JP4945161B2 - Control device and control method for offset working machine - Google Patents

Description

  The present invention relates to a control device and a control method for an offset working machine that is a working machine that is mounted on a traveling machine body and that can work a lateral position with respect to a traveling position of the traveling machine body.

  A work machine that is attached to a traveling machine body such as a tractor and performs various continuous linear operations in the field along the traveling direction of the traveling machine body is a general machine for agriculture or civil engineering, and depends on the type of work There are various working machines. Among such working machines, offset working machines that work at positions offset laterally with respect to the traveling position of the traveling machine body are known as glazing machines, groove forming machines, mowing machines, etc. due to the special nature of the work. (See Patent Documents 1 to 3).

  In particular, the glazing machine has been attracting attention in recent years as it has formed a cocoon over the outer edge of a wide field and has achieved mechanization of a glazing operation that requires a great amount of time and labor. The basic configuration of the glazing machine includes a mounting portion that is attached to the rear portion of the traveling machine body and includes an input shaft that receives power from the traveling machine body, a power transmission mechanism that transmits power from the input shaft, and an offset position. A working part that supports the machine body and a working part that performs the glazing operation with the transmitted power. It is composed of a trimming part that is applied to the old iron that has been cut off (see Patent Document 1).

  Such an offset work machine performs a straight-ahead operation at an offset position along the travel of the traveling machine body, but when performing a straight-ahead work along the side of the field in a rectangular field, the tip part of the traveling machine body There is a common problem that it becomes impossible to perform a subsequent straight-ahead operation when the end of the field reaches the end of the field.

  In particular, in a spreader that performs a straight-line coating operation along the outer edge of a rectangular field, it becomes impossible to perform a subsequent coating process when the tip of the traveling machine body reaches the end of the field. There is a problem that unworked parts always remain at the corners of the rectangular field. In order to solve this problem, the working unit is moved to an offset position on the opposite side to that during normal work, and the front-rear relationship is reversed (reverse reversed) so that the traveling machine body moves backward relative to the unworked portion at the corner. There has been developed a glazing machine equipped with a reversing reverse mechanism that performs the operation while making it work (see Patent Document 1).

JP 2001-28903 A Japanese Utility Model Publication No.57-22557 Utility Model Registration No. 2537586

  However, according to such a solution, it is necessary to equip a complicated mechanism for reversing and reversing the working part, and work by moving the traveling machine body backward with respect to the remaining unworked part. Therefore, skill of work is required, and particularly in wet fields with poor travelability, the reverse work becomes very difficult, and there is a problem in terms of workability.

  Furthermore, in such reverse reversing work, the traveling machine body is stopped, the working part of the offset working machine is reversed and reversed, the working direction is changed by changing the traveling direction of the traveling machine body, and the work is restarted. Therefore, there is a problem that the continuous work must be stopped once and the work efficiency is remarkably lowered.

  The present invention has been proposed to cope with such a problem, and is applied to an offset working machine that is attached to a traveling machine body and performs work at an offset position along the traveling machine body. It is an object of the present invention to enable continuous advancement work to a part, and to improve high workability and work efficiency.

  In order to achieve such an object, the present invention includes at least the configurations of the independent claims described below.

[Claim 1] A working unit mounted on a traveling machine body and having a working part capable of working on a lateral position with respect to the traveling machine body, a work position adjusting mechanism for adjusting a working position of the working part, A control device for an offset work machine having a work direction adjustment mechanism for adjusting a work direction, the control means for driving and controlling the work position adjustment mechanism and the work direction adjustment mechanism, and the work direction of the work unit A work direction detecting means for detecting the work position and a work position detecting means for detecting the work position of the working section, wherein the control means is detected by a set reference value of the work direction and the work direction detecting means. The work direction adjusting mechanism is adjusted and driven according to the comparison with the detected value of the work direction, and according to the comparison between the set reference value of the work position and the detected value of the work position detected by the work position detecting means. The working position adjusting mechanism and the adjustment drive, the the pivot during turning of the traveling machine body during setting of the automatic straight working control mode is moved, the working position detecting means a displacement of the working position due to the movement of the turning center The control deviation between the work position Xt of the working part when the turning center does not move at the time of the automatic rectilinear work control mode transition and the work position (reference value X0) set at the time of the automatic rectilinear work control mode transition | Xt− A control apparatus for an offset working machine , wherein X0 | is added to correct a control amount, and the operation of the work position adjusting mechanism is controlled so that the corrected control deviation becomes zero .

