JPS61170305A - 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.
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 equipment 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 of the towing machine and the lower link. A rolling control device that controls the horizontal inclination value of a ground work machine to a preset value by controlling the expansion and contraction of 10,000 lift rods that are formed to be expandable and retractable with a 7-trod left and right slope. I don't know.

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 installation of the inclination sensor even when replacing the ground-based work machine. The left and right slope.

The length of the lift rod on the telescopic side is detected and calculated 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 direction of the lower link, the change in the length of the lift rod is A simple proportional calculation is insufficient, so the length of the lift rod is calculated by trigonometric calculation of the rotation angle of the lower link or lift arm, and the vertical component of the calculated −rL length is calculated. It must be corrected and taken into account when calculating the horizontal inclination of the above-mentioned ground work equipment.In this way, it is necessary to perform various complicated correction amount calculations for rolling control operation, and the control circuit becomes complicated. , moreover,
To detect the rotation angle of the tow arm, the length of the lift rod, and the left and right inclination of the towing machine, various types of sensors are required, such as a rotation angle sensor, a length sensor, and an inclination angle sensor. Therefore, there is a problem that the control device becomes expensive.

[Problem that the invention seeks to solve]

This invention requires many types of sensors to determine 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 technical problems.

[Means for solving problems]

In order to solve the above problems, the present invention takes the following technical measures.

That is, the left and right lift arms (3), +31 move up and down the ground work machine (2) connected to the left and right lower links +61, (7) of the work machine connection link mechanism (9) by the hydraulic lifting mechanism a11. Based on this movement, the lift rods (4) and (5), which connect the left and right lift arms (31, (3)) and lower links (61, (7)) to each other, are controlled at least on one side. The object is formed using a lift rod cylinder Ql that can be expanded and contracted by hydraulic pressure, and a traction machine (
Detect and calculate the lateral inclination with respect to the ground of 1) and the lateral inclination of the ground work equipment (2) with respect to the towing machine, and calculate the lateral inclination of the ground work equipment (2) with respect to the ground based on these factors. It is configured to control the expansion and contraction of the rod cylinder +12 to control the ground working machine (21'fr) to a predetermined left and right inclination from the ground. Hata, (rl
Stroke sensors (S,), (S,) detected respectively in '
? , Lower link in working posture +6), +7)
, or a rotating member a9 that is combined into one body with the box (
Both of the above strokes (4) are provided in a posture substantially orthogonal to the rotational direction of is.

(This is a rolling' control device for a ground work machine, characterized in that it is configured to calculate the horizontal inclination angle with respect to the towing machine based on the difference in rl.

[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 as an example of a ground work device (2) is attached to the rear of a tractor as a towing machine (1) to a pair of left and right lift arms (3), (3). A work machine connection link mechanism such as a three-point link mechanism consisting of left and right lower links (6), (7) that swing up and down via left and right lift rods (41, +51) and a central top link (8). (9), and this work equipment connection link mechanism (9) is connected to its lift arm (3),
(3) i. It is lifted and lowered by a hydraulic lifting mechanism αυ that is raised and lowered by a lift cylinder using hydraulic pressure, and at least one lift rod on the left and right (5
11 is formed with a lift rod cylinder α2, and this lift rod cylinder (l'af) is extended and contracted to perform rolling control of the lateral attitude of the ground work machine (2) with respect to the traction machine (11).

The lateral inclination of the towing machine (1) with respect to the ground is detected using a lateral inclination sensor (S, )t made of a single air bubble weight, etc., and the horizontal inclination of the ground work machine (2) with respect to the towing machine (1) is detected. The left and right inclination of the towing machine is lower link +61, (7
The left and right strokes (J, (r), which are the operating dimensions of 1
t-1, for example, is detected by a stroke sensor (S, ), (S,) consisting of a linearly moving potentiometer, and the lateral inclination angle (β) of the traction machine is calculated based on the detected stroke t14, (rl). be.

An example of how to install the stroke sensor (82), (S,) is shown in FIG. 1, for example, on the arm A4. ri4f installation, left and right lower links (6), ()) are both at the same position from the pivot point to the mission case αj, and are approximately orthogonal to the lower links +61, +71 (
Stroke sensors (S2), (S3) are connected to arms (14, (141
and lower links (6) and (7), and in this position, the strokes (A, (r)) vary in direct proportion to variations in the rotation angle of the lower links +61 and +7+. Become something to do.

Stroke sensor (S,) whose main parts are shown in perspective in Fig. 2,
In another embodiment of the installation of (S3), the lower link +
Rotating member housings 9 and QS that rotate as one body for each of 61 and +71 are provided, and stroke sensors (S, ), (
S3) are both pivotally connected to the mission case α3 and rotating member α9 at the same position, and when the ground work equipment (2) is in the working position, the rotating member, tts and stroke sensor , ), and (S3) are respectively in substantially orthogonal positions.

