JPS61141801A - Rolling control apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to a rolling control device configured to maintain a ground-based work machine at a constant horizontal inclination regardless of the horizontal inclination of the towing machine. For example, when plowing a slope by reciprocating along contour lines with a constant ground attitude, a rolling control device is used to automatically and accurately change the ground attitude of the ground work machine when reversing the direction of travel. This is a proposal.

[Conventional technology]

This type of control device detects the left-right attitude of the ground work machine or towing machine, and detects when the rate of change of this detected value is greater than a set range, or when the detected value switches to a reverse tilt state. A nine ground working vehicle is known as JP-A-59-14706, which is configured to reverse the left and right inclination of the ground working vehicle based on the information of a discriminating device that discriminates the type of ground work when the vehicle is in danger. .

This device constantly detects the above-mentioned left and right ground posture,
For example, near a headland where the direction of travel is reversed, mountains caused by the accumulation of cultivated soil and depressions in the vicinity will also be detected, and these mountains and depressions will be detected. Therefore, the detected value becomes discontinuous and unstable, and as a result, the attitude control may be disturbed.

[Problem that the invention seeks to solve]

This invention is devised to eliminate the instability of control caused by detection operations at locations where leveling is not required, such as the above-mentioned headlands, and to obtain stable rolling control.

[Means for solving problems]

In order to solve the above problems, the present invention has taken the following technical means 'f:.

That is, the horizontal inclination setting value of the horizontal inclination setting device (■,) that sets the predetermined ground attitude of the ground work machine (2) connected to the traction machine (1) and raised and lowered by the hydraulic lifting mechanism αυ. The rolling drive mechanism a is set so that the horizontal inclination detected value by the horizontal inclination sensor (Sl) of the ground work machine (2) is the same.
In the nine rolling control device configured to operate j, the hydraulic lifting mechanism (Iυ) lifts the ground work equipment (2) to a predetermined height or higher and lowers it to the working position for ground work (2). are detected, respectively, and it is determined whether the inclination direction of the horizontal inclination detected value at the time of detecting the above-mentioned lifting operation matches the inclination direction of the left-right inclination detected value at the time of detecting the above-mentioned downward movement immediately after this lifting operation. Based on the discrepancy output from the discriminator @ to be performed and the discriminator @ above, the ground work equipment (2)
This rolling control device is characterized by having a setting output of a left-right tilt setting device (Engineer) or an inverter that automatically corrects the left-right tilt angle of a left-right tilt sensor (Sl).

[Example and operation]

Next, embodiments of the present invention will be described based on the drawings.

As shown in Fig. 2, a pair of left and right tow arms (31, ( 31, by a link mechanism (9) consisting of left and right lower links (6), (7) that swing up and down via left and right trots (4), (5), and a top link (8) in the center. This link mechanism (9) is connected to the seven toe arms (31,
13) is lifted and lowered by a hydraulic lifting mechanism α11 that lifts and rotates it using a lift cylinder using hydraulic pressure.

In addition, the left and right tilt angle of the ground work equipment (2) due to the left and right tilting of the towing machine (1) is determined by the air-bubble type or heavy Detected by a weight type left and right tilt sensor (S,),
Connect one lift rod (5) to the lift rod cylinder a
[Thus, by expanding or contracting, the ground work equipment (2
) is automatically corrected to the left-right orientation instructed by the left-right tilt setting device (■1), which will be described later.
has been completed.

In addition, the hydraulic elevator SOυ uses a lift sensor (S,) consisting of a rotary potentiometer or the like to detect the lift angle of the lift arm (3) with respect to the horizontal plane to detect the lift detection value (as β) of the ground work machine (2). Then, the lift IP4t- is detected, and the above-mentioned n7ICIJ foot detection value is changed to the lift instruction value indicated by the lift setting device (■,) from a rotary potentiometer or the like by rotating the lift control lever a4. - are configured so that they match.

