JPH071B2 - Horizontal control device for moving vehicles - Google Patents

Description

The present invention relates to a horizontal control device for a moving vehicle,
In particular, the present invention relates to a left-right posture control device for ground work, such as a rotary, which is attached to this machine by a connecting link mechanism such as a tractor.

[Problems to be Solved by Prior Art and Invention]

Conventionally, in this type of mobile vehicle, a ground working machine, in particular, is connected to a main body such as a tractor by a link mechanism, and a horizontal direction setting device for controlling the horizontal posture of the ground working machine. Then, the deviation value, which is the difference between the specified left-right direction set value and the detection value detected by the tilt sensor provided in the machine or the earth-grounding machine, is calculated, and the left-right direction setter calculates the deviation value. It is known to automatically control the left-right attitude of the ground work machine to the specified set value.

In order to perform such control, conventionally, when the control result approaches the target and the control command is turned off, the neutral zone or the pulse zone is fixed. For example, the operation of the conventional ground inclination sensor and the operation of the lift rod cylinder shown in FIG. 8 will be described in accordance with those shown in the graph. When the operation of the ground inclination sensor takes a waveform of A, the CPU The lift rod cylinder has a waveform of B in response to the operation command from. At this time, when the waveform of B approaches the waveform of A and crosses at the point (a), the CPU outputs an operation command for turning off the electric power, and actually the function of lowering the lift rod cylinder stops. Is the point (b). That is, since the function of the lift rod cylinder is overrun by that much, at the stop position (b) of the lift rod cylinder, the electric output for the lift command is immediately turned on to the lift rod cylinder. In reality, poor is also (C)
The lifting operation of the lift rod cylinder is started from the point. Then, at the point (d) where the waveform when the ground inclination sensor turns downward, the electric output of the lift command is turned off at the point (d), and the lift operation of the lift rod cylinder is overrun. . Therefore, at the raising operation stop position (e) point of the lift rod cylinder, an operation command for lowering the lift rod cylinder is immediately output,
Actually, at the point (f), the lift rod cylinder starts the lowering operation.

As described above, since the operation of the lift rod cylinder is delayed with respect to the electric output based on the waveform of the ground inclination sensor, the ground working machine causes chattering or hunting. Therefore, there arise problems to be solved in order to eliminate such chattering or hunting phenomenon.

[Means for solving problems]

The present invention has been proposed as a solution to the problem in view of the above problems, and the upper ends of the left and right lift rods are pivotally attached to the tips of the left and right lift arms provided in the machine.
The lower end of the lift rod connects the ground working machine to the rear part of the machine so as to be able to move up and down through a link mechanism formed by pivoting one end of the lift rod to an intermediate portion of the left and right lower links. , One of the lift rods is formed by a lift rod cylinder, and the lateral movement of the tractor of the ground work machine is controlled by the extension / contraction operation of the lift rod cylinder. The deviation which is the difference between the horizontal direction set value specified by the horizontal direction setter for controlling the horizontal posture of the vehicle and the detection value detected by the ground inclination sensor provided in the machine or the ground work machine. Calculate the value and measure the length of the lift rod cylinder in a control device that automatically controls the left and right attitude of the ground work implement to the set value specified by the left and right set value. A stroke sensor is provided to measure the time from turning off the horizontal control raising / lowering operation command from the CPU until the expansion / contraction operation of the rod cylinder is stopped by the movement of the stroke sensor. It is intended to provide a horizontal control device for a moving vehicle in which a CPU is provided with a control unit capable of setting and outputting the output of an operation command for raising and lowering to the lift rod cylinder and the output off timing based on the value. is there.

[Action]

Since the present invention has the above-mentioned means, the on / off timing of the electric output to the lift rod cylinder can be properly set. That is, when outputting a lift command or a drop command from the CPU to the lift rod cylinder, the output from the CPU is first turned off as information, and the time (or distance until the lift rod cylinder actually stops). ) Is constantly measured by the movement of the stroke sensor, and this measured value is used as response speed information from the electric system to the hydraulic system at a fast timing only for that response speed.
By outputting the operation command of raising and lowering from the CPU,
The hunting phenomenon of the ground work machine can be prevented and the feeling is extremely good.

〔Example〕

An embodiment of the present invention will be described in detail below with reference to the attached drawings. For convenience of description, a conventionally known mechanism will be described at the same time. In FIG. 1, (1) is a main machine such as a tractor, and a ground work machine (2) such as a rotary is mounted at the rear of the tractor (1), and left and right lift arms (3).
Work machine connection such as a three-point link mechanism consisting of left and right lower links (6) and (7) that move up and down via left and right lift rods (4) and (5), and a central top link (8) to (3) A hydraulic lifting mechanism (11) is connected by a link (9), and the work connecting link (9) lifts and rotates its lift arms (3, 3) by a lift cylinder (10) using hydraulic pressure. ), The lift rod (5) of at least one of the left and right lift rods is formed by the lift rod cylinder (12), and the lift rod cylinder (12) is expanded and contracted. The grounding work machine (2) is operated to roll the left and right posture of the ground work machine (2) with respect to the machine (1).

