JPH0636683B2 - Tilt control device for working unit in field working machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a tilt control device for a working unit in a field working machine, which is configured to control a posture of the working unit with respect to a traveling machine body in a laterally inclined manner.

[Problems to be Solved by Prior Art and Invention] Generally, in this type of field working machine, a working posture of a working unit such as a rotary tiller attached to a traveling machine body such as an agricultural tractor is connected to a lift arm. There is one in which one of the lift rods is controlled so as to be inclined to the left and right by the expansion and contraction operation so that the working unit can be maintained and maintained in a substantially horizontal posture even when the traveling machine body is inclined to perform field work.

By the way, in such a case, there is a case where the traveling body suddenly tilts greatly to the left or right, and it is necessary to largely correct and control the horizontal posture of the working unit with respect to the traveling body. Control is required to ensure work accuracy. Therefore, to cope with this, the lift rod is set to expand and contract at a high speed.

However, in the large inclination of the traveling machine body, large irregularities are repeated for a short time, the traveling machine body vibrates violently repeatedly to the left and right, and this shaking is temporary and immediately returns to the original state. In such a case, if the high-speed tilt control is performed, the workability of the working unit is adversely affected and the working accuracy is deteriorated. However, the traveling vehicle body, which receives this as a reaction, suffers a large shock and lacks stability. Therefore, in order to focus on the stability of the work, the tilt control speed at high speed was set to a slow speed to cope with it. It is something that lacks responsiveness.

[Means for Solving the Problem] The present invention was conceived with the object of providing an inclination control device for a working unit in a field working machine, which can eliminate these drawbacks in view of the above-mentioned circumstances. The tilt posture control mechanism for controlling the left and right tilt postures of the working unit with respect to the traveling machine body, and the tilt detection value of the tilt detection sensor for detecting the tilt of the working unit are preset by the tilt setter. In a field work machine configured to output a tilt control command to a working unit tilt actuation mechanism so as to correspond to a set value, the tilt attitude control mechanism calculates from a tilt detection value and a tilt set value. Difference value determining means for determining whether or not the inclination difference value is larger than a preset setting difference value, and a difference value determining hand for the speed control mode of the inclination control command output to the working unit inclination actuating mechanism. Speed control mode switching means for switching the mode to a high speed control mode when it is judged that the step difference is greater than the set difference value, and a low speed control mode when it is judged that the step difference is further smaller, and the high speed control mode. If it is determined that the high speed control mode has been changed from the beginning to the preset range, the high speed control mode limits the high speed tilt control to the low speed control mode for the low speed tilt control mode. And a high-speed control mode limiting means for switching the mode to a true high-speed control mode state at a stage beyond this to provide a high-speed tilt control state.

With this configuration, the present invention can quickly follow a large inclination change, but in the case where this is repeated or immediately returns to the original state, the swing width of the working unit is reduced. This enables stable and stable tilt control.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of an agricultural tractor, and a working section (rotary tilling section) 2 is attached to the rear of the traveling machine body 1 via an elevator link mechanism 3. The elevating link mechanism 3 is interlockingly connected to the lift arm 4 via a lift rod 5, and the working unit 2 is moved up and down by the vertical swing of the lift arm 4. One of the lift rods is a lift rod. The (right side in the embodiment) 5 is formed by using a telescopic cylinder 6 which constitutes an inclination actuating mechanism. In addition, the work unit 2 is configured to be controlled to a predetermined tilted posture with respect to the traveling machine body 1 by the extension / contraction control of the extension / contraction cylinder 6, and the like, as in the related art. Here, 7 is a seat, 8 is a rear wheel, and 9 is a steering wheel.

Reference numeral 10 is a fan cover for covering the rear wheel 8, which includes a position lever 11 and a manual tilt switch 1.
2. A control operation unit 17 provided with an inclination setting device 13, an automatic inclination switching switch 14, a plowing depth setting device 15, and an automatic plowing depth switching switch 16 is provided. By these operations, the machine body of the working unit 2 is provided. The position control for performing automatic height control for, the automatic plowing depth control for automatically controlling the plowing depth of the working part, and the automatic tilt control that is the subject of the present invention can be performed as necessary. Hereinafter, the automatic tilt control will be described in detail.

