JPH0446811A - Level control device for power vehicle - Google Patents

Abstract

PURPOSE:To stabilize the posture of a power vehicle at all times by locking an actuator for a body inclination change at the same predetermined position right and left, when a ground work machine is lifted and turned over the predetermined angle, or when the travel speed of the vehicle exceeds the predetermined level in the level control device for the power vehicle in the title. CONSTITUTION:When the steering handle of a power vehicle is operated over the predetermined angle with a ground work machine lifted, or when the speed of the power vehicle is detected as exceeding the predetermined level, the stroke sensor 26 of a change means for correcting the inclination of a body is controlled, and a drive actuator 24 is locked at the same predetermined stroke position right and left. According to the aforesaid construction, flat ground parallel mode appears at the time of turning during working on a slope, thereby keeping the body in parallel to the slope. Also, the power vehicle when travelling at a high speed, is free from level control mode, and the stable posture thereof can always be maintained.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to a horizontal control device for a power vehicle such as a tractor, and in particular, it relates to a horizontal control device for a power vehicle such as a tractor, and in particular, it relates to a horizontal control device for a power vehicle such as a tractor, and in particular, it relates to a power vehicle that can lock a drive actuator at a specified stroke position by stroke sensor control. This invention relates to a horizontal control device for a vehicle.

[Prior Art] Conventionally, this type of power vehicle is connected to a ground work machine such as a rotary or a plow to perform agricultural work. If the power vehicle tilts to the left or right due to irregularities or slopes in the field, a sensor installed on the body of the power vehicle detects the left or right inclination, and a hydraulic cylinder or other changing means is activated to shift the front and rear wheels on one side. Expand and contract. Therefore, the body of the power vehicle maintains a horizontal state,
Ground work equipment also performs work in a horizontal position.

[Problems to be Solved by the Invention] A conventional horizontal control device for a power vehicle automatically corrects the vehicle body to a horizontal state when the vehicle body is tilted due to unevenness or inclination of the field. However, when performing ridge work or work on sloped land, the angle of inclination is large (if the vehicle body is corrected to a horizontal position, the inclination between the ground work equipment and the ground becomes large, making the work difficult).

Further, when horizontal control is performed by extending the wheels on the valley side of the vehicle body on a slope, if the vehicle body is turned in the opposite direction, the slope will be reversed and the posture of the vehicle body will be extremely unstable. Alternatively, when the power vehicle is traveling at high speed on the road, if horizontal control is performed due to the slope of the road surface, the vehicle body may tilt unexpectedly, which is dangerous.

Therefore, in such a case, a technical problem arises that must be solved in order to stop the horizontal control of the vehicle body and maintain the vehicle body parallel to the ground, and the present invention aims to solve this problem. purpose.

[Means for Solving the Problems] The present invention has been proposed to achieve the above object, and is a power vehicle to which a ground work machine is connected, in which the body of the power vehicle is tilted in the left-right direction. In a power vehicle that includes a horizontal sensor for detecting and a changing means for correcting the inclination of the vehicle body, and controlling the changing means based on the detected value of the sensor,
The drive actuator is actuated based on the detected value of the stroke sensor of the changing means, and when the steering wheel is steered beyond a specified angle with the ground work equipment raised, or when the vehicle speed of the power vehicle exceeds a set speed. Another object of the present invention is to provide a horizontal control device for a power vehicle, characterized in that the drive actuators of the changing means are locked at the same prescribed stroke position on both the left and right sides.

[Operation] According to the present invention, a stroke sensor is provided in the changing means for correcting the inclination of the power vehicle, and the drive actuator is actuated based on the detected value of the stroke sensor. When the steering wheel is turned beyond a specified angle with the ground work equipment raised, or when the vehicle speed of the power vehicle exceeds the set speed, the drive actuator of the changing means is controlled by the stroke sensor to move the left and right drive actuators to the same specified stroke. Lock in position. Therefore, when the power vehicle raises the ground work equipment and turns at the edge of a field, etc., the vehicle body is maintained parallel to the ground when traveling at high speed on the road, and the vehicle body will not inadvertently tilt during work.