[Claim 4] A work position mounted on the traveling machine body and having a working part capable of working on a lateral position with respect to the traveling machine body, a work position adjusting mechanism for adjusting the work position of the working part, a control method for an offset working machine having a working direction adjusting mechanism for adjusting the working direction, to maintain said working position adjusting mechanism the working direction adjusting mechanism in a predetermined state with respect to the rectilinear travel of the traveling machine body A normal work mode, and an automatic linear work control mode for adjusting and driving the work position adjusting mechanism and the work direction adjusting mechanism with respect to the turning of the traveling machine body. In the automatic straight work control mode, The work direction adjusting mechanism is adjusted and driven according to the comparison between the direction reference value and the detected work direction detection value, and the set work position reference value is compared with the detected work position detection value. Depending on Serial working position adjusting mechanism and the adjustment drive, the turning center of the turning of the traveling machine body during setting of the automatic straight working control mode is moved, the displacement of the working position due to the movement of the pivot in the working position detecting means Detected and control deviation between work position Xt of the working section when the turning center does not move at the time of automatic rectilinear work control mode transition and work position (reference value X0) set at the time of automatic rectilinear work control mode transition | Xt−X0 A control method for an offset working machine , wherein | is added, the control amount is corrected, and the operation of the work position adjusting mechanism is controlled so that the corrected control deviation becomes zero .

  The present invention having such a feature enables continuous advance work to the corner of the field with respect to the offset work machine that is mounted on the travel machine body and works at the offset position along the travel machine body. High workability and work efficiency can be improved.

  An offset working machine control device according to an embodiment of the present invention includes a working unit that is mounted on a traveling machine body and capable of working on a lateral position with respect to the traveling machine body, and for adjusting a working position of the working part. A work position adjusting mechanism; and a work direction adjusting mechanism for adjusting a working direction of the working unit. A control unit configured to drive and control the work position adjustment mechanism and the work direction adjustment mechanism; a work direction detection unit configured to detect a work direction of the work unit; and a work position detection unit configured to detect a work position of the work unit. It has.

  The control means adjusts and drives the work direction adjusting mechanism in accordance with a comparison between the set work direction reference value and the work direction detection value detected by the work direction detection means. The work position adjustment mechanism is adjusted and driven in accordance with a comparison between a work position reference value and a work position detection value detected by the work position detection means.

  According to such a control device for an offset working machine, the working unit can perform a linear work regardless of the traveling state of the traveling machine body by adjusting and driving the working direction adjusting mechanism and the working position adjusting mechanism. . At this time, the control means for adjusting and driving the work direction adjusting mechanism and the work position adjusting mechanism, with regard to the work direction adjusting mechanism, detects the set work direction reference value and the work direction detected by the work direction detecting means. Control according to the comparison with the value, and regarding the work position adjustment mechanism, control according to the comparison between the set reference value of the work position and the detected value of the work position detected by the work position detection means Thus, it is possible to perform control for maintaining the straight operation of the working unit.

  Further, as another feature of the control device for the offset work machine according to the embodiment of the present invention, the control means includes a normal work mode for maintaining the work position adjustment mechanism and the work direction adjustment mechanism in a predetermined state; An automatic linear work control mode for adjusting and driving the work position adjusting mechanism and the work direction adjusting mechanism can be selected and set.

  According to this, in the normal work mode, the work position and the work direction of the work unit can be maintained in a predetermined state, and the work unit can be operated along the traveling of the traveling machine body. By performing the control to match the work position and the work direction with the set reference value, it becomes possible to work the working unit linearly regardless of the traveling state of the traveling machine body. In addition, the normal work mode and the automatic straight-ahead work control mode can be selected at appropriate times by automatic switching according to the operator's will or the operating condition of the traveling machine, etc., so manual work position and work direction setting and automatic straight-ahead control are required. It becomes possible to switch accordingly.

