JPH04293401A - Rolling-controlling apparatus for ground-working machine - Google Patents

Abstract

PURPOSE:To decrease control delay of the subject controlling apparatus by calculating the target stroke value of a posture-changing means according to the lateral inclination of a machine body and suppressing the motion of the posture-changing means by the mean value of the target stroke value and the stroke value just before the inclination of the machine body. CONSTITUTION:A target stroke value STMn of a posture-changing means 15a is calculated from the detected lateral inclination of a machine body 1 and a preset inclination value. The difference ln between the target stroke value STMn and the stroke value STn of the posture-changing means 15a just before starting the inclination of the working machine 14 is determined and a weighted mean value Ln is calculated therefrom. The posture-changing means is contracted or extended when the mean value Ln of the difference is out of the neutral zone.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to a rolling control device for a ground working machine such as a rotary tiller connected to the rear of a tractor.

0002

[Prior Art] Conventionally, a rotary tiller is connected to the rear of a tractor via a three-point link mechanism consisting of a top link and a lower link so that it can be raised and lowered. -The link is connected with a lift rod. At least one of the left and right lift rods is constituted by an extensible hydraulic cylinder, and the tilted attitude of the rotary tiller is changed by operating the hydraulic cylinder.

0003

However, in such conventional devices, a plurality of detection values detected by the inclination detector are weighted and averaged, and the result is used to determine the target stroke value of the attitude control means, that is, the hydraulic cylinder. The configuration was such that the attitude change means was controlled based on the difference between this target stroke value and the value of the stroke detector at this time, which sometimes resulted in a delay in control. .

[0004] To explain in more detail, in the conventional device, when the aircraft tilts left and right, the tilt detector detects the change, and after weighting and averaging the detected values, controls the hydraulic cylinder. Determine the target stroke value as the target value, calculate the difference between the target stroke value and the stroke detector value before the aircraft starts tilting, and use this to reduce the deviation to zero. Since the hydraulic cylinders were controlled to expand and contract in order to approach the target, it took time to start the control after detecting the left/right tilt of the aircraft, resulting in a delay in control.

[0005]

[Means for Solving the Problems] The present invention has been proposed in view of the above-mentioned problems, and has taken the following technical measures. That is, an inclination detector 16 that detects the inclination of the machine body 1 in the left and right lateral directions, an attitude changing means 15a that changes the tilt attitude of the ground work machine 14 connected to the machine body 1, and a and a stroke detector 17 for detecting a relative angle difference, and is configured to operate the attitude changing means 15a to maintain the ground working machine 14 at a predetermined angle when the machine body 1 is tilted in the left and right directions. In the rolling control device for a ground-based work machine, the target stroke of the attitude changing means 15a is calculated based on the value detected by the inclination detector 16 and the setting value set by the inclination setting device 18. and the stroke value of the attitude changing means 15a immediately before the aircraft 1 starts tilting, and the attitude changing means 15a is controlled to expand and contract by using this average value as a control target value. It is.

[0006]

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings. First, to explain the configuration, 1 is a tractor equipped with front wheels 2, 2 and rear wheels 3, 3 at the front and rear of the body, respectively.
At the rear upper part of the mission case 4 is a hydraulic cylinder case 5.
is fixed and installed. A single-acting hydraulic cylinder 6 is provided within the hydraulic cylinder case 5, and lift arms 7, 7 are rotatably supported on both left and right sides of the hydraulic cylinder case 5. In addition, here, the hydraulic cylinder 6,
The lift arms 7, 7 are collectively referred to as a hydraulic lifting mechanism 8, and by appropriately switching the control valves described later, hydraulic oil is supplied and discharged into the hydraulic cylinder 6, and the lift arms 7, 7 are moved up and down. Rotate.

Top link 10, lower link 11, 1
A rotary cultivating device 14 as a ground work device is connected to the rear end of the three-point link mechanism 12 consisting of 1, so as to be able to move up and down, and between the lift arms 7, 7 and the lower links 11, 11. Lift rods 15, 15 are interposed and connected. Of these, the right lift rod 15 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 tilt the work machine in the left and right direction. let

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-right and lateral directions. Also, 17 is a tractor
This stroke detector 17 detects the relative angle difference between the rotary tiller 1 and the rotary tiller 14, and is composed of a linear potentiometer. It is placed on the lateral side of the.

Reference numeral 20 denotes a hydraulically operated lever for position control, and the rotating base of this hydraulically operated lever 20 has a
A ground height setting device 21 is attached to the rear of the tractor 1 to set the height of the rotary tilling device 14 above the ground. On the other hand, a ground height detector 23 is also attached to the rotation base of the one-side lift arm 7 to detect its rotation angle, that is, the height of the ground work equipment.
The lift arms 7, 7 are configured to rotate to a position set at 0 and stop at the set position.

