JPH03266901A - Controller of ground working machine - Google Patents

Abstract

PURPOSE:To correctly control a working machine with controlling gain suitable for the working machine and improve working accuracy by changing controlling gain of a controller in a main machine side according to controlling information made of feedback to the controller from a discriminator of the working machine. CONSTITUTION:A ground working machine is connected to a tractor through a suitable link mechanism 12 and a hydraulic controlling mechanism is driven to make the ground working machine possible to go up and down and control in rolling. A controller 60 for controlling of a standard working machine is laid on a main machine side of said tractor and a discriminator 44 of the working machine having a controlling information intrinsic to the working machine is installed. Controlling gain K of a controller 60 in a main machine side is changed according to a controlling information made of feedback to said controller 60 from the discriminator 44 of the working machine.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention determines the type of ground work equipment connected to the rear of a power vehicle such as a rafter, and sets a control gain suitable for the work equipment. The present invention relates to a device for controlling a work machine.

[Prior art and its problems] In recent years, various types of work equipment have been attached to the rear of a tractor to control the work equipment horizontally, to control depth to keep the plowing depth constant, or to control a mixture of these. However, depending on the type and size of the work equipment attached to the tractor, it may be necessary to change the mounting position, width, or height of the link mechanism that attaches it to the tractor. Since these are controlled using a microcomputer or the like, there is the inconvenience that the control gain of the electrical control system must be changed at the same time as the mechanical change operation.

For example, as in the device described in Japanese Patent Publication No. 1-45324, even if the tractor is the same, the type of work equipment attached to it changes, and the mounting position of the three-point link mechanism to which the work equipment is attached differs. If it changes, it becomes necessary to change the control gain of the horizontal control system, and the operator needs to change the switch -=2 to adjust the control gain each time.

However, if the operator forgets to change this adjustment operation, even if it can be used with standard work equipment, other work equipment may not be able to achieve the desired performance and may cause deterioration in work accuracy. It had become.

[Means for Solving the Problems] The present invention is proposed to solve the above-mentioned drawbacks, and for this purpose, the following technical measures have been taken.

That is, in a structure in which the ground work machine 14 is connected to the tractor 1 via an appropriate link mechanism 12, and the hydraulic control mechanism 8.15a is driven to enable the ground work machine 14 to be raised, lowered, and rolled controlled, the tractor 1 This machine side is equipped with a controller 60 for standard work machine control, and the ground work machine 14 side is equipped with a work machine discriminator 44 that has control information unique to the work machine 14, The control device for a ground-based work machine is characterized in that the control gain of the machine-side controller 60 is changed based on the feedback control information from the work machine discriminator 44.

[Example] Hereinafter, the present invention will be described in detail based on the drawings. First, to explain the structure, ] is]! - Easily, a front wheel 2.2 and a rear wheel 3.3 are installed at the front and rear of the fuselage, respectively, and a hydraulic cylinder case 5 is fixedly attached to the rear upper part of the mission case 4. A single-acting hydraulic cylinder 6 is provided in the hydraulic cylinder case 5, and a lift 1-arm 7.7 is rotatably pivotally mounted on both left and right sides of the hydraulic cylinder case 5. Here, the hydraulic cylinder 6 and the rift 1 to the arm 7.7 are collectively referred to as a hydraulic lifting mechanism 8, and hydraulic oil is supplied and discharged into the hydraulic cylinder 6 by appropriately switching a control valve to be described later. , Riff 1-Arm 7
．． 7 rotates in the sea lion direction.

Further, at the rear end of the three-point link mechanism 12 consisting of the i-tube link 10 and the lower link 11, a rotary tilling device 1 is installed.
A lift rod 15.15 is connected between the lift 1-am 7.7 and the lower link 11.11.
are connected with an interposition.

Of these, the right rift 1-rod is composed of a double-acting hydraulic cylinder 15a, and hydraulic oil is supplied and discharged into this hydraulic cylinder 15a by switching a control valve, which will be described later, and expands and contracts to move the work machine in the left and right direction. Tilt it.

Reference numeral 16 denotes an inclination detector attached to the lateral side of the hydraulic cylinder case 5, which detects the inclination of the tractor 1 in the left and right lateral directions. Further, reference numeral 17 is a stroke detector for detecting the relative rotation amount between the tractors 1 to 1 and the rotary tilling device 14, and is composed of a linear potentiometer. 15
It is arranged on the lateral side of a.