  Another feature of the embodiment of the present invention is that the work direction and work position reference values in the automatic straight work control mode are detected by the work direction detecting means and the work position detecting means in the normal work mode. It is set based on the detected value.

  According to this, since the reference value of the automatic straight work control mode is set from the work direction and work position of the actual work section in the normal work mode, the initial setting in the automatic straight work control mode becomes unnecessary, and the normal work mode When shifting from the automatic linear movement work control mode to the work direction, the continuity of the work direction and the work position can be ensured.

  An offset working machine control method according to an embodiment of the present invention includes a working unit that is mounted on a traveling machine body and capable of working at a lateral position with respect to the traveling machine body, and for adjusting the working position of the working part. An offset work machine control method comprising a work position adjustment mechanism and a work direction adjustment mechanism for adjusting a work direction of the working unit, wherein the work position adjustment mechanism and the work position adjustment mechanism A normal work mode for maintaining the work direction adjustment mechanism in a predetermined state; and an automatic straight-ahead work control mode for adjusting and driving the work position adjustment mechanism and the work direction adjustment mechanism with respect to the turning of the traveling machine body. In the straight-ahead work control mode, the work direction adjusting mechanism is adjusted and driven according to a comparison between the set reference value of the work direction and the detected value of the detected work direction, and the reference value of the set work position is detected. And adjusting driving the working position adjustment mechanism in accordance with the comparison between the detection value of has been working position.

  According to this, in the normal work mode, it is possible to cause the work part to perform a straight work while the traveling machine body is traveling straight ahead, and in the automatic straight work control mode, the work part is operated to be linear while turning the traveling machine body. Can be performed. Therefore, it is possible to continue the linear work on the working unit while turning the traveling machine body at the corner of the field.

  Another feature of the offset work machine control method according to the embodiment of the present invention is that in the normal work mode, the work direction of the work unit is detected, and the work direction is detected based on the detected value of the work direction. A reference value is set, a work position of the working unit is detected, and a reference value of the work position is set based on the detected value of the work position.

  According to this, while setting the reference value of the work direction and work position while moving the traveling machine straight in the normal work mode, and turning the traveling machine in the subsequent automatic straight work control mode, the set work direction and work position are set. The working unit can be operated linearly along the reference value. Thereby, the straight work of the working part can be continued while the traveling machine body is turned by switching from the normal work mode to the automatic straight work control mode at the corner of the field. In addition, since the work section can be moved straight to the corner of the field in the subsequent automatic linear work control mode while maintaining the work direction and work position in the normal work mode, the normal work mode is changed to the automatic straight work control mode. It is possible to ensure the continuity of the work state when shifting.

  An embodiment of the present invention will be described by taking an example of a wrinkle coater which is one of offset working machines. FIG. 1 is an explanatory diagram showing an overall configuration of a control device for a glazing machine according to an embodiment of the present invention. The plastering machine 100 includes a mounting unit 110 that is mounted on a three-point link mechanism of a tractor that is a traveling machine body, a working unit 120 that performs a smearing operation, and a connecting unit 130 that connects the mounting unit 110 and the working unit 120 described above. Is provided as a basic configuration.

  The mounting portion 110 includes lower link connecting portions 111A and 111B and a top link connecting portion 112, and also includes a support member 113 on which the connecting portion 130 is mounted. In addition, an input shaft (not shown) connected to the PTO shaft of the tractor via a transmission joint such as a universal joint is provided, and a transmission for transmitting the power transmitted to the input shaft to the transmission mechanism of the connecting portion 130 is provided. A mechanism is provided in the support member 113.

  One end side of the connecting portion 130 is supported by the support member 113 of the mounting portion 110, and the working portion 120 is attached to the other end side, so that the working portion 120 is operated at an offset position on the side of the traveling machine body, not shown. A link member 131 having one end pivotally supported on the mounting portion 110 side and the other end pivotally supported on the working portion 120 side, and a transmission case 132 having winding transmission means for transmitting power to the working portion 120 side. is doing.

