JPS6144561Y2 - - Google Patents

Description

[Detailed explanation of the invention] When a ground work device is attached to a mobile body, due to unevenness of the ground, the mobile body ground work device may rotate around the longitudinal axis (in other words, swing from side to side). As a result, the ground attitude of the ground work device deviates significantly from the standard ground attitude, making it difficult to perform desired ground work.

For this reason, it is necessary to maintain the ground work equipment attached to the mobile aircraft within the set inclination angle range based on the detection result from the device that detects the inclination angle around the axis in the longitudinal direction with respect to the standard ground attitude of the work equipment. A method has been proposed that is equipped with an automatic attitude control mechanism configured to automatically adjust the rotation around the longitudinal axis to enable desired ground work to be carried out. As soon as it was detected that the tilt angle was out of the set tilt angle range, the rotation was adjusted, which sometimes made it difficult to achieve the desired objective.

In other words, if you try to immediately adjust the rotation as in the past, you will have to adjust the rotation even if there are small irregularities on the ground that suddenly exist, but based on the detection results of the tilt angle detection device. Therefore, it takes a certain amount of time to adjust the rotation within the desired tilt angle range, and while the rotation adjustment is being controlled, the aircraft will pass over a small uneven area, and the aircraft will After the tilt angle has passed, it takes a certain amount of time to adjust the rotation to return to the original state, and as a result, there is a tendency for a large range of parts to deviate from the desired tilt angle range. Therefore, it has been found that it is better to not perform rotation adjustment control for irregularities in a small range, rather than performing stable control as a whole.

The present invention has been made with the above-mentioned circumstances in mind, and provides a ground work machine with an automatic attitude control mechanism having the structure described above, in which the automatic attitude control mechanism has a tilt angle detection device that continuously operates for more than a set time. Based on the detection results of the delay mechanism that adjusts the rotation only when it detects that the tilt angle is out of the set tilt angle range, and the travel speed detection means that detects the travel speed of the mobile body, the faster the travel speed becomes The present invention is characterized in that it incorporates a set time changing mechanism that shortens the set time set in the delay mechanism.

In other words, the rotation adjustment control is not performed unless the delay mechanism causes the tilt angle to deviate from the set tilt angle range for a period longer than the time set in the delay mechanism. Therefore, the rotation adjustment is not performed for small irregularities that suddenly exist on the ground that are passed within the set time, and the above-mentioned method for immediately controlling the rotation adjustment is not used. It has become possible to perform more stable control.

However, with this alone, there is a problem that when the traveling speed changes, the distance traveled within the set time changes, and the range of small irregularities that do not have rotation adjustment also changes, making it impossible to perform stable ground work. According to the invention, there is a set time changing mechanism that shortens the set time set in the delay mechanism as the traveling speed increases, so even if the traveling speed becomes faster or slower, the set time will change. This makes it possible to keep the distance traveled within the ground almost constant, and to keep the range of small irregularities that are not adjusted by rotation almost constant, making it possible to perform good ground work overall.

Embodiments of the present invention will be described in detail below with reference to the drawings.

1 and 2 show a pair of left and right lower links 2 at the rear of an agricultural tractor 1 as a mobile body.
This figure shows a ground working machine in which a rotary tilling device 4 as a ground working device is connected to the ground working device so as to be able to rise and fall via a so-called three-point link device consisting of a, 2b and an upper top link 3. The pair of lift arms 5a, 5b and the lower links 2a, 2b are connected via a rod 6 and a hydraulic cylinder 7 (described later), and the tilling is performed by driving the lift arms 5a, 5b up and down. It is configured to adjust the device 4 up and down.

Next, an automatic posture control mechanism for automatically maintaining and adjusting the tillage device 4 in a horizontal posture as a reference ground posture even if the tractor 1 swings left and right due to unevenness on the ground will be described.

