JPH0358681B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an automatic ground attitude control device for a ground work machine.

[Prior art]

This type of automatic ground attitude control device for conventional work equipment consists of an automatic plowing depth control mechanism that keeps the plowing depth of the ground work machine constant, and a horizontal control mechanism that keeps the ground work machine in a horizontal state even if the traveling machine body is tilted. Automatic control mechanisms are operated in parallel to perform detailed work, but each control is independent and there is no mutual coordination.

Therefore, each movement may not be desirable for overall control, resulting in decreased work accuracy and complicated movement of the working machine.

In other words, generally the horizontal control of ground work equipment A is as follows:
As shown in FIG. 2, the expansion and contraction of the hydraulic expansion/contraction mechanism 8 interposed in one (right side) lift rod 5 causes the other (left side) lower link 3 to tilt up and down around the suspension support point 9b. It is now being done by

In this way, when the suspension support point 9b of the lower link 3 is unevenly located on the left side and plowing depth control and horizontal control are applied at the same time, when the traveling machine body B tilts to the right side as shown in Fig. 3b, ground work becomes difficult. Even though the plowing depth on the suspension support point 9b side of machine A has not changed, the suspension support point 9
Since the plowing depth on the side opposite to b becomes deeper, the entire ground work machine A rises as shown in Fig. 3 c.
It will be controlled to be in a horizontal state.

For this reason, the plowing depth becomes shallow once, and then descends again as the ground work machine A rotates to the horizontal position, and is controlled to the set plowing depth as shown in Figure 3d. Therefore, although it is actually only necessary to simply rotate the ground work machine A around the suspension support 9b in a direction in which the side opposite to the suspension support 9b rises, as a result of the plowing depth control being performed at the same time, the temporary There was a drawback that the plowing depth was shallower than the set depth.

In order to solve this kind of drawback, for example, Japanese Patent Application Laid-Open No. 146707 has proposed a system that gives priority to horizontal control over plowing depth control, but in this way, horizontal control is always prioritized. Even if the traveling machine B is tilted to the left with the hanging fulcrum 9b facing downward as shown in Fig. 5b, horizontal control is given priority, so the ground work machine A is tilted as shown in Fig. 5c. Since the side opposite to the hanging fulcrum 9b is lowered using the suspension fulcrum 9b as a fulcrum, the plowing depth becomes deeper at first, and then as the tilling depth control is activated, the plowing depth increases as shown in FIG.
Since the plowing depth is controlled to the set plowing depth as shown in FIG. Even when the traveling machine B returns to the horizontal direction, if priority is given to horizontal control, the plowing depth becomes shallower as the opposite side rises with the hanging support 9b as a fulcrum, and then the plowing depth is controlled again. Since the machine descends to reach the set plowing depth, there is a delay in control and poor work accuracy.

[Purpose of the invention]

The present invention has been devised in view of the above-mentioned conventional situation and to eliminate the drawbacks. Horizontal control is given priority over depth control, and when the ground work machine is tilted in the direction of inclination with the suspension fulcrum side facing downward, an automatic ground attitude control device for the work machine that can simultaneously perform plowing depth control and horizontal control is installed. The purpose is to provide

[Structure of the invention]

The automatic ground posture control device for a working machine according to the present invention achieves the above object, and the ground working machine connected to the lifting mechanism of the traveling machine is automatically controlled to a plowing depth within a set plowing depth range based on detection by a plowing depth detection sensor. On the other hand, in an automatic ground attitude control device configured to perform horizontal control around a suspension fulcrum located unevenly on one side using a horizontal control sensor, a ground work machine that tilts left and right around the suspension fulcrum is suspended. When the slope is such that the fulcrum side is upward and the opposite side is downward,
The horizontal control is prioritized over the plowing depth control, and when the hanging fulcrum side is in a tilted state in which it descends, the plowing depth control and the horizontal control are simultaneously operated to control the ground posture. It is something.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, drawings showing one embodiment of the present invention will be described.

FIG. 1 is an overall side view of a rotary tiller, which is a ground-based work machine, mounted on a tractor, which is a traveling machine.

A rotary tiller A connected to the rear of a tractor B having left and right running wheels 1, 1 and steering wheels 2, 2 has left and right lower links 3, 3 attached to the tractor B, and a central top link. 4 and whose lower ends are connected to the left and right lower links 3, 3. Arm 7,7
The rotary tiller A is raised and lowered by a lifting mechanism C connected to the rotary tiller A, and the rotary tiller A is moved up and down by a hydraulic expansion and contraction mechanism 8 interposed in one of the left and right lift rods 5, 5 (on the right side in FIG. 2). Then,
The other lower link 3 (on the left side in FIG. 2) is tilted left and right up and down about a rotational support point 9b of the other lower link 3 (on the left side in FIG. 2).