The control circuit is illustrated in Fig. 1 as a rolling control mechanism αJ that controls the expansion and contraction of the lift rod cylinder α-. Set the horizontal tilt setting value (θ) (for example, if you want to control the horizontal position, set the
The bias value to be controlled by the bias value calculation circuit r1s (corrected to 61) based on the bias value calculation circuit r1s (+10 for 91G” in the upper right corner)
This bias value (bias voltage ffh corresponding to θ1) and the lift rod sensor (Ss) consisting of a linear sliding potentiometer, for example,
5) The detected voltage (V) corresponding to the length - and the indicated voltage (■ and is input to the multiplexer fin of the control unit 4, such as a microcomputer, and converted into a digital value by A/[) converter p, and in the correction amount calculator α3, the bias voltage (
Vh) A target corresponding to the amount of expansion and contraction of the lift rod (5) necessary to correct the corrected voltage (VC) based on the t-1 indicated voltage (Va) iC and make it 0 by the expansion and contraction of the lift rod (5). The voltage CVz) is determined and the comparator (2
) is applied to the extension drive circuit CIυ or the reduction drive circuit 4, and the lift rod (5) is controlled to extend or contract by the switching operation of the electromagnetic switching valve (2).

Figure 5 shows the calculation characteristics of the correction amount calculator for a scratch. The target voltage (Vz) is calculated based on the bias voltage (Vh) corresponding to the bias value (#1), and the command voltage (Va) corresponding to the command lift value (α). That is, In Fig. 5, the case of three stages is illustrated as α1<α2<α3, and 9 is the unbalanced electric charge at the indicated voltage (Val) ff1Vh)
The relationship between tFHvi and the target voltage (Vz) is expressed by a linear equation, and the calculation procedure is first to select the nearest command voltage 1, for example (■□) depending on the magnitude of the command tFHvi, and then to The target voltage (Vz) at the biased voltage ffh is calculated based on the relational expression between the indicated voltage CVa, ) and the target voltage (V
a, XIA, etc.)... are not limited to the illustrative ones.

And, the ground work equipment (2) is required for turning movement! A lifting lift value setting device (Iu) that sets the lifting lift value when performing a lifting operation, and a lowering lift value setting device when the ground work equipment (2) moves downward to the working position. (Id) is input to the multiplexer fin, and the control unit αevc determines whether the lift arm (3) is raised and the lift detection value - is greater than or equal to the lifting lift value. When the lifting value is 7 or more, use the correction amount calculator to calculate the detected inclination value (θU) during lifting, which is the reading of the left and right inclination sensor (S, ). 19, and when the lift arm (3) is lowered in the first place, the discriminator (to) determines whether the lift detection value (support) is less than the downward movement lift value.
When the lower object lift value is lower than the lower object lift value, the left and right tilt sensor (
A discriminator (to) determines whether the detected inclination value (θd) during lowering and the detected inclination value (θU) during lifting, which are the readings of S□), are positive or negative. When the positive or negative values are different from each other, the direction of the tilt correction is reversed by the inverter 4, and the above-mentioned rolling control is performed. , ) can be switched between positive and negative using the inverter (2), or
The left and right tilt angle of the left and right tilt sensor (S) is switched between positive and negative using an inverter.

The rounded-off circuit that inverts the setting output of the left/right tilt setting device (I) is shown in the block diagram in the sixth factor and in the circuit diagram in FIG. 7, and 9 shows the state before inversion in FIG. When in
A current flows from the power supply switch (1,,) to the left/right tilt setting device (I□) as shown by the arrow.
The signal flows through the multiplexer aη.

In this state, when there is a reversal command from the discriminator, the electromagnetic solenoid of reversor 4 is energized in response to fLK'+, and the changeover switch (jib) is activated from between the power sources. ) through the left and right tilt setting device (11).
bK15'ifl is grounded via the changeover switch (t2), and a signal current with a value proportional to the value flows in the direction of the left/right inclination setting device (I,), arrow 1fic, and the correction g quantity calculator is set. This is to switch the left and right tilt setting values in the opposite direction.

