JPH0813202B2 - Horizontal control device for tractor work machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a horizontal control device for a tractor working machine, and can be used for a cultivating device and the like.

2. Description of the Related Art In the horizontal control in which a work device connected to a tractor vehicle body is horizontally controlled while maintaining a horizontal posture regardless of the inclination of the tractor vehicle body, the unevenness of the work ground and the vehicle speed This greatly affects the accuracy of horizontal control.

Means for Solving the Problems The present invention provides a horizontal control in which a working device (2) is horizontally controlled by rolling a working device (2) with respect to a vehicle body (1). The horizontal control device for the tractor working machine is configured so as to control the prohibition time to be lengthened according to the vehicle speed as the vehicle speed increases.

Actions and Effects of the Invention In horizontal control when performing work with the working device (2) connected to the rear side by traveling of the vehicle body (1), when the vehicle body (1) leans due to left-right inclination of the ground, etc. The work device (2) is rolled with respect to the vehicle body (1) and horizontally controlled to a horizontal posture, so that the vehicle body (1)
The work device (2) is maintained horizontally regardless of the inclination of the work.

In this horizontal control device, the prohibition time of the rolling control output in the opposite direction after the rolling control output in the left and right directions is changed and controlled to increase according to the vehicle speed, and the prohibition time becomes longer as the vehicle speed becomes faster. When the vehicle speed becomes slower, the prohibition time becomes shorter, and the timing of the rolling control output in the opposite direction to the currently output rolling control output direction is changed and adjusted. For this reason, it becomes difficult to react to small changes in the unevenness of the ground, it quickly follows large changes, and quickly follows large changes. Operability is improved because the suppression of operation is automatically controlled by the vehicle speed.

Embodiment In addition, in the illustrated example, the vehicle body (1) is equipped with an engine (3) in the front part, front wheels (5) which are steered by a steering handle (4) are provided, and a cockpit (6) is provided in the rear part. ,
A rear wheel (7) and the like are provided, and the tractor is a four-wheel drive type in which the front wheel (5) and the rear wheel (7) are transmitted by the engine (3). The working device (2) is a cultivating device, and a cultivating shaft (9) on which a cultivating claw (8) can be arranged is provided so as to rotate in conjunction with the power take-off shaft at the rear of the vehicle body (1),
A flat plate (11) for leveling the soil surface of the cultivated land is provided on the rear side of the cultivating cover (10) which covers the upper peripheral portion of the cultivating claw (8), and the cultivating machine body (12) is connected to a pair of left and right lower links ( The lift arm (15) and the lift rod (15) are mounted to the rear of the vehicle body (1) so as to be able to move up and down by the top link (14) and the top link (14), and the rotation of the lift arm (15) of the vehicle body (1) is controlled. 1
The working device (2) is moved up and down by vertically rotating the left and right lower links (13) which are connected to each other via 6).

The pair of left and right lower links (13) and the lift arm (15)
On one side of the lift rod (16) that connects between the
And a stroke sensor (18) that detects the amount of expansion and contraction of the rolling cylinder (17), and the lower link (13) on the left and right sides is vertically moved by a predetermined amount by the expansion and contraction of the rolling cylinder (17). Then, the working device (2) is controlled to roll with respect to the vehicle body (1).

On the side of the cockpit (6), a position lever (19) for vertically moving the lift arm (15) to raise and lower the working device (2), and a plowing depth setting device for setting the plowing depth of the plowing device ( 2
0) and a tilt setting device (21) for setting the left and right tilt angles of the working device (2) with respect to the vehicle body (1). (twenty two)
Is a lift angle sensor that detects the lift angle of the lift arm (15), (23) is a tilt sensor that detects the left and right tilt angles of the vehicle body (1), (24) is a vehicle speed sensor that detects the vehicle speed from the rotation of the wheels, (25) is a mode switch for switching various automatic control modes of the microcomputer (CPU) of the controller, and (26) is a depth sensor for detecting the plowing depth for detecting the even angle of the flat plate (11). (27) is a proportional solenoid valve for raising the lift arm (15) to rotate,
Reference numeral (28) is a lowering proportional solenoid valve, which is provided in a hydraulic circuit for moving up and down the lift arm (15). Further, (29) is a solenoid valve for horizontal extension for hydraulically controlling the rolling cylinder (17) in an extension direction, and (30) is a solenoid valve for horizontal contraction for performing rolling control.

The plowing depth control moves the lift arm (15) downward to the position set by the plowing depth setting device (20), and the depth sensor (26) detects the flattening position of the tilling soil surface by the flat plate (11). While maintaining the tiller's lifting control, if the depth sensor (26) detects too deeply, it outputs a lifting proportional solenoid valve (27) to move the lift arm (15) upwards to raise the tiller. If the depth of plowing is made shallow within the set area, or if the depth sensor (26) detects too shallowly, the descending proportional solenoid valve (28) is output to make the depth deep within the set area.

Horizontal control is the angle set by the tilt setting device (21), for example, when the working device (2) is horizontally controlled to form a plowing trace on the left and right horizontal planes, the tilt setting device (21) is set horizontally. Set. At this time, even if the vehicle body (1) leans to the left or right, the work device (2) is rolled by horizontal control, and the tilled soil surface leveled by the leveling plate (11) is formed horizontally. When the tilt sensor (23) detects the tilt of the vehicle body (1), the solenoid valve (29) (30) for horizontal extension or contraction is output by this, and the rolling cylinder (17) is extended or shortened. Then, the tilt setting device (21)
When the stroke sensor (18) detects the horizontal position set by, the rolling is stopped at this horizontal position.

Further, such horizontal control is carried out by the vehicle speed sensor (24) detecting the vehicle speed through the steps shown in the flowchart of FIG. Of these steps,
Specifically, the number of samples for calculating the average value of the tilt sensor (23) is changed, and the number of samples is reduced as the vehicle speed increases. Further, in the step, the inhibition time of the output request in the opposite direction is made longer as the vehicle speed becomes higher.

When the output direction of the horizontal control does not change in the neutral region, neither the solenoid valve (29) (30) for horizontal extension nor the solenoid valve for horizontal contraction is output after the step. When the inclination sensor (23) detects the inclination of the vehicle body (1) and outputs a control output in a direction in which the rolling cylinder (17) is extended, it is performed through steps, and output in the opposite direction, that is, output prohibition is prohibited. The reduction output prohibition continues until it is canceled. On the contrary, when the control output is made in the direction of shortening the rolling cylinder (17), it is performed through steps and, and the extension output inhibition continues until the extension output inhibition which is the output in the opposite direction is canceled. To be done.

[Brief description of drawings]

1 is a side view, FIG. 2 is a block diagram, and FIG. 3 is a flow chart thereof. In the figure, reference numeral (1) is a vehicle body, (2) is a working device, (17) is a rolling cylinder, (18) is a stroke sensor, and (2)
1) is a tilt setting device, (23) is a tilt sensor, (24) is a vehicle speed sensor, (29) is a horizontal extension solenoid valve, and (30) is a horizontal compression solenoid valve.

Claims (1)

[Claims] 1. In horizontal control for rolling a work device 2 horizontally with respect to a vehicle body 1 to horizontally control the rolling control output in one direction after the rolling control output in one direction, when the vehicle speed becomes faster, A horizontal control device for a tractor work machine that controls the length of the tractor work machine according to the vehicle speed.