A ground leveling plate 11 that rotates around a rotational fulcrum 10 according to the plowing depth is arranged at the rear of the rotary tilling machine A.
A plowing depth detection sensor 12 is provided which detects the plowing depth by rotation of the plowing depth detection sensor 1.
2 and a plowing depth setting value detector 15 interlocked with the plowing depth setting lever are connected to AND circuits 25 and 26 via a comparison circuit 14, and this AND circuit 25
and 26 are respectively connected to the raising circuit 16 and lowering circuit 17 of a hydraulic control mechanism 27 that raises and lowers the lift arm 7.

Note that reference numeral 13 is an angle detector that detects the rotation angle of the lift arm 7.

The rotary tilling machine A is further provided with a horizontal control sensor 18 that detects the horizontal tilt state of the rotary tilling machine A, and the horizontal control sensor 18 and the horizontal set value detector 19 are connected to a comparison circuit 2.
0 to a lowering circuit 21 and a raising circuit 22 for controlling the hydraulic expansion/contraction mechanism 8 which are interposed on one side of the lift rod 5 (on the right side in FIG. It is connected to the AND circuits 25 and 26 via the AND circuits 25 and 26.

Therefore, as shown in FIG. 4b, the rotary tiller A is placed on the suspension fulcrum 9 with the suspension fulcrum 9b side facing upward.
When the side opposite to b is tilted to the right, the value detected by the horizontal control sensor 18 and the set value by the horizontal set value detector 19 are compared by the comparison circuit 20, and this control signal is applied to one side of the lifting rod 5. At the same time, the value detected by the plowing depth detection sensor 12 and the value of the plowing depth set value detector 15 are sent to the comparison circuit 14. are compared.

Here, according to the right tilt discrimination signal from the tilt direction discriminator 23, horizontal control is prioritized over plowing depth control, and the raising circuit 22 for controlling the hydraulic expansion/contraction mechanism 8 on the lift rod 5 side is activated, and the lifting fulcrum 9b is centered. By raising the side opposite to the suspension support 9b, the suspension support 9 can be raised while maintaining the plowing depth on the suspension support 9b side.
By horizontal control that only raises the side opposite to b,
The rotary tiller A is controlled to be in a horizontal state as shown in FIG. 4c.

If necessary, the rotary tiller A, which is in the horizontal state, will be controlled in plowing depth by the comparison signal from the comparator circuit 14, so as shown in FIG. 3c,
Since the rotary tiller B is not controlled to be horizontal while being raised as a whole, the rotary tiller A can be controlled to be horizontal while the plowing depth is stable.

Furthermore, when the rotary tiller A is in an inclined state where the hanging support 9b side is lowered as shown in Fig. 6b, the plowing depth on the hanging support 9b side of the rotary tiller A becomes deeper to the water width. Since it is tilted, the value detected by the horizontal control sensor 18 and the set value by the horizontal set value detector 19 are compared by the comparison circuit 20, and this control signal is sent to the lowering circuit 21 and the raising circuit for controlling the hydraulic telescoping mechanism 8. 2
At the same time, the value detected by the plowing depth detection sensor 12 and the value of the plowing depth set value detector 15 are compared in the comparison circuit 14.

Here, according to the left tilt discrimination signal from the tilt direction discriminator 23, plowing depth control and horizontal control are activated simultaneously, and as the rotary tiller A is raised by the lift arms 7, 7, the lift rod 5 side is The lowering circuit 21 for controlling the hydraulic expansion/contraction mechanism 8 is activated, and while the entire rotary tiller A is raised,
It is controlled to be in a horizontal state as shown in FIG. 6c.

In this way, the hanging fulcrum 9b of the rotary tillage work machine A
When the plowing depth on the side is tilted in a direction where the plowing depth becomes significantly deeper, the plowing depth control and the horizontal control are simultaneously activated, so that the horizontal control takes priority and the rotary By horizontally controlling the tilling machine A in the direction in which the side opposite to the hanging fulcrum 9b descends around the hanging fulcrum 9b, the plowing depth becomes deeper and an overload condition can be prevented. This prevents delays in tillage depth control and unnecessary controls in which the tillage machine A is horizontally controlled so that the tillage depth becomes deep, and then is controlled again so that the tillage depth becomes shallow. The plowing depth can be controlled to be stable in the horizontal control state of the machine A quickly and accurately.