Here, reference numeral 18 denotes a control unit 18 incorporating a microcomputer, which is built in the control operation unit 17. The control unit 18 includes a tilt setting device 13,
An automatic tilt change switch 14, an inclination detection sensor 19 for detecting the inclination state of the traveling vehicle body 1, and a stroke sensor 20 provided on the expanding and contracting lift rod 5.
Further, it is accommodated in the lower part of the driver's seat 7 and switches the expansion / contraction speed of the expansion / contraction cylinder 5 (that is, the inclination speed of the working unit 2) between high and low (for example, the rotation speed of a hydraulic pump (not shown) is changed. The signal from the inclination speed switching switch 21 for inputting the signal is input. Here, for example, the control speed is switched between fast and slow by setting the fast side when the field is soft and the slow side when the field is hard. Is to ensure that. Then, the control unit 18 issues an ON-OFF control command to the lift rod expansion / contraction solenoids 22 and 22a based on the result of calculating these input signals.

Next, this control procedure will be described with reference to a timing chart and a flow chart. When the key switch (not shown) is turned on to start the control unit 18 and read the data, the control unit 18 judges whether the automatic tilt changeover switch 16 is turned on or not.
When it is N, the target length L of the lift rod 5 is obtained from the detection values A and B from the inclination setter 13 and the inclination detection sensor 19 (in the case where the present invention to be described later is implemented, Which is equivalent to the "inclination set value",
In the embodiment, it is a target lift rod length,
Hereinafter, "target value L" will be calculated. (By the way, when the automatic tilt switching switch 16 is OFF, the automatic tilt control is not performed. Therefore, the control unit 1
8 stores the current lift rod length as the storage data D, and the expansion / contraction solenoids 22 and 22a are OF as they are.
It will be controlled to the F state). When it is determined that the tilt automatic control state is set in this way, the control unit 18 determines whether the tilt speed switching switch 21 is set to the fast side, and it is determined that the tilt speed switching switch 21 is set to the fast side.
If the determination is made (this is set so that the present invention is not carried out in order to compare with the present invention described later), the detection value C of the stroke sensor 20 (the present invention described later What has been carried out is equivalent to the "inclination detection value" of the present invention, and in the embodiment, it is the current lift rod length, and will be referred to as "current value C" hereinafter) more than the target value L. If it is determined whether it is small (C <L), and if YES is determined because it is small, it is not necessary to perform the inclination control at a high speed with the inclination value difference obtained by subtracting the current value C from the target value L. The first set difference value α that is preset as not present (in the case where the present invention described below is implemented, it corresponds to the “set value difference” of the present invention, and for example, the difference between the two is about 7 to 10 mm. Whether it is smaller than (L-C <α) Is determined, YES in small
If the determination is made, the extension solenoid 22 is turned on by a low speed control mote by inching, and the right side of the working unit 2 is transformed at a low speed into an inclined state. On the other hand, if the determination is NO because the size is not small, the extension solenoid 22 is continuously turned on to set the high-speed control mode so that the working unit 2 is rapidly transformed into the inclined state in which the right side is lowered. (And if the inclination control operation is performed at a high speed, and the inclination value difference is equal to or less than α, the high speed control mode is switched to the low speed control mode, and the inclination control at the low speed is performed).

On the other hand, when the determination of NO is made by determining whether the current value C is smaller than the target value L, first, the target value L is set to the current value C.
Is smaller than (L <C), and if YES is determined as being smaller, the slope difference value (CL) obtained by subtracting the target value L from the current value C is set to the first setting. Value difference α
Is smaller than the above (CL−α), and if YES is judged as small, the change width is small and the ON operation of the low speed control mode by inching is performed on the reduction solenoid 22a. As a result, the working unit will be controlled at a low speed in an inclined posture in which the right side rises,
If NO is determined as being larger than the set difference value α, the reduction solenoid 22a is continuously turned on in the high-speed control mode, and the working unit 2 is moved to the right side at high speed. It is configured to control the tilt to the side. When the target value L and the current value C are equal (L = C, but equal in a state having a certain dead zone), the current value C is stored as it is and which solenoid 22, 22 is to be stored.
The a is also controlled to be OFF, and in this way, the automatic tilt control is performed when the working part tilt speed is set high.