[0010] To briefly explain the structure of the rotary tilling device as a ground working machine, this rotary tilling device 14 includes a tilling section 34, a main cover 35 that covers the top of the tilling section 34, and a main cover 35 that covers the top of the tilling section 34. A rear cover 36 etc. is pivotally attached to the rear part of the cover 35, and the lower end of the rear cover 36 is configured to slide against the ground and press elastically to level the tilled soil surface, and A rear cover is attached to the upper rear end of the main cover 35.
A plowing depth detector 37 for detecting the rotation angle of 36 is provided.

Next, the control system of this control device will be explained based on the block diagram shown in FIG. A plowing depth setting device 40 that sets the height of the ground-based work machine and an inclination setter 18 that sets the left-right inclination angle of the ground-based work machine are each connected to a control device 27 consisting of a CPU via an A/D converter 25. , the ground height detector 23, the plowing depth detector 37, the inclination detector 16 for detecting the inclination angle of the tractor 1, and the stroke detector 17 are similarly connected via the A/D converter 25. and is connected to the control device 27. Then, on the output side of the control device 27,
Lifting proportional control valve 4 for lifting and lowering lift arms 7, 7
6. A lowering proportional control valve 47, and an extension control valve 48 and a shortening control valve 49 for extending and contracting the hydraulic cylinder 15a for changing the tilt attitude of the ground work machine are connected.

[0012] Reference numeral 28 is a lift switch that is directly connected to the control device 27 without going through the A/D converter 25. When this switch 28 is turned on, the ground work equipment will rise to the maximum lifting position, and when it is turned off, the ground work equipment will rise to the maximum lifting position. It descends to the height set by the hydraulic control lever 20. FIG. 3 shows the contents of a rolling control program stored in the storage device of the control device 27, which will be explained below.

First, each detected value, that is, the detected value by the plowing depth detector 37, the inclination detector 16, and the stroke detector 17, and each setting value, that is, the plowing depth setting device 40, the inclination setting The set value by the controller 18 is read into the CPU (step S1), and if the control mode is horizontal control (step S
In step 2), the target stroke value (STMn) of the hydraulic cylinder 15a is calculated by comparing the current value of the inclination detector 16 and the set value by the inclination setter 18 (step S3).
).

Normally, in such a case, the rotary tilling device 14 is often maintained horizontally, so the setting of the inclination setting device 18 is instructed to be "horizontal". Furthermore, in the conventional device, the detection values of the tilt detector 16 are weighted and averaged to provide basic data for control, but in the present invention, such averaging processing is not performed. Then, when the aircraft tilts to either the left or right direction, the tilt detector 16 detects the movement,
The target stroke value (STMn) is calculated, and at the same time, when the rotary tiller 14 starts to tilt, the stroke detector 17 detects the stroke value (STn) just before that. Since STn is the value when the rotary tiller 14 starts to tilt, this value is the value when the rotary tiller 14 starts tilting.
This represents the true inclination angle of the tari tilling device 14.

[0015] In order to improve the accuracy of rolling control,
The hydraulic cylinder 15a can be expanded and contracted so that the difference (ln) between (STMn) and (STn) is eliminated.
In step S4, the difference (ln) between the two is determined, and then a weighted average is taken to calculate the average value (Ln) of the difference (step S5). If this difference (Ln) is in the dead zone (
In step S6), the output to the ascending proportional control valve 46 or descending proportional control valve 47 is stopped (step S16).
) and is out of the dead zone, and (STMn
) and (STn) is out of the neutral state, the hydraulic cylinder 15a is extended or shortened.

In this case, when it is determined that the machine body 1 is tilted to the right and the rotary tilling device 14 is in a downward-sloping state, the hydraulic cylinder 15a is shortened, and conversely, it is determined that the rotary tiller 14 is in a downward-sloping state. If so, the extension control valve 48 is energized to extend the hydraulic cylinder 15a. At this time, the speed at which the hydraulic cylinder 15a expands and contracts is such that if the deviation is large, a continuous signal is sent to the control valves 48 and 49, and if the deviation is within a minute range, a pulse signal is given. is no different from conventional equipment.

A feature of this control program is that if (ln) is in the neutral state at steps S7 and S15, the control is stopped even if (Ln) is outside the dead zone. In other words, even if the average difference value (Ln) is outside the dead zone, the newest unprocessed control data (ln) before averaging is neutral, in other words (
If the difference between (STMn) and (STn) is zero or nearly zero, (L
n, Ln-1, . . . Ln-4) to reset the control target value to the "horizontal state" and stop the rolling control.

[0018] In this way, when the target inclination angle of the work equipment is "horizontal", the conventional equipment reacts sensitively to even the slightest vibration, especially when working in hard fields. , hunting may occur. In addition, in order to solve this problem, there was a device that installed a delay timer to check the opposite output for a certain period of time, but when a delay timer was installed to check the opposite output, it was possible to The working machine may deviate by about 1 to 2 degrees to one side in the left-right direction and remain slightly tilted, which has the disadvantage that it cannot accurately maintain a horizontal position. However, as described above, the difference between the current value of the stroke detector 17 that detects the length of the hydraulic cylinder 15a and the target stroke value is within a predetermined width (width that is recognized as neutral).
, the past average data is assumed to be zero and everything is reset, so stability near the horizontal increases and excessive movement near the horizontal, which previously occurred, is avoided. There is no appearance of bias.