To explain in more detail, when the rotary tillage machine A is in a tilted state where the hanging support 9b side does not descend as shown in Fig. 6b, the tillage depth on the hanging support 9b side becomes significantly deeper. By utilizing the plowing depth control and horizontal control at the same time, the ground posture of the rotary tillage machine A can be quickly and precisely brought to a horizontal state while keeping the plowing depth stable. As shown in FIG. 3b, even though the plowing depth on the side opposite to the suspension support point 9b becomes significantly deeper, when the plowing depth on the suspension support point 9b side does not change, the plowing depth control and horizontal control are This eliminates the drawback that the plowing depth temporarily becomes shallower than the set plowing depth by operating at the same time and descending again as the rotary tiller A rotates to a horizontal state after the plowing depth becomes shallow once. It can be resolved.

In addition, although the embodiment in which the suspension support point 9b is on the left side has been described above, when the suspension support point is provided on the right side in the opposite direction to the embodiment, the inclination of the rotary tiller A is such that the suspension support point 9b side is upward. By configuring the horizontal control to take priority over the plowing depth control in the direction, and to operate the horizontal control and the plowing depth control at the same time in the tilting direction of the rotary tillage machine A, where the hanging fulcrum 9b side is downward, the same effect can be achieved. play.

In addition, in the above explanation, when the traveling machine body B tilts from the horizontal state to the left or right, the ground work machine A
Although we have explained the inclination of
Similar control is performed when the plane returns to the horizontal state.

That is, when the traveling body B is restored to the horizontal state from the state shown in FIG. 4c, horizontal control is given priority, and also when the traveling body B is restored to the horizontal state from the state shown in FIG. Horizontal control and plowing depth control are operated simultaneously.

In short, the suspension fulcrum 9b when the traveling body B is tilted
When the change in height from the ground on the side is not very large, horizontal control is prioritized and the suspension support 9b
When the side height above the ground changes significantly, horizontal control and plowing depth control are performed at the same time.

〔Effect of the invention〕

In short, the automatic ground attitude control device for a work machine according to the present invention is designed to automatically control the plowing depth of the ground work machine connected to the lifting mechanism of the traveling machine to within the set plowing depth range based on the detection by the plowing depth detection sensor. On the other hand, in an automatic ground attitude control device configured to perform horizontal control around a hanging fulcrum provided unevenly on one side using a horizontal control sensor, a ground work machine that is tilted around the hanging fulcrum is tilted with the hanging fulcrum side upward. When the opposite side is in an inclined state where the opposite side is descending, horizontal control is operated with priority over plowing depth control, and when the suspension support side is in an inclined state where it is descending, plowing depth control and horizontal control are operated simultaneously to control the ground posture. Because of this configuration, when the ground work machine is in an inclined state where the suspension support side is upward and the opposite side is down, horizontal control has priority over plowing depth control, so while the ground work machine is rising as in the past,
It is possible to prevent a delay in controlling the horizontal posture, and to quickly control the ground posture of the ground working machine to the horizontal condition while the plowing depth is stabilized.

Moreover, when the suspension support side is in a tilted state where it descends, plowing depth control and horizontal control can be performed simultaneously. By horizontally controlling the side in the downward direction, the plowing depth becomes deeper and it is possible to prevent an overload condition. This prevents delays and unnecessary control of tilling depth control, where the tilling depth is controlled to become shallow again after being horizontally controlled, and the ground posture of the work equipment can be adjusted quickly and accurately while keeping the tilling depth determined. It can be in a horizontal state.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which Fig. 1 is an overall side view showing a rotary tiller mounted on a tractor, Fig. 2 is a plan view of the rotary tiller, and Figs. Figure 6 is an explanatory diagram of the ground attitude effect; Figure 3 is a conventional example in which plowing depth and horizontal control act simultaneously when tilting to the right, and Figure 4 is a diagram of the present invention showing a case where only horizontal control operates when tilting to the right. Figure 5 is a conventional example in which horizontal control is followed by plowing depth control when tilting to the left.
FIG. 4 is a diagram illustrating the operation of the present invention, showing a case where horizontal control operates at the same time. FIG. 7 is a block diagram of the control circuit. A...Ground work machine, B...Travelling body, C...Elevating mechanism, 9b...Hanging fulcrum, 12...Plowing depth detection sensor, 1
8...Horizontal control sensor, 23...Inclination direction discriminator.

Claims (1)

[Claims] 1 The ground working machine connected to the lifting mechanism of the traveling machine is configured to automatically control the plowing depth within the set plowing depth range based on the detection of the plowing depth detection sensor, and is placed unevenly on one side using the horizontal control sensor. In an automatic ground attitude control device configured to perform horizontal control around a suspension fulcrum, when the ground work machine is tilted from side to side about the suspension fulcrum and is in an inclined state with the suspension fulcrum side facing upward and the opposite side descending, plowing depth control is performed. The work machine is characterized in that the horizontal control is prioritized over the horizontal control, and when the suspension support side is in a tilted state where it is lowered, the tillage depth control and the horizontal control are simultaneously operated to control the ground attitude. automatic ground attitude control device.