JPS61170302A - Rolling control apparatus of earth working machine - 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] [Industrial Application Field] This invention relates to a rolling control device that controls a ground-based work machine to a predetermined left-right attitude, and detects the left-right inclination of the ground-based work machine with respect to a towing machine. The device itself is simple,
We propose a rolling control system that reduces the number of foreign objects, simplifies the correction process for detected values, and simplifies the configuration of the control system.

[Conventional technology]

A left/right tilt sensor that detects the left and right inclination of the ground work machine is installed on the towing machine side, and also detects the left and right inclination of the ground work machine with respect to the tow machine, and is fully connected to the left and right lift arms and lower links of the tow machine. By controlling the expansion and contraction of one of the left and right lift rods, which is formed to be expandable and retractable, the rolling control device calculates the left and right inclination of the ground work equipment and controls it to a preset size. ing.

Since the above-mentioned inclination sensor is installed on the towing machine side, it has the advantage that there is no need to install the inclination sensor even when the ground-based work machine is replaced. The left and right inclination relative to the vertical axis is calculated by detecting the length of the lift rod on the telescopic side and based on this method.

However, since the lower part of this lift rod is pivotally attached to the lower link at an angle t-4 that is not perpendicular to the vertical rotation direction of the lower link, the change in the length of the lift rod is as follows. A simple proportional calculation is insufficient, so the total length of the lift rod is calculated by trigonometrically calculating the rotation angle of the lower link or lift arm, and the vertical component of this calculated length is used for the above-mentioned ground work. This must be corrected and included when calculating the left and right tilt of the aircraft, like this.

Rolling control operation requires calculation of various complicated correction amounts, which makes the control circuit complicated.In addition, the rotation angle of the lift arm, the length of the lift rod, and the left and right inclination of the towing machine must be detected respectively. Since this requires many types of sensors such as a rotation angle sensor, a length sensor, and an inclination angle sensor, there is a problem that the control device becomes expensive.

[Problem that the invention seeks to solve]

This invention requires many types of sensors for the lift arm rotation angle, lift length, etc., and also requires complicated correction calculations, which increases the cost of the control device. It aims to solve problems.

[Friendly means of solving problems]

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

That is, the ground work machine (2) connected to the left and right lower links (61, (7) of the work machine connection link mechanism (9) is moved up and down by the hydraulic lifting mechanism I by the left and right lift arms (31, 3). Based on this movement of +31, the elevation is controlled and the left and right lift arms (3), +3> and lower link 1 are controlled.
6) and (7) respectively.
), Shaozhangbei 41 side of (5) is formed by a lift rod cylinder +13 that can be expanded and contracted by hydraulic pressure, and the traction machine (1) is tilted to the left and right with respect to the ground, and the ground work machine (2) is tilted to the left and right of the traction machine. Detect and calculate each of the above, calculate the left and right inclination of the ground work machine (2) from the ground based on this method, and use this method to control the expansion and contraction of the lift rod cylinder α2 to move the ground work machine (2) to a predetermined value of t”. In the rolling control device configured to control the left and right inclination from the ground, the left and right arms (14) extend rearward (4-)-ξ.

(6), (7) or combined into one body with this rtt
Rotating member as, α [with] and each of the above-mentioned arm portions α4. (14
and the rod αη on the non-extendable side of the lift rod (4) in the working posture, and the stroke sensor (
S,), the lower link +61, (7) or the rotating member as, -〇 are pivoted and connected so as to be substantially perpendicular to the rotational direction, and the rod αη and the stroke sensor (S2)
This is a rolling control device for a ground work machine, characterized in that it is configured to calculate the horizontal inclination angle of the towing machine based on the difference between the detected length and the detected length.