  The transmission case 132 has transmission shafts 132A and 132B installed vertically, the transmission case 132 is pivotally supported around the transmission shaft 132A, and the working unit 120 is rotatable around the transmission shaft 132B. It is pivotally supported. The transmission case 132 and the link member 131 are arranged in parallel, and the support member 123 forms a parallel link mechanism so that the direction of the working unit 120 does not change with respect to the swing of the connecting unit 130 in the offset angle θ direction. It is a mechanism. Here, a parallel link mechanism is employed to facilitate control of an offset cylinder 140 and a direction cylinder 141 described later. However, when the offset cylinder 140 and the direction cylinder 141 are controlled independently, the traveling machine body is When the work position is changed (when the offset amount is changed) in the case of traveling in parallel with the vehicle, the direction of the work implement changes, and therefore a correction mechanism for the work needs to be provided separately.

  The working unit 120 arranges a new paddle by applying a pre-processing unit 121 that cuts a part of the old paddle to perform a cave work and the soil piled forward by the pre-processing unit 121 on the cut out old paddle. And a power transmission mechanism that distributes the power transmitted to the power transmission shaft 132B to the pre-processing unit 121 and the power control unit 122.

  Here, the pretreatment unit 121 can adopt a rotary tillage type pretreatment mechanism with a rotary claw attached to the drive shaft, and if necessary, a heaven field treatment mechanism for scraping off the old straw's heaven field (upper surface) is added. It may be what you did. Further, the trimming unit 122 may employ a trimming drum including a cylindrical drum 122A that molds the upper surface of the rod and a conical umbrella-shaped drum 122B that molds the side surface of the rod.

  In order to adjust the working direction of the working unit 120, the offset cylinder 140 as a working position adjusting mechanism for adjusting the working position of the working unit 120 is used as the control device of the coater 100 having such a basic configuration. A direction cylinder 141 is provided as a working direction adjusting mechanism.

  In addition, at least an angle sensor 150 is provided as a work direction detection unit that detects the work direction of the work unit 120. The angle sensor 150 does not detect a change in the direction of the working unit 120 relative to the connecting unit 130, but can detect a change in the working direction of the working unit 120 with respect to the field scene. A gyro sensor or the like can be employed. In the present embodiment, the angle sensor 150 is provided around the transmission shaft 132 </ b> B in the transmission case 132.

  Further, a position sensor 151 is provided as a work position detecting means for detecting the work position of the work unit 120. The position sensor 151 is disposed behind the trimming drum from a support case (not shown) via a mounting arm 152.

  In addition, the control device for the glazing machine according to the embodiment of the present invention is a control unit that drives and controls the offset cylinder 140 and the direction cylinder 141 based on the detection signal from the angle sensor 150 and the detection signal from the position sensor 151. 160.

  FIG. 2 is a block diagram showing the configuration of the control device for the glazing machine according to the embodiment of the present invention. In this embodiment, the control means 160 includes a storage unit 161, a comparison operation unit 163, and a signal output unit 162 as main parts. The storage unit 161 stores a work position reference value X0161a and a work direction reference value A0161b, the comparison calculation unit 163 includes comparison means 163A and 163B, and the signal output unit 162 includes a work position. An adjustment output unit 162A and a work direction adjustment output unit 162B are formed.

  The work position reference value X0 and the work direction reference value A0 are set in advance and stored in the storage unit 161 before the control unit 160 executes the automatic linear advance control. Then, the detection signal of the angle sensor 150 and the work direction reference value A0 are compared by the comparison unit 163A, and a control signal for driving and controlling the direction cylinder 141 is output from the work direction adjustment output unit 162B so as to eliminate the difference. Further, the detection signal of the position sensor 151 and the work position reference value X0 are compared by the comparison unit 163B, and a control signal for driving and controlling the offset cylinder 140 is output from the work position adjustment output unit 162A so as to eliminate the difference.

  In such a control means 160, when the automatic straight-ahead work control mode is set, the offset cylinder 140 is maintained so as to maintain the reference work direction A0, the wrinkle formation position, and the reference work position X0 of the work unit 120 in FIG. Then, the adjustment driving of the direction cylinder 141 is performed.