Reference numeral 20 denotes a hydraulic control lever for position control 1-roll, and a rotary base of this hydraulic control lever 20 has a potentiometer for setting the height above the ground of the rotary tilling device 14 connected to the rear of the tractor 1. A ground height setting device 21 is attached. On the other hand, one side riff 1
- A ground height detector 23 is also attached to the base of the arm 7 to detect its co-movement angle, that is, the quality of the ground work equipment, and the lift arm 7.7 is placed at the position set by the hydraulic operating lever 20. is configured so that it rotates and stops at the set position.

Next, the structure of the rotary tilling device 14 will be briefly explained. The rotary tilling device 14 includes a tilling section 34, a main cover 35 that covers one of the tilling sections 34, and a rear part of the main cover 35 which is pivotally mounted. A main cover 36 is provided, and the end of the rear cover 36 is configured to slide into contact with the ground and apply elastic pressure to level the tilled soil surface.
A plowing depth detector 37 for detecting the rotation angle of the plowing cover 36 is provided at the rear end of a part of the plowing depth 5. The plowing depth detector 37 is L
A plate 39 attached to the plate 38 bent into a letter shape and fixed to the upper part of the rear cover 36 and the plowing depth detector 3
A rod 41 is interposed and connected to the arm 40 on the 7 side, and this plowing depth detector 37 detects the co-movement angle of the rear cover 36.

44 is a discriminator for determining the type of ground work equipment, and is provided with unique information that differs depending on the type or size of the work equipment connected to 1-rafter 1. Specifically, in the case of this embodiment, the resistance of the resistor 45 housed inside is different depending on the mounting width of the working machine, and the resistor 45 is as shown in FIG. Plate 4
It is housed in the recess 44b of 4a and is entirely molded 46 and completely sealed. Discriminator 44 is Pol 1-4
A connector 50 is attached to the tip of the harness 49 which is fixed to the play 1-38 at 7 and extends forward from the discriminator 44.
is installed.

In addition, 51 is the mass 1-152 of the rotary tilling device that connects the rear end of the 1-tube link 10, 53.53 is the bin that connects the rear end of the lower link 11.11, and 54.54 is the side It's a cover.

FIG. 6 shows the relationship between the change in the mounting width of the lower link 11.11 and the magnitude of the control gain. For example, when the installation width of the standard work equipment (ll1g at the rear end of the lower link) is Ln, if the machine tilts to the right by an angle of 0, the target height is H1 in order to hold the ground work equipment 14 horizontally. The ground work equipment 14 must be raised by that amount. Take Hn here. Which relationship is H1=L, Xsi, n(l)?Then, the type or size of the ground work machine connected to 1 to tractor 1 is determined, and the lower link installation width is determined.

When changing from to L-n, the control target height when the machine is tilted by the same angle becomes Hn a Hn= L n X
Since sin θ, )In = HoXLn/Ln. From this, when the mounting width of the lower link is changed, L is always lower than the control gain when the standard work equipment is installed.
The discriminator 44 on the work machine side determines the resistance value n/L n.
It would be better to set it to . FIG. 5 illustrates the relationship between the connection lines between the discriminator 44 and the controller 60 of this machine.

The information specific to the working machine from the discriminator 44 is transmitted to the controller 60 on the machine side via the harness 49, as described above. 61 is a harness connecting the plowing depth detector 37 and the machine controller 60, 62 is a connector attached to the tip thereof, 63, 67--4 is a connector on the machine side, and 65 is a harness on the machine side.

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

The ground height setter 21 that sets the height of the ground work equipment, the plowing depth setter 70 that sets the plowing depth, and the inclination setter 18 that sets the horizontal inclination angle of the ground work equipment are A/I) conversions. It is connected to a control device 27 consisting of a CPU via a device 25, and also includes a work implement discriminator 44, a height above ground detector 23,
The plowing depth detector 37, the inclination detector 16 that detects the inclination angle of the tractor 1, and the stroke detector 17 that detects the relative angle between the taffeta 1 and the ground work equipment are also A/D.
It is connected to a control device 27 via a converter 25 .

