JPH03143305A - Apparatus for controlling posture of ground-working machine - Google Patents

Abstract

PURPOSE:To eliminate the delay of the control of posture in working and prevent the overturning caused by the high-speed tilting during lifting operation by controlling the tilting posture controlling speed of a ground-working machine to be faster in the lowering stage and slower in the lifting stage. CONSTITUTION:The tilting posture of a ground-working machine is controlled by a lateral posture changing means 15a. The controlling speed of the ground- working machine 14 is controlled with a controlling means to be faster in the lowering stage when the machine is working in contact with the ground and to be slower in the lifting stage to prevent the abrupt and quick tilting of the machine.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a left-right tilt attitude control device for a ground work machine such as a rotary tiller connected to the rear of an agricultural tractor.

[Prior Art] Conventionally, this type of device has two configurations: 1-Forcibly stop attitude control of a ground work machine connected to the rear of the rafter when it is lifted upward; There was a form in which the machine was switched to a control state for the machine, which brought the machine into a predetermined attitude with respect to the machine.

[Problem M to be solved by the invention] However, among such conventional devices, especially in the former case, if the automatic control state is interrupted while it is in operation, the The shock may occur and cause discomfort to the operator.

In the latter case, the work equipment under ground control may be
In order to maintain a predetermined posture as the machine ascends, a mechanism is required to constantly monitor the relative relationship between the machine and the work equipment, which not only complicates the configuration but also increases costs. .

[Means for Solving the Problems] This invention is proposed in view of the problems listed in M, and takes the following technical measures.

That is, the ground work machine "-4" is connected to the lifting/lowering white/1 mi through the link mechanism 12 at the rear of the machine body, and the ground work machine In the attitude control device for a ground work machine configured to maintain the ground work machine 14 in a desired attitude by adjusting the horizontal tilt attitude of the ground work machine 1-4,
The attitude control device for a ground-based work machine is characterized in that it is provided with a control means 27 for controlling the tilt attitude control speed of 1 to be fast on the descending side and slow on the -L ascending side.

[Example] Hereinafter, the present invention will be described in detail based on the drawings. First, to explain the structure, reference numeral 1 is a tractor that has front wheels 2.2 and rear wheels 3, 3 at the front and rear of the machine body, respectively, and a hydraulic cylinder case 5 fixed to the rear upper part of a transmission case 4. .

A sounding hydraulic cylinder 6 is provided in the hydraulic cylinder case 5, and lift arms 7.7 are rotatably pivoted on both left and right sides of the hydraulic cylinder case 5. Here, the hydraulic cylinders 3-6 and the lift arm 7.7 are collectively referred to as the lifting mechanism 8.

A rotary tilling device 14 as a ground work machine is connected to the rear end of the three-point link mechanism 12 consisting of the top link 1-0 and the lower link i1.11, and the lift 1 to the arm 7.7
and lower link], 1.11, and rifts 1 to 15.15 are interposed and connected. Of these, the right rift L-rod 15 is constituted by a hydraulic cylinder 15a, and is configured so that the left and right tilted posture of the rotary tiller 14 can be changed. Reference numeral 20 denotes a hydraulic operating lever, and a ground height setting device 21 for setting the ground height of the ground working machine 14 is attached to the rotating base of this operating lever 20.

On the other hand, a ground height detector 23 is attached to the rotation base of the eight lifts 1 to arm 7 to detect the rotation angle thereof, i.e., the height of the ground work equipment. The position controller 1 to the roll system are configured so that the arm 7.7 rotates and stops at the position set at .

4-Inclination detectors 1 and 6 for detecting the left and right tilted posture of the aircraft body are provided on the side sides of the E cylinder case 5, and the sideways tilting parts of the lifts 1 to 15a that are driven to expand and contract by hydraulic pressure are A stroke detector 17 for detecting the length of the cylinder is disposed to detect the amount of expansion and contraction. A setting device (9) for setting the inclination attitude of the ground work equipment 14 is provided near the cockpit of the aircraft. The control force required to hold the ground work machine 14 horizontally is calculated from the relationship with the detected value, and the hydraulic cylinder 15a is controlled to extend or contract based on this result.
30 is an automatic/manual changeover switch for tilt control means; 31
．． 32 is a switch that extends or shortens the hydraulic cylinder 15a in the manual mode.

Next, to explain the structure of the rotary tilling device 4, this rotary tilling device 14 includes a tilling section 34, a main cover 35 that covers one side of the tilling section 34, and
The main cover 35 is equipped with a rear cover 36 pivotally attached to the rear part of the main cover 35, and the lower end of the rear cover 36 is brought into sliding contact with the ground to press the plowed soil surface evenly.
A plowing depth detector 37 for detecting the rotation angle of the plow cover 36 is provided at the upper end of the plowing depth detector 37.

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

Ground height setting device 2 for setting the ground height of ground work equipment 4
1. plowing depth setting device 40 for setting the plowing depth, and inclination setting device for setting the horizontal inclination angle of the work implement 14]; 9; and a ground height detector 23 for detecting the height of the ground work implement 14 from the ground; Plowing expedition 11J1 device 37, hydraulic cylinder 1.5 stroke detector for detecting the length of a]-7, and inclination detector 16
are connected to a control device 27 as a control means consisting of a CPU via an A/D converter 25, respectively, and operate a lift switch 28 for forcibly raising and lowering the working machine 14, an automatic/manual changeover switch 30, and a hydraulic cylinder 15a. Manual extension and reduction switches 31 and 32 are connected to the A/D converter 25.
It is directly connected to the control device 27 without going through the. Connected to the output side of the control device 27 are a rising control valve 46 and a descending control valve 47 that control the hydraulic lifting mechanism 8, as well as an extension control valve 43 and a shortening control valve that control the hydraulic cylinder 15a. 44 are connected.