  At this time, for the control of the direction cylinder 141, the angle sensor 150 detects a deviation from the set reference work direction A0, and a control signal is output from the work direction adjustment output unit 162B so as to eliminate the deviation. Further, the offset cylinder 140 is controlled by detecting a position shift of the working unit 120 from the reference work position X0 by the position sensor 151, and outputting a control signal for keeping the work position constant by eliminating this shift. The data is output from the unit 162A.

  FIGS. 3A and 3B are explanatory diagrams showing a control flow by the control device of the present embodiment. FIG. 3A shows a control flow in the normal control mode, and FIG. 3B shows a control flow in the automatic straight work control mode. First, when the work is started (S10) and the power supply of the control device is turned on (S11), the angle sensor 150 and the position sensor 151 are activated to start detection (S12A, S12B). Here, the offset cylinder 140 and the direction cylinder 141 are maintained in a predetermined state, and a linear coating operation is advanced by the working unit 120 while the traveling machine body travels straight.

  In this normal work mode, the detection values of the angle sensor 150 and the position sensor 151 are sent to the storage unit 161 of the control means 160 as needed, and the work position reference value X0161a and the work direction reference value A0161b are set (S13). The setting of the work position reference value X0 and the work direction reference value A0 may be such that an average value is obtained from the detection values sent as needed and the reference value is calculated or stored as the sent detection value. The reference value may be replaced and updated as needed.

  This reference value setting (S13) is continued until the end of work in the normal work mode (S14). When the normal work mode is finished and the process proceeds to the automatic linear work control mode (S15), after the normal work mode is finished ( S16) When the automatic linear control switch for executing the automatic linear control is turned on, the automatic linear operation control mode shown in FIG. 5B is entered (S21). Furthermore, it is possible to turn on the automatic linear advance control switch before the end of the normal work mode.

  When the automatic rectilinear control switch is turned on (S21), the work position reference value X0 and the work direction reference value A0 set at that time are set as reference values for the automatic rectilinear work control mode (S22). In this case, the automatic straight control switch can be a manual switch, an automatic switch linked with the steering operation of the traveling machine, an automatic switch that operates when the detected value of the angle sensor 150 exceeds the allowable value, etc. It can also be.

  When the automatic straight-ahead work control mode is entered and the turning operation of the traveling machine body is performed (S23), the direction detection by the angle sensor 150 and the position detection by the position sensor 151 are performed (S24A, S24B). As described above, the control means 160 compares the detection value At of the angle sensor 150 with the set work direction reference value A0, and the control means 163A obtains the control deviation | At-A0 | (S25A). The control signal is sent from the working direction adjustment output unit 162B to the direction cylinder 141 until it becomes zero, and the direction control is performed (S26A). Further, the detection value Xt of the position sensor 151 is compared with the set work position reference value X0, and the control means 163B obtains the control deviation | Xt−X0 | (S25B), and the offset is made until it becomes zero. A control signal is sent from the work direction adjustment output unit 162A to the cylinder 140 to perform work position control (S26B). Then, when the automatic rectilinear control switch is turned off, the automatic rectilinear work control mode is terminated (S27), and then the work is terminated (S28).

  FIG. 4 is a control state diagram showing the behavior of the offset angle θ in the above-described automatic straight-ahead work control mode, and FIG. 5 is a state diagram showing a control state during turning of the traveling vehicle body in the automatic straight-ahead work control mode. It is.

  For example, as shown in FIG. 5, when a traveling machine body (tractor) Tr in which the coater 100 is attached to a three-point link mechanism turns around a stationary turning center Cr at the corner of the field, FIG. The control state indicated by curve A is obtained. In FIG. 4, the horizontal axis represents the control time t (s), and the vertical axis represents the offset angle θ (deg).

  Here, as shown in FIG. 5 (a), the traveling machine body Tr is caused to travel straight along the side L1 of the field to perform a linear smearing operation, and the tip of the traveling machine body Tr reaches the corner, Immediately before the steering operation is performed and the traveling machine body Tr starts to turn, the automatic straight-ahead work control mode is started (t = 0s).

  In the example of the behavior of the offset angle θ shown in FIG. 4, the offset angle θ is set to the control time t1 as the traveling body Tr turns with the offset angle θ at the reaction time t = 0 set to the maximum value θmax (FIG. 4). 5 (b)) The offset angle θ gradually decreases along the curve A and reaches the minimum value θmin at the control time t1. Further, as the traveling machine body Tr further turns, until the predetermined control time t2 (see FIG. 5C), the offset angle θ gradually increases, and automatically at the offset angle θlst during the control interval t2. The straight work control mode ends.