In addition, the ground inclination sensor (C) provided in the machine (1) or the ground working machine (2) is of a capacitance type, and is used to move the oil to the slope of the ground surface. It detects the left-right inclination to the ground. In the embodiment shown in FIG. 1, the ground inclination sensor (C) is provided on the side of the machine (1). Thus, the horizontal inclination of the ground work machine (2) with respect to the machine (1) is determined by the length of the lift rod cylinder (12) provided between the ground work machine (2) and the machine (1). It is detected by a stroke sensor (S) that measures the height.
Although there are various methods for this detection and calculation procedure, in the control circuit diagram of FIG. 3, the ground inclination sensor (C) is used.
With the setting dial of the left / right tilt setting device (I) composed of a rotary or linear movement type potentiometer, etc., from the detected value of the left / right tilt angle to the ground of this machine (1) detected by The set right / left tilt angle set value of the machine (1) thus set is increased / decreased to calculate a required tilt correction angle for the ground working machine (2) with respect to the machine, and then the calculated right / left tilt correction with respect to the machine. An operation command from the CPU (13) outputs the length of the lift rod cylinder (12) to control the expansion and contraction through the solenoid valve (14) so that the angle becomes zero degrees.

Also, as a simplified type of this machine (1), a left / right tilt setting device (I)
Although there is one which is not provided, the lean angle to the left and right to the ground detected by the tilt sensor (C) is input to the CPU (13) via the A / D converter, and the stroke sensor (S) The length of the lift rod cylinder (12) is expanded and contracted by the CPU (13) so that the difference between the detected value and the detected value becomes zero. It goes without saying that the present invention extends to this simple type.

Further, the left-right inclination of the ground working machine (2) shown in FIG. 1 with respect to the main machine (1) is such that the lift rod cylinder (12) provided between the ground working machine (2) and the main machine (1). ) Is detected by the stroke sensor (S) for measuring the length, the stroke sensor (S) has a linear movement type potentiometer, although its internal structure is not shown. As shown in FIG. 2, a shortage is arranged in front of the lift rod cylinder (12) to measure the length of the lift rod cylinder (12). That is, sensor shafts (16) penetrating into the lift shaft (15) which is a hollow shaft and projecting left and right are provided, and sensor arms (17a) (17) (17a) (17) are provided at both ends of the sensor shaft (16).
b) is attached, the sensor arm (17a) and the lower link (6) are connected by the sensor rod (18), and the other sensor arm (17b) and the lower link (7) are connected by the stroke sensor (S). is doing.

4 to 6 output the operation command from the control unit (13a) provided in the CPU (13) to the lift rod cylinder (12) in the present invention. 3 is a graph for using as information the delay until the stop of the lift rod cylinder (12) when the output from the CPU (13) is turned off. Therefore, referring to FIG. 4 first, FIG. 4 is a graph showing the electric output of the CPU (13) for raising and lowering. The X-axis is time or distance, and the Y-axis is CPU (1
The direction of the control signal from 3) is shown. That is, the output from the CPU (13) gives a raising command at the point (a), and the raising command is turned off at the point (b). Then, the lowering command is output from the CPU (13) at the point (a) ', and the lowering command is turned off at the point (b)'. FIG. 5 is a graph showing the operation of the lift rod cylinder (12) when the output shown in FIG. 4 is made. The lift at the point (a) in FIG. It is point (c) that the lift rod cylinder (12) actually starts the raising operation when the raising command for the rod cylinder (12) is output. That is, it is delayed by a. Then, when the raising output is turned off by a command from the CPU (13), the raising operation of the lift rod cylinder (12) is stopped at the point (d).
That is, the delay is only b. Further, at the point (e), the lowering operation is actually started when the lowering output is made from the CPU (13) in (a) 'of FIG. That is, it is delayed by c. Then, when the lowering command is turned off at the point (b) ', the lowering operation is actually stopped at the point (f). That is, it is delayed by d. FIG. 6 is a graph showing the speed at which the stroke sensor (S) reads the time delay of the lift rod cylinder (12) shown in FIG. That is,
When the lift command from the CPU (13) is output at the point (a), the lift rod cylinder (12) performs the lifting operation at the point (c), but the stroke sensor (S) reads it. The operation starts at point (g). That is, in the case of the raising operation, the lift rod cylinder (12) is delayed by a '. When the raising command is turned off at the point (b), the stroke sensor (S) stops measuring the length of the lift rod Linder (12) at the point (g) '. That is, when the raising output is off, the stop of the lift rod cylinder (12) and the stoppage of the stroke sensor (S) function due to the expansion and contraction resistance of the stroke sensor (S) are almost simultaneous. b'can be ignored. Also, (a) ′
When the lowering command is output at the point, the lowering operation of the lift rod cylinder (12) starts at the (e) point, but the stroke sensor (S) starts measuring at the (h) point. That is, as shown in FIG. 7, the stroke sensor (S) is loosened by the gap of the dimension W against the reverse movement, and the measurement of the stroke sensor (S) is not started during that time, so that there is a delay of c '. Become. Thus, when the output of the lowering operation is turned off at the point (b) ', the lift rod cylinder (12) is stopped at the point (f), and the measurement of the stroke sensor (S) is stopped. Is a point (H) due to expansion and contraction resistance, and the delay d ′ with respect to the stop of the lift rod cylinder (12) can be almost ignored. In FIG. 7, the operation state of the stroke sensor (S) is explained. First, A indicates the initial state of the stroke sensor (S), and the stroke sensor (S) is in the downward direction. Suppose After that, when the lift rod cylinder (12) is operated in the contracting direction (raising direction), an upward load such as B acts on this stroke sensor (S), and the stroke sensor (S)
The stroke sensor (S) does not respond during the movement of the distance (W), that is, the distance or time of a'in FIG. Therefore, when the raising command from the CPU (13) is output, the information on the raising command output side is not adopted because there is a delay of a'to the above-mentioned delay a of the lift rod cylinder (12). . Similarly, when lowering the lift rod cylinder (12) from the state shown in FIG. 7B, the stroke sensor (S) is lowered by the distance (W) and then lowered as described above. Since it shifts, c ′ shown in FIG. 6
The stroke sensor (S) does not respond for the period of time. Therefore, since there is a delay c ′ in the start of measurement of the stroke sensor (S) at the time of outputting the up and down commands, the information of the stroke sensor (S) at the time of output is not adopted.