[Example 1] Hereinafter, an example of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows a side view of a power vehicle such as a tractor, in which a ground work machine (3) is connected to the rear of the vehicle body (1) via a link mechanism (2). A position lever (5), a plowing depth setting dial (6), a left/right inclination adjustment dial (7), etc. are provided on the side of the seat (4), and the lower part of the seat (4) detects the inclination in the left and right direction. slope sensor (8),
A slope sensor (9) for detecting inclination in the longitudinal direction, a proportional flow control valve (10), and a horizontal control valve (11) are provided. Further, a lift arm angle sensor Q5 depth sensor (1) etc. is provided in the link mechanism (2) to detect the attitude of the ground work machine (3).

2 and 3 show a changing means for correcting the inclination of the vehicle body, in which the rotation of the axle shaft extension of the front or rear wheels is transmitted to the upper gear shaft (10) through the bevel gear (10), Rotation from the lower gear shaft surface spline-fitted to the shaft θ~ for vertical movement to the bevel gear (rotation is transmitted to the front or rear wheel shaft (rotation is transmitted to the fixed gear case)) The side gear case 01) is rotatable left and right, and since the upper gear shaft (+6) and lower gear shaft () are spline-fitted, it is slidable up and down. A bracket (2) is fixed to the side gear case 01), and an arcuate long hole (to) is bored near the outer side of the bracket in accordance with the rotation locus of the rotation side gear case (2j). The upper end of the drive actuator that expands and contracts with hydraulic pressure is attached to the side gear case (a), and the telescopic loft (24a) of the drive actuator (2) is attached to the bracket (2).
) into the long hole (c). And the bracket (to)
The roller (1 (l)
is pivoted to the telescopic loft (24a), and a stroke sensor (1) is attached to the side of the drive actuator (2).

When the telescopic loft (24a) of the drive actuator hook is extended, the bracket (to) is pressed by the rollers (c) (c) (c) and the rotation side gear case (2+)
is pushed down. However, since the wheel Q force is in contact with the ground, the fixed side gear case (A) actually rises with respect to the turning side gear case (2+), and the vehicle body has a high ground clearance.

On the other hand, the telescopic loft (24a) of the drive actuator
When contracted, the vehicle body has a low ground clearance due to the opposite effect to the above. In addition, when rotating the wheel Q, the rotation side gear case (21) rotates with respect to the stationary side gear case (A), but the telescopic rod (2) of the drive actuator (B)
4m) is inserted into the elongated hole (C), so the drive actuator (4m) and the stroke sensor (4) do not rotate. Then, the slope sensor (8) and (
Based on the detected value of 9), the drive actuator () expands and contracts by the switching operation of the horizontal control valve (11) based on the CPU command, and as will be described later, when switching to ground parallel control, the left and right stroke sensors (4)
Based on the detected value in (1), the left and right drive actuators are locked at a predetermined position with the same stroke.

Next, the control procedure of the present invention will be explained according to the block diagram of FIG. 4 and the flowchart of FIG. 5. First of all,
In step 101, the states of various switches and sensors are read, and in step +02, it is checked whether the mode is "automatic", "manual", or "parallel to the ground". When in the "manual" mode, the Stella 7" jumps to step 501, and when in the "parallel to the ground" mode, jumps to step 501.

Then, if it is in "auto" mode, step 103
Then, it is checked whether the up lock 1 or up lock 2 flag is set at 1 entry 4, and if each flag is set, step 301 or step 401 is performed, respectively.
・Jump, and if each flag is not set, check whether the travel speed switch is ON or OFF in step +05. This travel speed switch is activated when the gear shift lever is shifted to the high speed position when the powered vehicle is traveling on the road.
If this is the case, the UP LOCK flag is set in step 106 and the process returns to step +01. Also, if the gear shift lever is not shifted to the high speed position, step 1
Proceeding to step 07, it is checked whether the ground work equipment is ascending based on the detected value of the lift arm angle sensor, and in step 10B, the steering wheel is steered to either the left or right direction by a specified angle or more, and the left and right steering switches are turned on. Check which one is turned on. That is, if the steering wheel is turned beyond the specified angle while the ground work machine is raised, the up lock 2 flag is set in step +09 and the process returns to step +01. Also, step 107
or when the ground implement is not raised in step 10.
When both the left and right steering wheel switches are OFF at 8,
In step 110, it is checked whether the automatic mode is horizontal control mode or fixed mode.

