JPS61170304A - 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] The present invention relates to a rolling control device that controls a ground-based work machine to maintain a predetermined left and right attitude, and the invention relates to a rolling control device that controls a ground-based work machine to maintain a predetermined left and right attitude. The detector itself is simple,
The present invention proposes a rolling control device that has fewer types, simplifies correction processing of detected values, and simplifies the configuration of the control device.

[Conventional technology]

A lateral inclination 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 connects the left and right tow arms and lower links of the tow machine. Rolling control is performed to control the left and right inclination value of the ground work equipment to a preset value by controlling the expansion and contraction of the extendable and retractable 7 rods of the left and right lift rods. It's cool.

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

Since the vertical length of the lift rod varies depending on the lifting angle of the lift arm, it is impossible with the above-mentioned known device to set the lift rod at a position that is least affected by the lifting movement. 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, it is necessary to perform various complicated correction amount calculations for rolling control operation, making the control circuit complicated. In order to detect the left and right inclinations of the machine, many types of sensors are required, such as a rotation angle sensor, a length sensor, and an inclination angle sensor, so there is a problem in that the control device becomes expensive.

[Problem that the invention seeks to solve]

This invention solves the conventional problem of requiring many types of sensors for the lift arm rotation angle, lift length, etc., and that the cost of the control device is high due to the need to perform complicated correction calculations. This is an attempt to resolve the issue.

[Means for solving problems]

To solve the above problems, the present invention provides the following technical means.

That is, the ground work machine (2) connected to the left and right lower links (6), +7) of the work machine coupling linkage mechanism (9) is moved up and down by the left and right lift arms (31) which are rotated up and down by the hydraulic lifting mechanism 1υ. , (3), the lift rods (31, (31) and (31) and the lower links (6), (7) are connected to each other, respectively).
4) At least one of (5) is formed by a hydraulically extendable lift rod cylinder aa, and the traction machine (1) is tilted from side to side with respect to the ground, and the ground work machine (2) is tilted from side to side with respect to the traction machine. The horizontal inclination of the ground work machine (2) relative to the ground is calculated based on these methods, and the expansion and contraction of the lift rod cylinder 1 is controlled based on this, and the ground work machine (2) is moved to a predetermined position. In the next row + 3 ring control device, each lift arm (
3), +31, the stroke (lA(rlt-) which is the interval between the lower links (61, (7)) and the stroke sensor (S,) that detects each.

(S3) is provided on the non-extendable side at a position away from the equipment position of the lift rod (4) on the same side, and appears as the lower link (6) on the non-extendable side moves up and down. It is characterized in that the variation in the stroke (4) of the stroke sensor (S,) on the same side is added to the correction factor, and the horizontal inclination angle to the towing machine is calculated based on the difference in stroke between the two. This is a rolling control device for ground-based work equipment.

[Example and operation]

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

As shown in Figure 1, a rotary plowing device, which is an example of a ground work device (2), is attached to the rear of a tractor as a towing machine (1), and a pair of left and right lift arms (3), (31) are attached to the rear of a tractor. A work machine connection link such as a three-point link mechanism consisting of left and right lower links (6), +7) that swing up and down via lift rods (4) and (5), and a central top link (8). The work equipment connecting link mechanism (9) is connected to the lift arm (3),
(3) is lifted and lowered by a lift cylinder Q using hydraulic pressure (IK) and a hydraulic lifting mechanism ALL that lifts and lowers and rotates, and at least one of the left and right lift rods (
5) The lift rod cylinder 0 is formed and the lift rod ≠≠ cylinder AL is expanded and contracted to control the rolling control of the lateral attitude of the ground work machine (2) with respect to the traction machine (1).

The lateral inclination of the towing machine (1) relative to the ground is detected using a lateral inclination sensor (Sl) made of a single air bubble weight, etc.
The horizontal inclination with respect to the towing machine (2), which is the horizontal inclination with respect to the towing machine (1), is the horizontal inclination with respect to the towing machine (1).
6) and the distance between the lift arm (3) and the lower link (7) on the left and right strokes (4), (
rl is detected by a stroke sensor (S,), (S,) consisting of a linear movement type potentiometer, for example, and the lateral inclination angle of the traction machine is calculated based on the detected stroke CIA, (rl). be.

The stroke sensor (S,) provided in the area of the non-extendable lift rod (4) is provided at a position remote from the equipment position of this lift rod (4), as illustrated in FIG. There are no particular restrictions on the location of the equipment (S,).

To simplify the explanation, stroke 7-+X9, (
If the left and right equipment positions of S) are the same, even if the lift rods (41, (5) remain the same length and the lift arm (31, (3111) moves up and down, the left and right lower links (6) , The rear positions of (7) are at the same height on the left and right, but the left and right lift arms (3), (3) and the lower link (6),
), the right lift rod (5), △L as shown in the side view positions of the lift rods (4) and (5).
If the right lower link (7) is shortened by ΔH, the right lower link (7) will be at a higher position than the left lower link (6) by ΔH, and the left-right inclination angle of the towing machine (-) can be calculated from the distance between the rear ends.