Next, the operation of this device will be explained based on flowcharts 1 to 1 shown in FIG. This control program includes the control device i! This is stored in the memory of 227. First, check whether the automatic/manual selector switch 30 is in the automatic state or not.
It is determined whether it is a manual state (steps S1, S2), and if it is a manual state and the shortening side switch 32 has been pressed, the solenoid of the shortening control valve 44 is energized, and step S3. S
4, 85) On the other hand, when the extension switch 31 is pressed, the solenoid of the extension control valve 43 is energized (steps S6 and S7).

On the other hand, when the changeover switch 30 is switched to the automatic control state, the rotation angle of the lift arm 7.7, and more specifically the height above the ground detector 23.

Immediately after the detection of the stroke detector 17, the sensor of the inclination detector 16- is read (step S9), and the control amount necessary to maintain the rotary tiller 14 horizontally, that is,
The length of extension and contraction of the hydraulic cylinder 15a is calculated (step 510). At this time, at the same time, riff 1 hair arm 7.7
From the ground angle, calculate the duty ratio of the pulse signal that drives the extraction EE cylinder 15a (step 511).
. FIG. 4 shows the relationship between the ground angle of the lift arm 7.7 and the duty ratio of the pulse signal. In this embodiment, when the lift arm 7.7 angle is zero, that is, in a horizontal position, a continuous signal is sent, and at 20 degrees, a signal with a duty ratio of 80%, that is, 400 m5 is sent, and at 60 degrees, a signal with a duty ratio of 400 m5 is sent. is 20% and a signal of 10011 seconds is intermittently passed. Therefore, lift arm 7
．． The structure is such that the more the wheel 7 rotates upward from the horizontal state, the narrower the pulse that is its drive signal becomes, and the slower the movement becomes.

Note that in the same flowchart, steps 812 to 816
The circuit is constructed so that when manual operation is performed in an automatic control state, priority is given to manual operation.

If the target length a of the hydraulic cylinder 15a plus the dead zone width a is smaller than the detected current length (ST) of the hydraulic cylinder 15a, the pulse of the determined output duty ratio is Control valve 4 for shortening with a signal
4 is energized, and conversely, if the target length Q of the hydraulic cylinder 15a minus the dead section width a is greater than the current length (s'r) of the hydraulic cylinder 15a, The solenoid of the extension control valve 43 is driven by the pulse signal having the determined duty ratio described above (step S19, step 520).

The flowchart shown in FIG. 6 shows a control method when manually controlling the rotary tiller (4), which is a ground work machine, so that it is parallel to the main tractor machine. The feature is that when in manual mode, when the extension side switch 31 and the contraction side switch 32 are pressed firmly, the tilted posture of the rotary tiller 14 changes to the tractor 1.
It is constructed so that it is parallel to the Conventionally, when manually operating the length of the hydraulic cylinder 15a, it is necessary to press an extension side switch or a contraction side switch to adjust the length to the desired length.
In order to hold the rotary tiller 14 parallel to the tractor king, either adjust the inclination by sight in this mode, or turn off the manual mode and turn the parallel switches other than the extension switch and shortening switch. It had to be operated by pushing it, and it also required a parallel switch. However, according to this improved device, hydraulic cylinder 1
5a for manual operation, that is, by pressing the extension side switch 31 and the contraction side switch 32 at the same time, the function of a parallel switch can be fulfilled, so compared to the conventional system, the number of switches can be reduced by l. This allows the overall device to be constructed simply and at low cost.

It goes without saying that the stroke detector 17 detects whether the ground working machine 14 is parallel to the tractor 1. This embodiment is configured so that when both switches 31 and 32 are pressed at the same time, the ground work machine is parallel to the body of the machine.

[Effects of the Invention] Since the present invention is configured as described above, it has the following technical effects. That is, the attitude control speed of the ground-based work equipment 14 is fast when the work equipment is working while touching the ground IIi, and conversely, when it is in an elevated position away from the ground, the control speed is slow. Therefore, there is no delay in attitude control during work, and sometimes the speed of the tilt control is slow, so the work equipment does not tilt violently and at high speed, resulting in the operator falling over. It does not give any sense of crisis or anxiety.

In addition, since the tilt attitude control is performed continuously without interruption, there is almost no shock at the start or stop of the control, which occurs in the past, and the operator does not feel uncomfortable during the control. I don't even give it to anyone.

[Brief explanation of the drawing]

The figures show an embodiment of the present invention, in which Fig. 1 is an overall side view, Fig. 2 is a block diagram, Fig. 3 is a flowchart, and Fig. 4 shows the relationship between riff 1 to arm angle and pulse duty ratio. The graph, FIG. 5 is a pulse waveform diagram, and FIG. 6 is a flow chart. Description of symbols Tractor mission case lift arm link mechanism (3-point link mechanism) Ground work machine (rotary work machine) Left and right posture changing means (m pressure cylinder)

Claims (1)

[Claims] The ground work machine 14 is connected to the rear part of the machine body via a link mechanism 12 so as to be able to rise and fall freely, and the left and right tilted attitude of the ground work machine 14 can be adjusted by a left and right attitude changing means 15a interposed in the link mechanism 12. In an attitude control device for a ground-based working machine configured to maintain a ground-based working machine 14 in a desired attitude, the tilting attitude control speed of the ground-based working machine 14 is controlled by:
A posture control device for a ground-based working machine, characterized in that a control means 27 is provided to control the speed to be fast on the descending side and slow on the ascending side.