[Example and operation]

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

As shown in Fig. 1, a rotary pine plowing device, which is an example of a ground work device (2), is attached to the rear of a tractor, which is a towing machine, to a pair of left and right lift arms (31, (3)). A work equipment connection link mechanism (such as a three-point link mechanism) consisting of left and right lower links (6), (7) that swing up and down through lift rods (41, (51t), and a top link (8) in the center). 9), and this work equipment connection link mechanism (9) connects its lift arms (3), (3).
The lift rod (5) on the left and right side is formed by the lift rod (5) t- and the lift rod cylinder a. This lift rod cylinder X62 is extended and contracted to move the traction machine (1) of the ground work machine (2).
The horizontal tilt of the towing machine (1) relative to the ground is detected using a horizontal tilt sensor (S,) consisting of a bubble, a weight, etc. The horizontal inclination to the towing machine (1) is the difference in height between the rear ends of the lower link (6) on the non-extensible side and the lower link (7) on the telescopic side. This is calculated by detecting and calculating the left and right arms a4. aa are fixedly attached to each other to form a U-shaped bracket α! 9 is formed, and is pivoted in the rear upper part of the towing aircraft body ae in the left and right lateral directions at the base α3t,
When the lower link (6) on the non-extendable side and the arm a4 on the same side are connected with the rod a'h, the lower link (7) on the extensible side and the arm a4 on the same side (141) are connected to the VC, and the lower link (7) on the extensible side and the arm part (141) on the same side are connected to each other by the rod a'h. The rod is pivotally connected by a stroke sensor (-) formed by something like a potentiometer, and when the ground work machine (2) is maintained in a normal working posture in a substantially horizontal field, the rod The above-mentioned pivot positions are set so that aη and the stroke sensor (S2) fl are substantially perpendicular to the respective lower links (6) and +7>.

In the second embodiment, a rotating part member (III, (11?) is provided which rotates as one body with respect to each of the lower links (61, +7+), and a rod t1 in a substantially perpendicular attitude is shown in the wJz diagram.
The rotating member is rotated by η and the stroke sensor (S,).

Arm and arm 0. A4 are pivoted and connected to each other,
Therefore, in any of the embodiments shown in wI1 and Fig. 2 above, the movement dimension of the stroke sensor (S,) is directly proportional to the variation in the rotation angle of the lower link (7) + 7) in the above working posture. This is subject to change depending on the situation.

In the case of wJ1 diagram, the left and right lift rods (4),
(5) are both the same length, then the right lift rod (
If 5) is shortened by ΔL, the right lower link (7) will be at a higher position than the left lower link (6) by ΔH (however, B is lower link +61, the distance between the rear end of (7)) It can be calculated from

At this time, the lower end of the stroke sensor (S,) is at a position higher than the lower end of the rod αη by Δh, so ΔH is calculated from this Δh. Length t-D, lower link +61, (Length from the swing fulcrum of 71 to the respective pivot positions α9. of the rod fin and stroke sensor (S2) ) is the lower link (
61, (Since there is a certain relationship with the rear end distance B of 71, from these factors, the horizontal inclination angle with respect to the traction machine (lAt
-, it can be determined by a linear calculation formula using the above-mentioned Δh as a variable.

At this time, the rod (In and the stroke sensor (S,)fl) are in a substantially orthogonal posture with respect to the lower links +6) and (7), respectively, so the above Δh is equal to the rod (1?).
It is directly proportional to -) ~ (r), which is the difference between the length - and the length r) detected by the stroke sensor (S, ) 6C, and therefore, from this V) ~ (r), (2) The lateral inclination angle (μ) of the towing machine can be calculated without the need for complicated correction calculations, and the procedure is shown in FIG.

In the case of the second embodiment, as in the case of the embodiment shown in FIG.
6) and +7) in the vertical direction can be calculated by an extremely simple proportional calculation.

An example of the rolling control unit Qυ that controls the horizontal tilt of the ground work machine (2) will be explained based on the block diagram in Fig. 4. Left and right tilt setting device (
The horizontal inclination angle setting value of the ground work machine (2) set by the setting dial (D) Vc of I) and the horizontal inclination sensor (Sl)
) is input to the differential amplifier (A2), and the detected value of the horizontal inclination angle from the ground of the towing machine (1) is input to the differential amplifier (A2).
2), the left and right tilt control angle for the traction machine is determined by this differential amplifier (A1
) K is calculated.