At this time, the lower end of the right stroke sensor (S,) is at a position higher than the lower end of the right stroke sensor (S,) by Δh.
What is the book that calculates the length of lower links (6) and (7)? D, from the swinging fulcrum of the lower link (6), +7)
, (S,) to the lower links (6), (7) at 0. A4 interval (b) is lower link (61, +7)
Since there is a certain relationship with the rear end distance [existence], from these things, the horizontal inclination angle with respect to traction can be calculated as shown in (c) h above.
)? It can be determined using a linear calculation formula as a variable.

However, since it is not always perpendicular to the ground inclination angle of the stroke sensors (S,) and (S, ), (Δh) is the stroke (4) which is the detected value of the stroke sensors (Sl) and (S,). ~ (r) [, is not always directly proportional, - ~ To calculate (Δh) t from (r), the rotation angle of the lift arm (3) or the connection to the non-extendable lift rod (4) The rotation angle of the lower link (6) that is
2), and based on this rotation angle (cIS), (A~
(Δh) will be calculated from (r).

Then, the equipment position of this stroke sensor (s8) is
Since the lift rod (4) on the same side is moved away from the equipment position, the stroke (A
The rotation angle of the lower link (6) becomes !+Δ! due to the rising movement of ω, so calculate the rotation angle ■ based on this stroke change amount (-U) of the stroke 7@s-. I can do it.

These detection and calculation procedures can be shown in the block diagram of FIG.

An example of the rolling control section (2) that controls the ground work machine (2) to a predetermined left/right inclination will be explained based on the block diagram of FIG. 4. The horizontal inclination angle setting value of the ground work machine (2), which is set with the setting dial (Engineer) of the left and right inclination setting device (I), and the left and right inclination sensor (Sl)
) is input to the differential amplifier (A1), and the detected value of the left/right inclination angle from the ground is input to the differential amplifier (A1),
2) The left and right tilt control angle for the traction machine is determined by this differential amplifier (A,
) is calculated.

The stroke -1(r) detected at the stroke sensor S,) and (S3) is input to the operational amplifier (A,) to calculate the stroke difference A/). −
The lower link (6
) rotation angle (cl) of lower link (61, (7
The difference in height (AH) of 1 is further increased by the height difference (AH) of ground work equipment (2)
Although the angle of inclination to the left and right of the towing machine is small, both of these operational amplifiers (A3
) is calculated.

The outputs of the differential amplifier (A1) and the operational amplifier (A,) are driven in the differential amplifier (A,) so that the lateral tilt angle of the traction machine matches the lateral tilt control angle of the traction machine. Amplifiers 4) and (A,) control electromagnetic switching valves (Vie switching) to supply the pump's pressure oil to the lift rod cylinder l'3, or to discharge the pressure oil in the lift rod cylinder 3 to the tank. However, in the illustrated example, when the difference between the lateral inclination control angle of the towing machine and the lateral inclination angle (μ), that is, the lateral inclination bias value, is within a small value, the window comparator ( The outputs of the drive amplifiers (A4) and (A, ) are prevented from decreasing due to the effects of C, ) and (C,), so that no switching occurs in the control operation.

As a specific circuit for the rolling control section (to), various circuits that fulfill the above-mentioned 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 stroke sensor (S).
, ), (S,) to move the left and right lift arms (31, +
3), the stroke sensor (S 2 ) The stroke detected by K (
In addition to adding the fluctuation of How complicated is the calculation procedure when using a conventional control device to detect the rotation angle of the lift arm using a lift arm sensor and calculate the lateral inclination of the traction machine by t-correction calculation based on this lift door angle?

This problem has been solved by the device of this invention, which calculates everything using only the left and right stroke sensors (S,), (S,).Furthermore, in the conventional device, a different type of lift arm sensor such as an automatic potentiometer is used as the lift arm sensor. Since the senna is no longer necessary, the present invention requires a simple control circuit, resulting in low cost.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a perspective view in a working state, Fig. 2 (7f1. Figure 4 is a control circuit block diagram.

Claims (1)

[Claims] 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, which are raised and rotated by the hydraulic lifting mechanism, and the left and right lift arms and lower links are One of the lift rods that connect the two to each other is formed by a lift rod cylinder that can be expanded and contracted by hydraulic pressure, and the horizontal inclination of the towing machine with respect to the ground and the horizontal inclination of the ground working machine with respect to the towing machine are detected and calculated. , a rolling control device configured to calculate the horizontal and horizontal inclinations of the ground-based work equipment relative to the ground based on these, and control the expansion and contraction of the lift rod cylinder based on the calculation results to control the ground-based work equipment to a predetermined horizontal and horizontal inclination relative to the ground, respectively. A stroke sensor for detecting the stroke, which is the interval between the lift arm and the lower link, is provided on the non-extendable side at a position away from the equipment position of the lift rod on the same side,
The variation in the stroke of the stroke sensor on the same side that occurs as the lower link on the non-extendable side moves up and down is added to the correction factor, and the horizontal inclination angle with respect to the towing machine is calculated based on the stroke difference between the two above. A rolling control device for a ground work machine, characterized in that it is configured as follows.