  Next, if necessary, if the offset angle θ is increased manually, the working unit 120 can be further advanced to the corner of the field.

  The curve A at this time differs depending on the type of the traveling body Tr (turning radius, etc.), the vehicle speed, the value of the offset angle θmax at the start of turning, and the like.

  According to the control device of the coating machine according to such an embodiment, as shown in FIG. 5, in the field having the side L1 and the side L2, when performing the coating operation along the side L1, it is close to the side L2. Work can be performed continuously while the traveling body Tr is traveling forward and turning to the corner.

  That is, in a situation where the traveling machine body Tr can travel along the side L1 of the field, the operation in the normal operation mode (FIG. 3A) described above is performed, and the offset cylinder 140 and the direction cylinder 141 are maintained in a predetermined state. Then, the traveling body Tr is caused to travel along the side L1 to perform a linear smearing operation. Then, at the stage where the leading end of the traveling machine body Tr approaches the side L2, the automatic straight-ahead work control mode (FIG. 3B) is selected and set, and the traveling machine body Tr is operated to turn.

  In the automatic rectilinear work control mode, the work direction of the working unit 120 is the reference direction based on the set reference value A0 in the state where the traveling body Tr turns as shown in FIGS. 5 (a), 5 (b), and 5 (c). The working position of the working unit 120 is also held at the set reference value X0.

  Therefore, it is possible to continuously advance the smearing operation by the working unit 120 along the side L1 even at the corner of the farm field, and after the work unit is reversed and reversed as in the prior art, the work of the corner is performed by the reverse operation. Compared with the case where it carries out, it becomes possible to shorten working time significantly. In addition, since the operator only has to turn the traveling machine body Tr at the corner, there is no complicated operation that requires special skill, and it is possible to easily perform the smearing operation on the corner of the field.

  FIG. 6 is an explanatory diagram showing an example of the position sensor 151 described above. This position sensor 151 has a built-in potentiometer that detects the rotational displacement of the rotating shaft, and one end of a sensor rod 151A is fixed to the rotating shaft. The sensor rod 151A is a rod-shaped member whose sensitivity can be adjusted by adjusting the length, and a contact portion 151B is formed at the tip of the sensor rod 151A, and the contact portion 151B is formed by a new rod Sn (cylindrical drum 122A and conical umbrella drum 122B). It is urged so as to be in contact with the side surface of a new ridge formed by the sizing drum. When the sensor rod 151A swings to the a side in the figure with respect to the reference position, it is detected that the working unit 120 has moved to the left in the traveling direction with respect to the reference, and the sensor rod 151A swings to the b side in the figure. Then, it is detected that the working unit 151 has moved to the right in the traveling direction with respect to the reference.

  Here, in actual turning, it is conceivable that the turning center moves during turning depending on the traveling conditions of the field, the manner of steering operation, and the like. The displacement of the work position accompanying such movement of the turning center is detected by the position sensor 151, and the control amount is corrected by adding the control deviation | Xt−X0 |. According to this, even when the turning center moves due to slipping of traveling wheels, the work position (reference value X0) set at the time of shifting to the automatic linear operation control mode is always maintained during turning, It is possible to continue the straight operation of the working unit 120 while turning the machine body Tr.

  In addition, although the above-mentioned Example demonstrated the plastering machine, this invention is applicable not only to this but another offset working machine (for example, a ditching machine etc.). In this case, the sensors are not limited to those described above, and sensors having shapes, structures, and functions suitable for the form of each offset work machine may be employed.

It is explanatory drawing which showed the whole structure of the control apparatus of the coating machine which concerns on the Example of this invention. It is the block diagram which showed the structure of the control apparatus of the coating machine which concerns on the Example of this invention. It is explanatory drawing which showed the control flow by the control apparatus of a present Example (the figure (a) shows a normal work mode, the figure (b) has shown the automatic straight-ahead work control mode). It is a state diagram which showed the behavior of offset angle (theta) at the time of the automatic linear work control mode in the Example of this invention. It is the state figure which showed the control state at the time of the traveling body turning in automatic linear work control mode. It is explanatory drawing of the position sensor in the Example of this invention.