The length of the rod η is J4r, the length setter (detected at D and the length r detected by the stroke sensor (Sl)), such as a potentiometer, is f, respectively.
tU) to (r) are calculated by inputting them to the operational amplifier (A2), and then ΔH and the horizontal inclination angle of the ground work equipment (2) relative to the traction machine are both calculated in this operational amplifier (A,). The outputs of the differential amplifier (mA,) and the operational amplifier (A2) are applied to the driving amplifier so that the left-right tilt angle of the towing machine matches the left-right tilt control angle of the towing machine. (A4) and (A5) are electromagnetic switching valves (Vlt-switching controlled to supply the pump's pressure oil to the lift rod cylinder α2, and c) to discharge the pressure oil in the lift rod cylinder QX6 to the tank. However, in the illustrated example, when the difference between the left-right tilt control angle for the towing machine and the left-right tilt angle for the towing machine, that is, the left-right tilt bias value, is within a small value, the window comparator (C,), By the action of (C2), no output appears in the drive increase mA, ), (A, ), so that hunting does not appear in the control operation.

As the specific circuit of the rolling control unit cID, various circuits that satisfy the above functions can be used.

〔Effect of the invention〕

The rolling control device for a ground-based work machine according to the present invention is configured as described above, and has a lower link T61.
, +7) Or a rotating member QI that can rotate as one with this
With respect to D and Ql, a rod (I7) and a stroke sensor (S,) t, which are approximately perpendicular to each other in the working posture, are provided, and the length of the rod (171) detected by the length A and the stroke sensor (S2) is The difference between the length r), i.e.
! ~ Since the configuration is such that the left and right tilt angle (/lt-) of the towing machine is calculated based on the rVC, the rotational movement dimension of the lower link (7) is determined by the length r by the stroke sensor (S,) IC.
It is now possible to detect the variation in l with a value that is approximately directly proportional to the difference in height between the left and right lower links (61, (71).
It can be calculated simply by a very simple calculation method of the difference between the constant length a of the rod αη and the length rl detected by the stroke sensor (S2), and the rotation of the lift arm as in the previously mentioned known device This invention eliminates the need for a complicated correction meter that requires detecting the angle and correcting the stroke sensor based on the rotation angle.

In addition, in this invention, like the glide plate potentiometer for detecting the rotation angle, which is necessary in the case of the above-mentioned known device,
Since a sensor of a different type than the stroke sensor is no longer required, this also simplifies the calculation procedure and allows the control circuit to be configured simply and at low cost.

[Brief explanation of drawings]

The figures show embodiments of the present invention; FIG. 1 is a perspective view in a working state, FIG. 2 is a perspective view of main parts in another embodiment, FIG. 3 is a block diagram showing a control procedure, and FIG. 4 is a control circuit. It is a block diagram. Code explanation (1)...Tow machine (2)...
・Ground work equipment (3)... Lift arm (4
1, (51...-lift rod (6), (7).
...Lower link (9) ...One working machine connection link mechanism full ...Hydraulic lifting mechanism αri...
...IJ7 Trot cylinder I...Arm Q9...Bracket αt...Tow machine body (In...Rod αF...・Rotating member

Claims (1)

[Scope of Claims] A ground work machine connected to the left and right lower links of the work machine connection link mechanism is controlled to rise and fall based on the movement of the left and right lift arms that are rotated up and down by a hydraulic lift mechanism,
One of the lift rods that connects the left and right lift arms and the lower link with each other is formed by a lift rod cylinder that can be expanded and contracted by hydraulic pressure, so that the towing machine can be tilted horizontally with respect to the ground, and the ground work equipment can be tilted horizontally with respect to the towing machine. are detected and calculated, and based on these, the horizontal and horizontal inclinations of the ground-based work equipment are calculated. Based on these, the extension and contraction of the lift rod cylinder is controlled to control the ground-based work equipment to a predetermined horizontal and horizontal inclination relative to the ground. In the rolling control device, a bracket having a U-shape in plan view and having left and right arms extending rearward is pivoted at its base to the towing aircraft body above the lower link, and the bracket is connected to the lower link or The rotating member connected to this body and each of the above-mentioned arms are connected to each other by the lower link or the rod on the non-extendable side of the lift rod and the stroke sensor on the extensible side in the working posture. The rotating member is pivoted and connected so as to be substantially orthogonal to the rotating direction, and the horizontal inclination angle to the traction machine is calculated based on the difference between the length detected by the rod and the stroke sensor. Rolling control device for ground-based work equipment.