If step 110 indicates "horizontal" mode, step 60
If the steering wheel is in the fixed mode, it is checked in step Ill whether the steering wheel switch is moving to the left or right. When the steering switch is changing from right to left, it means that the steering is to the left, and the left mode is set in step 112, and when it is changing from left to right, the right mode is set in step 113. . In step +14, a target value of the stroke sensor of the drive actuator is set based on the value set in advance with the left/right tilt adjustment dial and the left/right mode of the steering switch. Then, in step 115, the difference between the current stroke sensor reading value and the target value is calculated, and in step 116, the on-time of the pulse is calculated according to the deviation, and the on-time set and output request flag are set.

After that, proceed to step +17 and check whether the output request is "extension", "contraction", or "neutral", and if there is an output request for "extension", the above-mentioned set is The on-time data turns on the extension output (step 118), and if there is a request for a "retraction" output, the on-time data turns on the contraction output (step 1). Step +0 after correcting the posture to the set angle
Return to 1. Also, if a request for "neutral" is made in step 117, this means that the drive actuator has reached the set stroke and the vehicle body has been corrected to the set angle attitude, in which case step 120 is performed. Output O
After setting it to FF, return to step 1 old.

Here, if it is "1 manual" mode in step 102, jump to step 201, and if the manual switch is 0~, continuous on-time data is set in step 202, an output request flag is set, and then step 117 is performed. If the manual switch is not ON, the neutral flag is set in step 203, and then the vehicle jumps to step +17.

On the other hand, when the up lock 1 flag is set in step +03, it is checked in step 301 whether the travel speed switch is OFF, and further, it is confirmed in step 302 that the manual switch for release is ON. When this happens, the powered vehicle is not running on the road, and the manual release switch is turned on at the operator's will, and in that case, step 303 is performed after resetting the UP lock 1 flag. Return to 101. Step 301
When the travel speed switch is not OFF in or step 30
If the manual switch has not been released in step 2, this indicates that the powered vehicle is still running on the road, and the process proceeds to step 501.
Hejyump.

Further, when the up lock 2 flag is set in step +04, it is checked in step 401 whether the steering switch is OFF, and further, in step 40
When it is confirmed in step 2 whether or not the ground work machine is descending, the up lock 2 flag is reset in step 403, and then the process returns to step +01. If the steering switch is not OFF in step 401 or if the work implement is not lowered in step 402, this indicates that the power vehicle is still turning at the edge of the field, etc., and in such a case, step 501 jumps.

Here, if it is the "parallel to the ground" mode in step 102, step 501 is performed, and the difference between the stroke sensor specified value that prescribes the same stroke position on the left and right sides and the current reading value of each stroke sensor is calculated, and the difference is calculated in step 501. After setting the on-time and output request flags according to the deviation in step 502, step II? Jump to. In this case, after any one of steps 118 to +20 is processed, the left and right drive actuators have the same stroke, and the power vehicle is maintained parallel to the ground. In addition, if the powered vehicle is still running on the road in step 3 or 302, step 5 is executed even if the vehicle speed falls below the specified value.
01 and 502, the on-time setting is made so that the left and right stroke positions are the same, thereby preventing the power vehicle from tilting unexpectedly. In addition, if the power vehicle is still turning at the edge of the field, etc. in step 401 or 402, even if the vehicle is stopped and the ground work equipment is moved up and down, the left and right rotation is performed in steps 501 and 502 in the same manner as described above. The on-time setting is performed so that the stroke position is the same, preventing sudden changes in the tilt of the power vehicle.

On the other hand, if the "horizontal" mode is selected in step 110, the process jumps to step 601 and sets the target value of the slope sensor based on the value set in advance with the left/right tilt adjustment dial. Then, in step 602, the difference between the current reading value of the slope sensor and the target value is calculated, and in step 603, an on-time set and an output request flag are set according to the deviation, and then the process jumps to step +17. In such a case, the power vehicle after the processing in steps 118 to +20 is held in a horizontal state regardless of the slope of the ground.

