

That is, it includes means 8 for detecting the left and right inclination posture of the ground work machine 10 connected to the power vehicle 1, and means 20 for setting the inclination angle of the ground work machine 10 relative to the ground.

In a tilt control device for a ground work machine configured to maintain the ground work machine 10 at an angle set by the setting means 20, the detection value detected by the tilt attitude detection means 8 is Interposing a correction means 21 that reduces the amount by a certain amount,
A tilt control device for a ground-based working machine is characterized in that the tilting attitude of the ground-based working machine is controlled based on the corrected correction value.

[Function and Effect] When the ground work equipment is set to be horizontal,
When the rear wheels of the towing vehicle fall into the depression, the machine body tilts to the left and right sides, and the ground work equipment tilts in the opposite direction. In this case, the angle correction amount (
Angle correction amount (α - β), which is a certain amount (β) subtracted from α)
is determined by the correcting means 21 and the ground working machine is tilted based on this corrected angle, so the ground working machine continues plowing work without being able to return to a completely horizontal position. The ground work machine also tilts slightly in the same direction as the slope, and the tilled soil flows from the upper side of the slope to the lower side and flows into the depression. Therefore, no large depressions remain in the plowed field, and the entire field can be plowed without noticeable unevenness, improving the leveling of the land.

[Example] The present invention will be described in detail below based on one drawing.

First, to explain the configuration, 1 is a tractor as a towing vehicle, and the hydraulic cylinder case 2 at the rear of the 41 body.
A lift arm 3°3 is pivotally attached to the left and right sides of the lift arm 3. 4.4 is a lower link, 5, 5 is a lift rod that connects the lift arms 3, 3 and the lower links 4, 4, among which one lift rod 5 is a one-sided lift consisting of a hydraulic cylinder 5a. A potentiometer 6 for detecting the rotation angle of the lift arm 3 is attached to the rotation base of the arm 3, and a transmission case 7 is attached to the rotation base of the arm 3.
An inclination sensor 8 for detecting the inclination of the tractor 1 in the left-right direction is attached to the upper part of the tractor 1. At the rear of the tractor 1, there are three rotary tillers 10 as ground working machines.
The rotary tiller 10 is connected via a point linkage mechanism 11 so as to be able to rise and fall freely, and this rotary tiller 10 obtains rotational power from the PTO shaft 12 of the tractor 1 through a universal joint to operate the tiller shaft 1.
3 is rotationally driven. A stroke sensor 15 is installed on the side of the hydraulic cylinder 58 to detect the amount of expansion and contraction of the hydraulic cylinder 58.
is provided, and a rotary tillage device 1 for the tractor l is provided.
Reference numeral 618 for detecting the relative tilt angle of 0 is an operation lever for position control, and a potentiometer 19 is attached to the rotating base of this lever 18, and the height of the lift arm 3.3 is adjusted to a position determined by this potentiometer 19. The hydraulic lifting mechanism is controlled so that the positions match. On the other hand, on the side of the cockpit, there is a rotary tiller I
A setting device 20 is provided for setting an inclination angle of 10, and the rotary tilling device 10 is adjusted to the inclination determined by the setting device 20.
The hydraulic cylinder 58 is controlled to expand and contract so that the inclinations of the two substantially coincide with each other.

Next, this control system will be explained based on the block circuit diagram shown in FIG.

Detection side potentiometer 6 for position control
, potentiometer 19 on the setting side for position control. The stroke sensor 15 is directly connected to a control device 26 consisting of a microcomputer, and after the inclination sensor 8 and inclination setter 20 enter a correction circuit 21, a correction signal is sent to the control device 26.

Furthermore, the control device 26 has two driver circuits 27.2.
8 is connected, the driver circuit 27 on the negative side controls the hydraulic cylinder 29 for main lifting and lowering, and the driver circuit 28 on the other side controls the hydraulic cylinder 58 for changing the left/right tilt attitude.

FIG. 3 (a) shows the relationship between the correction angle and the main inclination when maintaining the ground work machine 10 absolutely horizontally,
FIG. 2B shows the relationship between the two after being corrected by the correction circuit 21.

When the hydraulic cylinder 5a is driven to expand and contract along this curve (b), the ground working machine 1o is never completely horizontal, and the plowing work is performed in a state slightly tilted from the horizontal position. In addition, in FIG. 3, the reference numeral (C) indicates the width of the dead section, and the reference numerals 30 and 31 in FIG. 1 indicate a control valve for raising and lowering the main oil pressure and a control valve for changing the tilt attitude, respectively.

When performing tilling work by moving the rotary tiller 1o forward while driving each rotating part of the rotary tiller 1o, first set the setting device 20 so that the tilted attitude of the rotary tiller 10 relative to the ground is approximately horizontal. For example, if the right rear wheel falls into a depression while the aircraft is moving and the aircraft tilts significantly to the right, the tilt sensor 8 detects this tilt, and the hydraulic cylinder 58 moves the rotary tiller 10 in the direction to return to a substantially horizontal position. (in this embodiment, the hydraulic cylinder 58 is attached to the left side) to extend the rotary tiller 10.
Posture control is performed. In this case, the rotary tiller 1
0 is not returned to a completely horizontal state, and as shown in Figure 5, the soil surface is plowed slightly tilted (1 to 2 degrees) to the right from the horizontal reference, so the right rear axis The soil moves toward the side of the depression where it has fallen, and the soil moves to fill this depression, so no depressions remain in the field, improving the soil quality.

In this embodiment, the case where the inclination sensor 8 is attached to the tractor 1 has been explained as an example, but the same control is possible when the inclination sensor is attached to the ground working machine 10 side.

[Brief explanation of the drawing]

Figure 1 is a side view of the tractor and work equipment, Figure 2 is a block diagram, Figure 3 is a graph showing the characteristics of the control device, Figure 4,
FIG. 5 is a diagram showing the effect. Code explanation Tractor inclination sensor Ground work equipment (rotary tillage device) Inclination setting device control device

Claims (1)

[Claims] A means 8 for detecting the horizontal tilt attitude of the ground work machine 10 connected to the power vehicle 1, and a means 20 for setting the ground tilt angle of the ground work machine 10, In a tilt control device for a ground work machine configured to maintain a set angle, a correction means 21 is interposed to subtract a fixed amount from the detected value detected by the tilt posture detection means 8, and the correction is performed. 1. A tilt control device for a ground work machine, characterized in that the tilt attitude of the ground work machine is controlled based on the corrected value.