And, on the output side of the control device i' (27), there are a lifting proportional control valve 71 and a lowering proportional control valve 72 for raising and lowering the lift 1-am 7, 7, and the tilting of the ground work machine 14. Extension control valve 7 that extends and contracts the posture change hydraulic cylinder 15a
3 and a shortening control valve 74 are connected.

Note that 28 is a lift switch that is directly connected to the control device 27 without going through the A/D converter 25;
When 8 is turned ON, the ground work equipment 14 rises to the maximum -1-lift position, and when it is OFF, it is lowered to a height determined by the hydraulic operating lever 20.

FIG. 8 is a flowchart illustrating the contents of a control gain changing program stored in the memory of the control device 27. This operation will be explained based on the figure. IJ, values, that is, values detected by the discriminator 44, inclination detector 16, and stroke detector 17, and values set by the inclination setter 18 are read into the CPU (
Step SL). Then, in cases other than the horizontal control mode, control output to the extension and shortening control valves 73 and 74 is prohibited (step SIO), and when the setting is in the horizontal control mode, control is performed based on the resistance value of the work equipment discriminator 44. The gain is determined (steps S2 and S3), and when the machine is tilted in the left and right directions, the reference amount Q (rear end of the lower link Step S
4.85), the amount of correction is determined by multiplying the previously determined gain (step S6).

When the machine tilts to the left, the extension control valve 73
On the other hand, when the ground work machine 4 is tilted to the right, the solenoid of the line control valve 74 is energized (step S9) to hold the ground work machine 4 horizontally.

In the above embodiment, two types of rotary tiller values having different working implement mounting widths were used as an example.
Between working machines with different distances to the rod end attachment part, or from the upper end of lift 1 to rod 15.15 to lower link 11.
The present invention may be adopted in cases where the control gain is changed depending on the working machine mounting width where the distance to the connecting portion is different.

Further, in this embodiment, the value of the resistor in the discriminator 44 is changed for each work machine with a different mounting width, and the difference in resistance value is configured to be transmitted to the controller 60 on the machine side as a control gain switching signal. Therefore, the structure of the discriminator 44 is simple, the manufacturing cost 1- is low, and the discriminator 44 is also excellent in durability, so it is most suitable as a device for determining the type of agricultural working machine.

[Effects of the Invention] Since the present invention is configured as described above, even if the type of ground work equipment 14 changes, only the unique information of the work equipment discriminator 44 provided for each work equipment is fed back to the controller 60 on the main machine side. The work machine can be controlled almost accurately with the control gain suitable for the work machine, improving work accuracy, and since the gain switching operation is not a switch operation like in the past, there are fewer operational errors. It can be easily operated even by someone who is not familiar with machines.

[Brief explanation of drawings]

Figure 1 is a side view of the tractor and rotary tiller, Figure 2 is a partially enlarged perspective view of the rotary tiller, Figure 3 is an enlarged perspective view of the main parts, and Figure 4 is a cross section of the work equipment determiner. Figure, 5th
The figure is a perspective view showing the relationship between the controller of this machine and the work equipment determiner, FIG. 6 is a diagram showing the control target height 1 12 at the rear end of the lower link before and after width adjustment, and FIG. 7 is a block diagram. Figure 8 shows flowcharts 1-. 4 6 8 1 3 7 7 4 5 50, 62 63, 64 0 Symbol explanation Power vehicle (1-rafter) Hydraulic lifting mechanism ground work equipment (rotary tillage device) Tilt detector Tilt setting device Height to ground setting device Height to ground Plowing depth detector Control device Plowing depth detector Work equipment discriminator Resistance connector Connector Plowing depth setting device

Claims (1)

[Claims] 1) A ground work machine 14 is connected to the tractor 1 via an appropriate link mechanism 12, and the hydraulic control mechanisms 8 and 15a are driven to enable lifting and rolling control of the ground work machine 14, in which one tractor is used. A controller 60 for standard work equipment control is installed on the machine side, and a work equipment discriminator 44 equipped with control information specific to the work equipment 14 is installed on the ground work equipment 14 side, and the work equipment discriminator 44 is equipped with control information specific to the work equipment 14. A control device for a ground work machine, characterized in that the control gain of the main machine controller 60 is changed based on control information from a machine discriminator 44.