Explanation of symbols

100 Peeling machine (offset working machine)
110 Mounting portion 120 Working portion 130 Connecting portion 140 Offset cylinder (working position adjusting mechanism)
141 direction cylinder (working direction adjustment mechanism)
150 Angle sensor (working direction detection means)
151 Position sensor (working position detecting means)
160 Control Unit 161 Storage Unit 161a Work Direction Reference Value 161b Work Position Reference Value 162 Signal Output Unit 162A Work Position Adjustment Output Unit 162B Work Direction Adjustment Output Unit 163 Comparison Calculation Units 163A and 163B Comparison Unit

Claims (5)

A working unit mounted on the traveling machine body and capable of working on a lateral position with respect to the traveling machine body, a working position adjusting mechanism for adjusting a working position of the working part, and a working direction of the working part are adjusted. A control device for an offset working machine having a working direction adjusting mechanism for
Control means for driving and controlling the work position adjustment mechanism and the work direction adjustment mechanism;
Work direction detecting means for detecting the work direction of the working unit;
Working position detecting means for detecting the working position of the working unit,
The control means includes
The work direction adjusting mechanism is adjusted and driven in accordance with a comparison between the set work direction reference value and the work direction detection value detected by the work direction detection means, and the set work position reference value and the According to the comparison with the detection value of the work position detected by the work position detection means, the work position adjustment mechanism is adjusted and driven ,
It is possible to set an automatic linear work control mode for adjusting and driving the work position adjustment mechanism and the work direction adjustment mechanism,
When the turning center during turning of the traveling machine moves during the setting of the automatic straight work control mode, the displacement of the work position accompanying the movement of the turn center is detected by the work position detecting means, and when the automatic straight work control mode is entered. The control amount is corrected by adding the control deviation | Xt−X0 | between the work position Xt of the work unit when the turning center does not move and the work position (reference value X0) set at the time of shifting to the automatic linear work control mode. And controlling the operation of the work position adjusting mechanism so that the corrected control deviation becomes zero . The said control means can select and set the normal work mode which maintains the said work position adjustment mechanism and the said work direction adjustment mechanism in a predetermined state, and the said automatic rectilinear work control mode. Offset work machine control device.   The reference values of the work direction and the work position in the automatic straight work control mode are set based on detection values detected by the work direction detection means and the work position detection means in the normal work mode. The control device for an offset working machine according to claim 2. A working unit mounted on the traveling machine body and capable of working on a lateral position with respect to the traveling machine body, a working position adjusting mechanism for adjusting a working position of the working part, and a working direction of the working part are adjusted. An offset working machine control method having a working direction adjusting mechanism for
A normal work mode for maintaining the work position adjustment mechanism and the work direction adjustment mechanism in a predetermined state with respect to straight travel of the traveling machine body;
An automatic rectilinear work control mode for adjusting and driving the work position adjustment mechanism and the work direction adjustment mechanism with respect to the turning of the traveling machine body;
In the automatic straight work control mode, the work direction adjusting mechanism is adjusted and driven according to a comparison between the set work direction reference value and the detected work direction detection value, and the set work position reference value and According to the comparison with the detected value of the work position, the work position adjustment mechanism is adjusted and driven , and when the turning center of the traveling machine body moves during the setting of the automatic linear work control mode, The work position displacement associated with the movement is detected by the work position detecting means, and the work position Xt of the working section when the turning center does not move when the automatic linear movement work control mode shifts and the work set when the automatic straight movement work control mode shifts The control deviation is corrected by adding the control deviation | Xt−X0 | with respect to the position (reference value X0), and the operation of the work position adjusting mechanism is controlled so that the corrected control deviation becomes zero. When Control method of that offset working machine.   In the normal work mode, the work direction of the work part is detected, the work direction reference value is set based on the detected value of the work direction, the work position of the work part is detected, and the work position is 5. The offset work machine control method according to claim 4, wherein a reference value of the work position is set based on a detected value.

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