Then, in the place shown in Figure @1, the left and right lift rods (4), (
5) are both the same length, then remove the right lift rod (5).
) If we reduce it by ΔL, the right lower link (7) will be at a position higher than the left lower link (6) by ΔH (however, B is calculated from the distance between the rear ends of the lower links (61, +71). It will be possible.

At this time, the lower end of the right stroke sensor (S,) is higher than the lower end of the left stroke sensor (-) by Δh, so from this Δh, ΔH4-
Calculate the length of lower links (6) and (7), then lower link! 61, +71 swing fulcrum, and the pivot position ue of the stroke sensor (S,), (S,) to the lower link (6), (7), the distance of +171 (Tsuru is the lower link (6), Since there is a certain relationship with (the rear end distance Q3 of 71), from these considerations, the lateral inclination angle with respect to traction - is set as the above Δh'6 variable 1
It can be calculated using the following formula.

At this time, since the respective lower link sensors (S2) and (S,) are in an attitude substantially orthogonal to the lower links (61, (7)), the above Δh is directly proportional to -~(rl K). From the difference between the left and right strokes (A, (r)), the left and right inclination angle (IA) of the ground work machine (2) with respect to the traction machine can be determined as
This can be calculated without requiring complicated correction calculations, and the procedure is shown in FIG.

In the case of the embodiment shown in Fig. 2, the left and right strokes (Jl
, (From the difference in rl, left and right lower links +61,
ΔHe, which is the vertical difference in (7), can be calculated by an extremely simple proportional calculation.

An example of the rolling control unit a 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 and right tilt setting device C configured with
The setting dial (I, )ic of I) is used to set the left and right tilt angle settings of the fL9 ground work machine (2) and the left and right tilt sensor (S).
8) is input to the differential amplifier (A,) K, and the detected value of the horizontal inclination angle with respect to the ground of the towing machine (1) is inputted to the differential amplifier (A,) K. Calculated using a differential amplifier (Al).

The strokes (A, (r) detected at the stroke sensors y(s,), (S,) are input to the operational amplifier (input) and the stroke difference is calculated. (2) The left and right tilt angle of the towing machine is both amplified by this calculation!
The respective outputs of the differential amplifier (A,) and the operational amplifier (input) calculated at the differential amplifier (A,) are calculated at the differential amplifier (A,). The drive amplifiers (A4) and (A,) switch and control the electromagnetic switching valve (to) so that A matches, and supply the pump's pressure oil to the lift rod cylinder 0,
Alternatively, the pressure oil in the lift rod cylinder υ is discharged into the tank, but in the illustrated example, the difference between the lateral inclination control angle of the towing machine and the lateral inclination angle of the towing machine -, that is, the minor lateral deviation For example, when the bias value is within a small value, the outputs appear in the drive amplifiers (A4), (A,) by the action of the window comparators (C1), (C,), and hunting is performed in the control operation by preventing fL from occurring. It is structured so that it does not appear neatly.

As the specific circuit for the rolling control W (US), various circuits that satisfy the above functions can be used.

Further, the present invention can also be applied to the lift rod (4) on the left side of the illustrated example, even if it is formed to be extendable and retractable using a lift rod cylinder like the right side.

〔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 in the working posture, the strokes UA and (r), which are the operating dimensions of the lower links (6) and (71), are controlled respectively. The stroke sensor (S,), (S,) to be detected is connected to this lower link +61
, (71 or the rotating member r1!9, which is connected to the main body and rotates as one body, is installed in a position perpendicular to the housing 9, so the rotational movement dimension of the lower link (61, +71) teeth,
The stroke sensors (S,), (S,) can detect the fluctuation of the stroke -9(r) as a value that is approximately directly proportional to the left and right lower links (6), (7).
The height difference can be calculated using a simple calculation method, and the stroke sensor must be corrected based on the rotation angle of the lift arm by detecting the rotation angle of the lift arm, as in the previously mentioned known device. This invention eliminates the need for such complicated correction calculations.

In this invention, like the rotary 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 constructed simply and at low cost.

[Brief explanation of the drawing]

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
), 151...Lift rod (61, (7)・
...Lower link (9)...Work equipment connection 13 Link mechanism aυ...Hydraulic lifting mechanism α3...-Lift rod cylinder α...
Rotating member

Claims (1)

[Claims] The ground 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 rotated up and down by the hydraulic lifting mechanism,
At least one of the lift rods that connects the left and right lift arms and the lower link 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 from side to side with respect to the ground, and the ground work machine can be tilted from side to side. The left and right inclinations are detected and calculated, and based on these, the left and right inclinations of the ground work equipment are calculated, and the lift rod cylinder is thereby controlled to expand and contract to control the ground work equipment to a predetermined left and right inclination to the ground. In the rolling control device configured as above, a stroke sensor that detects the stroke, which is the operating dimension of each lower link, is connected to the lower link in the working posture or the rotating direction of the rotating member integrally connected thereto. What is claimed is: 1. A rolling control device for a ground work machine, characterized in that the rolling control device is provided in a posture substantially orthogonal to the traction machine, and is configured to calculate the horizontal inclination angle of the towing machine based on the stroke difference between the two strokes.