In this flowchart, the ground parallel control is performed based on the detection value of the stroke sensor, but the output to the drive actuator may be turned off when the horizontal state is confirmed from the detection value of the slope sensor. In such cases, compared to stroke sensor control, it is not possible to always stop at a specified stroke position, but it is similar to stroke control in that a stable posture can be maintained after locking. .

Also, when performing horizontal control or ground-parallel control, among the drive actuators installed on the front, rear, left, and right wheels of the car body, one of the front and rear drive actuators on one side is expanded or contracted to correct the inclination of the car body. Since the drive actuators J and J operate independently, if their operating speeds differ, the tilt balance of the vehicle body will deteriorate. Therefore, the rear wheel drive actuator is controlled as shown in the flowchart of FIG.

That is, in order to correct the inclination of the vehicle body after the horizontal control has started, the front and rear drive actuators on one side.

When activated, first, in step 701, the detected values of the front and rear stroke sensors on one side of the vehicle body are measured at regular intervals, and the difference between the current data and the previous data is calculated. Then, in step 702, the data of the front and rear stroke sensors are compared, and if the data of the front stroke sensor is large, the on-time data of the rear drive actuator is corrected to the positive side in step 703, and the on-time data of the rear drive actuator is corrected to the positive side. If the data of the stroke sensor is large, the on-time data of the rear drive actuator is corrected to the negative side in step 704. If the previous and subsequent data are equal in step 703 or 704, or step 702, the process proceeds to step 705, where on-time data is set based on the detected value of the stroke sensor, and then, in step 706, the rear on-time correction data is added or subtracted. do.

After that, step 707 is performed in exactly the same manner as steps 117 to 120 in the flowchart explained in FIG.
Check whether the output request is "extension", "contraction", or "neutral" at step 708 or 709, respectively, and change the stroke of the drive actuator, or step 71
At 0, the output is OFF and the vehicle body is horizontal or parallel to the ground, etc.
Correct the posture to the set angle. In this way, the on-time data on the rear side is corrected based on the amount of change in the front and rear stroke sensors, and the amount of movement of the front and rear drive actuators becomes equal, so their respective operating speeds match and the change in tilt of the vehicle body is corrected. Good balance.

Note that this invention can be modified in various ways without departing from the spirit of the invention, and it goes without saying that this invention extends to such modifications.

[Effects of the Invention] As described in detail in the above-mentioned embodiment, when the ground work equipment is raised and the powered vehicle is turned, or when the powered vehicle is traveling on the road, the drive is automatically controlled by the loaf sensor. This is to lock the actuator in a specified stroke position. Therefore, when turning the power vehicle while working on a slope, it automatically switches to the ground-parallel control mode, and the vehicle body is always approximately parallel to the slope. will no longer change suddenly. Furthermore, when a powered vehicle is driven on the road, the vehicle body does not enter the horizontal control mode while traveling at high speed, and the vehicle body always maintains a stable posture substantially parallel to the road surface. In this way, stable attitude control can be performed in the powered vehicle.

[Brief explanation of drawings]

The figures show one embodiment of the present invention, in which Fig. 1 is a side view of the tractor, Fig. 2 is an explanatory diagram of the changing means for correcting the inclination of the vehicle body, and Fig. 3 is a slope of the main part of the changing means. 4 is a block diagram, and FIGS. 5 and 6 are flowcharts. (1)・・・・・・Car body (3)・・・・・・
・Ground work equipment (8) (9) --- Slope sensor) --- Drive actuator (1) --- Stroke sensor

Claims (1)

[Claims] A power vehicle connected to a ground work machine, comprising a horizontal sensor on the body of the power vehicle for detecting inclination in the left and right direction, and a changing means for correcting the inclination of the vehicle body, and changing the inclination based on the detected value of the sensor. In a power vehicle that controls the means, when the drive actuator is actuated based on the detected value of the stroke sensor of the changing means and the steering wheel is steered beyond a specified angle with the ground work equipment raised, or A horizontal control device for a power vehicle, characterized in that when the vehicle speed of the power vehicle exceeds a set speed, the drive actuator of the changing means is locked at the same specified stroke position on both sides.