Next, the operation will be explained with reference to the flowchart shown in FIG. The purpose of this control program is to increase the stability near the horizontal position when maintaining the work machine in a horizontal position. As mentioned above, with a delay timer system that prohibits the opposite output for a certain period of time, when the work equipment itself becomes near horizontal, it may stop in a state shifted to either the left or right of the horizontal position. However, the feature of this improved program is that the pulse output starts from OFF.

In the flowchart of FIG. 4, the points whose explanation overlaps with those described in FIG. 3 will be omitted, and the operations from step S6 onwards will be briefly explained. For example, when (Ln) exceeds the dead zone and it is necessary to extend the hydraulic cylinder 15a, is the difference between the target value and the set value, that is, the deviation, small? In other words, is it in the pulse control range? If not, a continuous output on the "extension" side is output to excite the extension control valve 48.

[0021] If the deviation is minute and the pulse output is requested, an OFF timer is set and an OFF signal is output for a certain period of time (approximately 300 msec) (step S8).
, S9, S10, S24). Fixed time (300msec
) After counting whether or not the time has elapsed, an ON timer is set and an ON signal is output for a certain period of time (300 msec) (steps 11, S12, S13, S24).
).

In this embodiment, the pulse energization time on the OFF side and the ON side is the same, but the energization time on one side may be changed. Further, both the extension and shortening control valves may be proportional control valves, and so-called duty control may be performed in which the ON time is changed based on the deviation. Steps S16 to 21
The action on the shortening side is the same as that on the stretching side, and only the direction of operation is different, so a description thereof will be omitted.

As described above, in the tilt attitude control device that drives the hydraulic cylinder 15a to extend and retract, in the pulse control region, when an output request occurs as in the conventional case, the pulse output is started from ON. Since it is configured to start from OFF instead of OFF, there is no need for the opposite output delay timer that was required in the past, and when the tilt of the aircraft is large and the deviation is large, the output request can be made as before. As soon as there is a continuous signal is output and the control valve 4
8 (or 49) is excited and driven, making it possible to provide a control device with excellent responsiveness and no control delay.

[0024]

[Operations and Effects of the Invention] As explained above, this invention
An inclination detector 16 that detects the inclination of the machine body 1 in the left and right lateral directions, an attitude changing means 15a that changes the tilt attitude of the ground work machine 14 connected to the machine body 1, and a relative position between the machine body 1 and the ground work machine 14. It is equipped with a stroke detector 17 for detecting an angular difference, and is configured to operate the attitude changing means 15a to maintain the ground work machine 14 at a predetermined angle when the machine body 1 is tilted in the left-right and lateral directions. In the rolling control device of a ground work machine, the target stroke value of the attitude changing means 15a is calculated based on the value detected by the inclination detector 16 and the setting value set by the inclination setting device 18. , and the stroke value of the attitude changing means 15a immediately before the aircraft 1 starts to tilt, and the average value is used as the control target value to control the attitude changing means 1.
5a is controlled for expansion and contraction, there is less control delay caused by averaging the detected values of the tilt detector and performing horizontal control as in the conventional device, and the responsiveness of the control is improved.

[Brief explanation of the drawing]

FIG. 1 is a side view of a tractor and a rotary tiller.

FIG. 2 is a block diagram showing a control system.

FIG. 3 is a flowchart of horizontal control.

[Figure 4] Flow of a part of the program shown in Figure 3 that has been improved
It is a chart.

[Explanation of symbols]

1 Tractor 2 Front wheel 3 Rear wheel 8 Hydraulic lifting mechanism 14 Ground working machine (rotary tilling device) 27 Control device 46 Proportional control valve for ascending 47 Proportional controlling valve for descending

Claims (1)

[Claims] 1. An inclination detector 16 for detecting the horizontal inclination of the machine body 1, an attitude changing means 15a for changing the tilt attitude of the ground work machine 14 connected to the machine body 1, and the machine body 1 and the ground work machine. A stroke detector 17 detects a relative angle difference between the ground work machine 14 and the ground work machine 14, and operates the attitude changing means 15a to maintain the ground work machine 14 at a predetermined angle when the machine body 1 is tilted in the left and right directions. In the rolling control device for a ground-based work machine configured as follows, the target of the attitude changing means 15a is calculated based on the value detected by the inclination detector 16 and the setting value set by the inclination setting device 18. The stroke value and the stroke of the attitude changing means 15a just before the aircraft 1 starts to tilt.
A rolling control device for a ground-based working machine, which averages the difference between the average value and the average value, and uses this average value as a control target value to control the expansion and contraction of the attitude changing means 15a.