However, when the output for raising or lowering is turned off, as described in detail with reference to FIG. 6, since b'or d'is almost zero, the deficit can be ignored. It is unnecessary as information to the control unit (13a).

Since a, b, c and d in FIG. 5 are almost the same, strokes in FIG. 6 can be used to measure the distance (time) between a and c or b and d. Since b'or d'when the output of the sensor (S) is off is almost zero as described above, the measured value of the stroke sensor (S) when the output is off is used as the information of the control unit (13a) to obtain the a. , B, c, d distance (or time) to the target, by setting the output timing earlier, the delay in the operation of the lift rod cylinder (12) can be eliminated and the conventional hunting phenomenon etc. It came to be stopped.

〔The invention's effect〕

As described in detail in one embodiment of the present invention, a CPU
When outputting the operation command from, the delay in the start of measurement of the stroke sensor that occurs when the output is turned off is based on the response speed, and the output of the operation command for raising and lowering the lift rod cylinder from the control unit and the output off timing are Since the output is set and output, the lift rod cylinder does not cause a delay with respect to the electric output as in the conventional case and a so-called hunting phenomenon does not occur at all, and smooth horizontal control with extremely good feeling can be performed. It came like this.

[Brief description of drawings]

In the figure, FIG. 1 is a side view when a ground work machine is connected to the main machine, FIG. 2 is a perspective view of a connection link mechanism, FIG. 3 is a control circuit diagram, and FIG. 4 shows electric output at the time of raising and lowering. Graph, FIG. 5 is a graph showing the time delay of the lift rod cylinder,
FIG. 6 is a graph showing the time delay of the stroke sensor, FIG. 7 is an explanatory view of the mounting relationship of the stroke sensor, and FIG. 8 is a graph showing the operating state of the lift rod cylinder with respect to the conventional ground inclination sensor. Explanation of code (1) …… This machine, (2) …… Ground work machine (3) …… Lift arm, (4) (5) …… Lift rod (6) (7) …… Lower link, (8)… Top link (9) Connection link mechanism (12) Lift lift cylinder (13) CPU, (13a) Control unit (14) Solenoid valve, (15) Lift lift (16) …… Sensor shaft, (18) …… Sensor rod (17a) (17b) …… Sensor arm (S) …… Stroke sensor, (C) …… Ground tilt sensor (I) …… Left and right tilt setter, (10) …… Lift cylinder (11) …… Hydraulic lifting mechanism

Claims (1)

[Claims] 1. The upper ends of left and right lift rods are pivotally attached to the tips of the left and right lift arms provided on the machine, and the lower ends of the lift rods are attached to the left and right sides of the machine. A ground work machine is movably connected to the rear part of the machine via a link mechanism pivotally attached to an intermediate part of the lower link, and one of the lift rods is formed by a lift rod cylinder. When the lift rod cylinder extends and contracts, the left-right attitude control for the tractor of the ground work machine is performed, and the control is performed in the left-right direction specified by the left-right direction setting device for controlling the left-right attitude of the ground work. The deviation value, which is the difference between the set value and the detection value detected by the ground inclination sensor provided in the machine or the ground working machine, is calculated, and the ground value is set to the set value specified by the horizontal direction set value. The left and right orientation of the machine At a control device designed to automatically control the stroke sensor for measuring the length of the lift rod cylinder is provided, CP
The time from turning off the horizontal control raising / lowering operation command from U to stopping the expansion / contraction operation of the rod cylinder is constantly measured by the movement of the stroke sensor, and the lift rod cylinder is measured based on the measured value. A horizontal control device for a moving vehicle, characterized in that a CPU is provided with a control unit capable of outputting an up / down operation command and setting an output off timing.