That is, the connecting portion of the top link 3 and the lower links 2a, 2b to the tractor 1;
and the tilling device 4 of these links 3, 2a, 2a
The tilling device 4 is configured to be rotatably adjusted around the longitudinal axis by the expansion and contraction of the cylinder 7. A device 8 is attached that electrically detects the inclination angle of the tillage device 4 about its longitudinal axis with respect to its reference ground posture using a combination of a weight and a potentiometer.

The detection result of this tilt angle detection device 8 is
As shown in FIG. 3, the information is transmitted to the control circuit 11 of the cylinder 7 via the discrimination mechanism 9 and the delay mechanism 10, and the rotation is automatically adjusted to maintain the tillage device 4 within the set inclination angle range. It is configured as follows.

That is, when the tilt angle detection device 8 detects a fluctuation in the tilt angle as a waveform a shown in FIG.
As shown in FIG. 4(b), a pulsed electrical signal of a constant voltage is extracted depending on the part where the voltage is off, and this electrical signal is continuously detected for a set time or longer set in the delay mechanism 10. Only when
The cylinder 7 is configured to be extended or shortened by being transmitted to the control circuit 11 as a control electric signal shown in FIG. .

Then, the rotation speed detection device 12 detects the rotation speed of the engine mounted on the tractor 1, the transmission state detection device 13 detects the transmission state of the traveling transmission of the tractor 1, and the detection results of both the detection devices 12 and 13 are detected. A calculation device 14 that calculates the actual traveling speed of the tractor 1 based on the traveling speed detecting means 15 constitutes a traveling speed detecting means 15. Based on the traveling speed detection result by the traveling speed detecting means 15, the faster the traveling speed is, the more the delay mechanism 10 is set. A set time changing mechanism 16 that shortens the set time is incorporated, and even if the traveling speed is changed by the set time changing mechanism 16, the tractor 1 is stopped within the time set in the delay mechanism 10. The distance traveled by the vehicle is kept approximately constant to ensure stable control.

In carrying out the present invention, since the height of the working device 4 above the ground may change when the ground working device 4 is rotated and adjusted, a known mechanism for automatically controlling the lifting and lowering of the working device 4 is incorporated. , it is preferable to implement it in a form that stabilizes the height above the ground.

Furthermore, in carrying out the present invention, if the time set in the delay mechanism 10 is configured to be able to be changed and adjusted as desired, for example, it may be set to a longer time when there are many irregularities on the ground. , it may be possible to change it according to the working conditions.

[Brief explanation of the drawing]

The drawings show an embodiment of the ground-based work machine with an automatic posture control mechanism according to the present invention, in which Fig. 1 is a side view of the ground-based work machine, Fig. 2 is a developed plan view showing the connecting part of the tillage device, and Fig. 3. 4 is a block diagram, and FIGS. 4A, 4B, and 4C are diagrams showing signal processing formats. 1... Mobile aircraft, 4... Ground work equipment, 8...
Inclination angle detection device, 10...delay mechanism, 15...travel speed detection means, 16...setting time changing mechanism.

Claims (1)

[Claims for Utility Model Registration] A device 8 for detecting the inclination angle of the ground work device 4 attached to the mobile body 1 about the longitudinal axis with respect to the reference ground posture of the work device 4. In a ground work machine with an automatic attitude control mechanism configured to automatically adjust rotation around an axis in a longitudinal direction to maintain the inclination angle within a set inclination angle range based on a detection result, the automatic attitude control mechanism A delay mechanism 10 for adjusting the rotation only when the angle detection device 8 detects that it has been out of the set inclination angle range continuously for a set time or more; and a travel speed detection means 15 for detecting the travel speed of the mobile body 1. Based on the detection result by
A ground-based working machine with an automatic posture control mechanism, characterized in that it incorporates a set time changing mechanism 16 that shortens the set time set to . A ground-based working machine with an automatic attitude control mechanism according to claim 1, wherein the setting time of the delay mechanism 10 is configured to be freely changeable and adjustable.