Note that the left and right tilt sensor (Sl) is not shown in the figure, but
The lift sensor (S,
), although not shown, a potentiometer may be used to detect, for example, the moving distance n') of the link of the lifting operation lever OAK of the hydraulic lifting mechanism + II). In contrast to the above, the detection of the lifting operation and the lowering operation may be performed using a special sensor such as a microswitch that operates depending on the rotational position of the lift arm (3), for example.

〔Effect of the invention〕

The rolling control device according to the present invention is configured as described above, and includes a lifting operation of the ground working machine (2) to a predetermined height or more by the hydraulic lift *anvc, and a lifting operation of the ground working machine (2) above a predetermined height.
2) The downward movement to the working position is detected respectively, and the inclination direction of the horizontal inclination detection at the time of detecting the above-mentioned lifting operation is the same as the left-right inclination detection value at the time of detecting the above-mentioned downward movement immediately after this lifting operation. A discriminator (incorporated) that determines whether or not the inclination directions match, and a left/right inclination setting so that the left/right inclination direction of the ground work equipment (2) is reversed based on the mismatch output from the above-mentioned discriminator (c). The setting output of the device (■,) or the inverter () that automatically corrects the left and right tilt angle of the left and right tilt sensor (S,)
2), the rolling control device travels in the desired direction to finish the work, and lifts the ground work machine (2) for turning operation to turn and change the direction of travel. 180
0 and lower the ground work machine (2) to the working position.
If the tilt directions of the respective left and right tilt detection values during lifting and lowering operations do not match, the setting output of the left and right tilt setting device (Engineer) or the left and right tilt sensor (Sl) will change due to the operation of the inverter. It detects and automatically corrects the rightward inclination angle to the opposite one, so the horizontal inclination of the ground work equipment (2) is corrected.

After changing the initial direction of travel by 1800, the slope will be exactly the opposite, and when the direction of travel is reversed, the direction of inclination to the ground can be easily changed without making any mistakes. Moreover, ground work equipment (2) t
- Since the posture switching control is performed by determining the direction of inclination relative to the ground during the lifting operation and during the lowering operation immediately thereafter, it is possible to avoid, for example, mounds caused by accumulation of cultivated soil near the headland, etc. According to the present invention, a concave portion that appears nearby is not erroneously detected, so that the above-mentioned posture switching control is always performed correctly.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a block diagram of the control circuit, Fig. 2 is a perspective view of main parts in a working state, and Fig. 3 is a block diagram of the control circuit.
The figure is an overall side view of FIG. 2, FIG. 4 is a control flow chart, and FIG. 5 is a control characteristic diagram. FIG. 6 is a block diagram of main parts showing an example of reversal control. FIG. 7 is a circuit diagram of FIG. 6. Code explanation

Claims (1)

[Claims] The ground work equipment, which is connected to a towing machine and is raised and lowered by a hydraulic lifting mechanism, is set to the left and right tilt setting value of the left and right tilt setting device that sets the predetermined ground attitude, and the left and right tilt sensor of the ground work equipment detects the left and right inclination. In a rolling control device configured to operate the rolling drive mechanism, the hydraulic lifting mechanism is capable of lifting the ground-based work equipment above a predetermined height and lowering the ground-based work equipment to the working position so that the values match. , respectively, and determines whether the inclination direction of the left-right tilt detection value at the time of detecting the lifting operation matches the tilt direction of the left-right tilt detection value at the time of detecting the lowering operation immediately after this lifting operation. a discriminator, and a reversing device that automatically corrects the setting output of a left-right tilt setting device or the left-right tilt angle of a left-right tilt sensor so as to reverse the left-right tilt direction of the ground work equipment based on the discrepancy output from the discriminator. A rolling control device comprising: