JPS61170303A - 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] [Field of Industrial Application] This invention relates to a rolling control device for setting and controlling a ground-based work machine to a predetermined left-right posture, and the invention relates to a rolling control device for setting and controlling a ground-based work machine to a predetermined left-right attitude, and for adjusting the horizontal tilt of the ground-based work machine with respect to a towing machine. The detector itself is simple,
This paper proposes a rolling control device devised to reduce the amount of Class S, simplify the correction process for detected values, and simplify the configuration of the control device. □ [Conventional technology] A left and right tilt sensor that detects the left and right inclination of the work equipment is installed on the towing machine side, and also detects the left and right inclination of the ground work equipment with respect to the tow machine. A rolling control device is known that controls the horizontal inclination value of a ground work machine to a preset value by controlling the expansion and contraction of one of the lift rods, which is formed to be expandable and retractable. ing.

2. Since the above-mentioned inclination sensor is attached to the traction machine fIllK, it has the advantage that there is no need to change the installation of the inclination sensor even when changing the ground work machine. 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.

Since the vertical length of the lift rod varies depending on the lifting angle of the lift arm, it is desirable to install the sensor of the lift rod at the position where the vertical length due to lifting and lowering is the smallest. This is not possible since it is installed at the same location as the lift rod.

Therefore, in this known device, the rotation angle of the lift arm must be detected by a separate lift arm sensor, and the lift height of the ground work equipment must be corrected and included when calculating the horizontal inclination of the ground work equipment. In this way, the rolling control operation requires calculation of various complicated correction amounts, which complicates the control circuit.In addition, the rotation angle of the lift arm,
In order to detect the length of the lift rod and the left and right inclination of the traction machine, various types of sensors are required, 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 to be solved by the invention] This invention requires many types of sensors due to the rotation angle of the lift arm, the length of the lift, etc. This is an attempt to solve the problem of the prior art that the cost of the control device is high due to the need to perform complicated correction calculations.

[Friendly means of solving problems]

In order to solve the above problems, the present invention provides the following technical means: 90, 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); Based on this movement of the left and right lift arms (31, +31), which are raised and rotated by the hydraulic lifting mechanism I, the left and right lift arms (31, (31 and lower link +
61, (7) Lift rods (4
), (51) is formed by a hydraulically extendable lift rod cylinder mico, and a traction machine (1
) and the lateral inclination of the ground work equipment (2) relative to the traction machine, respectively, and calculate the left and right inclination of the ground work equipment (2) relative to the ground based on these methods. In the rolling control device, each of the lift arms (3), (3), lower link ( 6) , (7)
Stroke (4), which is the interval between
A rolling control device for a ground work machine, characterized in that it is configured to calculate the horizontal inclination angle (A') of the towing machine based on the detected difference between the left and right strokes (4) and (r). In addition, each of the above-mentioned stroke sensors (S,), (S,) 1(, is set so that it has a substantially vertical posture with respect to the respective lower link +61, (7) in the working posture. It is characterized by friendship.

[Example and operation]

Next, embodiments of the present invention will be described based on the drawings. 1st
As shown in the figure, a rotary plow a! is attached to the rear of a tractor as a towing machine (1), and is an example of a ground work machine (2). The device is moved to the left and right pair of lift arms (3), +31, the left and right lift rods (4), (51), the left and right lower links (6), (7) that swing up and down, and the center top link. (8) are connected by a work equipment connecting link mechanism (9) such as a three-point link mechanism consisting of the 17th toe arm (31,
(3).

The lifting operation is performed by a hydraulic lifting mechanism a1 that is moved up and down by a lift cylinder arm using hydraulic pressure,
At least one of the left and right lift rods (5) is formed into a lift rod cylinder a2, and this lift rod cylinder a
at-Tow machine (1) for ground work machine (2) by telescopic operation
This is to control rolling of the left posture.

The lateral inclination of the traction machine (1) relative to the ground is detected using a lateral inclination sensor (S, )t- made of a bubble, a weight, etc. The left and right inclination of the traction machine is the distance between each lift arm (3) and lower link (6), and the distance between each lift arm (3) and lower link (7).

(r) is detected by a stroke sensor (S,), (S,) consisting of a linear movement type potentiometer, for example, and the left and right tilt angle (μ) of the traction machine is calculated based on the detected fL 几stroke-, (rl&C). It is something.

The stroke sensors (S,), (S,) are arranged to avoid the positions where the respective lift rods (41, (5) are installed) and measure the vertical length components of the strokes (4), (r) in the working posture. It is desirable to provide it at a position where the fluctuation is as small as possible.

Stroke sensor (S,) to simplify the explanation.

If the equipment position of (S,) is the same on the left and right,
Even if the lift rods (41, (51!) remain the same length, the lift arm (31, (31k) moves up and down, the rear positions of the left and right lower links (61, +7+ will be at the same height on the left and right, but the second As shown in Figure (A1), the positions of the left and right lift arms (31, (31 and lower links (6), (7), and lift rods (41, +51) in side view of the DC When the rod (51) is shortened by Δ, the right lower link (7) is 1-1 higher than the left lower link (6) by ΔH (However, B is lower link + 6
It can be calculated from □□□ between the rear ends of 1 and (7) ^ ゛At this time, the lower end of the right stroke sensor (S,) is connected to the lower end of the left stroke sensor (S,). In contrast, the position is higher by Δh, so ΔH1-
The length of lower links (6) and (7) is t-D, I:l'7-ly/(6), [7
) (7) Swing Ill From the fulcrum to the stroke sensor (S,
), (S,) pivot position 03, +141 to t-(d), Δh=■ΔH9, and lower link (6) of stroke sensor (S,), (S3). ),
There is a certain relationship with the pivot position I of (7), the distance between the α aneurysms, the rear end distance CB of the lower link 161, and +7), so from these points, the The horizontal inclination angle (JAt-) can be determined by a linear calculation formula using the above Δhy variable.

In the normal working posture, the lower link (6), (
Since the rotation angle (2) in 7) is small, the above Δh is (5) ~
(It will be proportional to r7, and the left and right stroke f,
From the difference in (r), determine the horizontal inclination angle (-) of the ground work machine (2) relative to the towing machine.

This can be calculated without the need for complex divine calculations, and the procedure is shown in Figure 3.

An example of the rolling control mα for controlling the ground work machine (2) to a predetermined left and right inclination will be explained based on the block diagram of Fig. 4. Left/right tilt setting device (
The horizontal inclination angle setting value of the ground work machine (2) set with the setting dial (Eng) of II and the horizontal inclination sensor (Sl)
The detected value of the left and right angle of inclination to the ground of the towing machine (1) is input to the differential amplifier (A1), and
), the left and right tilt control angle for the traction machine is determined by this differential amplifier (A1).
Calculated by.

Stroke sensor (S,), (S,) vc detected f
The stroke difference -9 (r) is input to the operational amplifier α, )K, and then the stroke difference is calculated.
The horizontal inclination angle (c) of the traction machine (2) is both calculated in this operational amplifier (A,).

The respective outputs of the differential amplifier α, ) and the operational amplifier (As) are set in the differential amplifier (All) VC so that the left-right tilt angle (lA) of the towing machine matches the left-right tilt control angle of the towing machine.
The drive amplifier (A4) (A,) switches and controls the electromagnetic switching valve (Vl) to transfer the pump's pressure oil to the lift rod cylinder α''
aVC is supplied or discharged to the pressure oil t-tank in the lift rod cylinder rL3, but in the illustrated example,
When the difference between the lateral inclination angle of the towing machine and the lateral inclination angle of the towing machine, that is, the lateral inclination bias value, is within a small value, for example, the wind combination valley, XC! The outputs of the drive amplifiers (A4) and (AS) are prevented from slowing down due to the effects of + and (C,), so that the control operation is prevented from becoming slow.

And in the above, the stroke assembly, (S
, ) lower link +61, (71), the intersection angle with respect to this is arbitrary, but this stroke sensor vC8
-, (S3)t, In the working posture of the ground work machine (2),
By adopting an embodiment in which the lower links (61, (71) are provided substantially perpendicularly to each other, the difference between the left and right stroke luster (r) (4) to (
rl -1sh, it is possible to obtain the advantage of being able to calculate the lateral inclination angle (β) of the traction machine only by extremely simple calculations, and the control circuit can be made simple and inexpensive.

As the specific circuit of the rolling control g1 (19), any circuit that satisfies the above functions can be used.

Furthermore, the lift rod (4) on the left side in the example shown in FIG. 1 can also be made to be extendable and retractable using two lift rod cylinders on the right side and M, so that the structure of the invention described above 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 stroke sensor (S).
, ), (S,), the left and right lift arms 131 ,
13+, lower link 1e+, (7) by detecting the stroke -1 (rl) and calculating this stroke (
71, (Since it is configured to calculate the left-right inclination angle (IA) of the ground work machine (2) with respect to the traction machine based on the difference in rl, it is possible to calculate the rotation angle of the lift arm as in the above-mentioned nine known devices. The present invention eliminates the need for complex correction calculations for detecting and correcting the detection value of the stroke sensor based on this rotation angle. This eliminates the need for a different type of sensor than a stroke sensor, such as a potentiometer.

The calculation procedure is simplified, and the control circuit can be constructed simply and at extremely low cost.

Also, in the stroke sensor (S,), (S,) t-1 working posture, for each lower link (61, (71K),
The embodiment of the invention, which is arranged substantially vertically, has the feature that the calculation procedure during the control operation is so simplified that a simple control circuit is sufficient.

[Brief explanation of the drawing]

1 shows an embodiment of the present invention, FIG. 1 is a perspective view in a working state, and FIGS. 2(a) and 2(b) show fluctuations in the stroke sensor. 3 is a block diagram showing a control procedure, and FIG. 4 is a control circuit block diagram. Code explanation

Claims (2)

[Claims] (1) The ground-based work equipment connected to the left and right lower links of the work equipment connection link mechanism is controlled to rise and fall based on this movement of the left and right lift arms that are raised and rotated by the hydraulic lifting mechanism, and the left and right lift arms are At least one of the lift rods connecting the upper and lower links to each other is formed by a lift rod cylinder that can be expanded and contracted by hydraulic pressure, and the traction machine can be tilted horizontally with respect to the ground, and the ground work machine can be tilted horizontally with respect to the traction machine. The rolling system is configured to detect and calculate the lateral inclination of the ground-based work equipment, based on these, and to control the expansion and contraction of the lift rod cylinder to control the ground-based work equipment to a predetermined lateral inclination relative to the ground. The control device is provided with a stroke sensor that detects the stroke, which is the interval between each lift arm and lower link, and calculates the lateral inclination angle with respect to the traction machine based on the difference between the detected left and right strokes. A rolling control device for a ground work machine, characterized in that it is configured as follows. (2) The ground work machine according to claim 1, characterized in that each of the stroke sensors is provided in a position substantially perpendicular to the respective rolling motion within the working position. Rolling control device.