On the other hand, when the tilt speed switching switch 21 is set to the slow side, the present invention is implemented in this control mode. In this control, whether the tilt speed switching switch 21 is set to the fast side or not. Will be judged as NO. Also in this case, as in the case where the tilt speed switching switch 21 is set to the fast mode, it is determined whether the current value C is smaller than the target value L (C <L), and the target value L is changed from the current value C. It is judged whether or not the subtracted difference, that is, the inclination difference value (C-L) is smaller than the set difference value α (C-L <α) (corresponding to "difference value judgment means" of the present invention).
If YES is determined because both are small, an ON command in the low speed control mode by inching is issued to the expansion solenoid 22 as described above.

Further, when the inclination difference value obtained by subtracting the target value L from the current value C is larger than the set difference value α and it is determined to be NO, the high speed control mode is switched to, and the speed control mode switching means of the present invention is configured. However, in this case, as described above, the state is not immediately switched to the high-speed control mode state, and switching to the high-speed control mode state is limited to a preset range. That is, in this case, the value obtained by subtracting the stored data D of the lift rod length (that is, the data value when the solenoids 22 and 22a are both turned off) from the detected current value C is preset. Is larger than the set difference value β of (for example, a value of about 5 to 7 mm) (C
-D> β) will be determined. If it is not large, that is, if the judgment of NO is made because the tilt control operation is within the range that does not exceed the second set difference value β from the start, the control in the high speed control mode is restricted and the extension control is performed. The solenoid 22 is turned on by the inching in the low speed control mode state, and the inclination control operation is performed at a low speed at the beginning of the switching operation in the high speed control mode state. When it is determined to be YES because the difference obtained by subtracting the storage data D from the current value C has passed the second set difference value β area and is determined to be YES, the extension solenoid 22 is continuously operated. O
In this way, when the high speed control mode is switched, the temporary high speed control mode state is maintained in the low speed control mode state at the beginning of the switching, but the second set difference value When it exceeds the β range, the mode is switched to the true high-speed control mode in which the high-speed state is achieved, and the tilt control operation is performed. Thus, the high-speed control mode limit switching means of the present invention is constructed.

Further, in the case of this true high speed control mode state, the tilt control operation proceeds, and the current value C is changed to the target value L.
When the inclination difference value obtained by subtracting is within the range of the first set difference value α, the low speed control mode is switched to the above-mentioned inching, the inclination control operation is performed, and the high speed control operation is braked. On the other hand, if the determination is NO if the current value C is smaller than the target value L, then whether the current value C is smaller than the target value L (L <C) and the current value C As described above, it is determined whether the difference obtained by subtracting the target value L from C is smaller than the first set difference value α. However, the target value L is subtracted from the current value C. When it is determined whether or not the inclination difference value is smaller than the first set difference value α, that is, when the determination of NO is made because a large inclination control is required, the stored data D is further determined from the present data. It is determined whether or not the value obtained by subtracting the value C is larger than the second set value β (DC> β), and it is not larger, that is, it is determined that the position is within the range of the second set range β at the beginning of the tilting operation, and thus NO. If it is determined that the inching speed is low with respect to the reduction solenoid 22a, as described above. An ON command is issued in the control mode. In this way, since the tilt control operation is larger than the first setting range α and the tilt control operation can be performed at a high speed, the expansion / contraction solenoids 22, 2 are
When the 2a must be continuously turned on, the inclination control operation is performed at a low operation speed in the inching low speed control mode at the beginning of the operation and at a high operation speed in the high speed control mode after exceeding the second setting range β. It is getting done.

In the embodiment of the present invention constructed as described above, the automatic tilt control of the working unit 2 is performed by setting the automatic tilt change switch 21 to the O position.
In addition to N, the inclination setter 13 may provide a necessary inclination set value, and by doing so, the control unit 18 causes the inclination setter 13, the inclination detection sensor 19, and the stroke sensor 20. As described above, the expansion / contraction solenoids 22 and 22a are turned on based on the input signal from the ON-OF.
F automatic control is performed, and the tilt posture of the working unit with respect to the machine body 1 is automatically controlled by expanding and contracting the right lift rod 5, but in the present invention, when tilt control is performed, the current value C It is determined whether or not the inclination value difference calculated from the target value L is larger than the set value difference α, and if it is determined to be small, gentle inclination control is performed in the low speed control mode and the field is reduced. Follow changes accurately. On the other hand, when it is determined to be large, at the beginning of the operation of the tilt control, the provisional high-speed control mode is set, and the control in the high-speed control mode is limited, and the control speed is set to a low speed. When the value exceeds the second set difference value β, the mode is gradually switched to the true high speed control mode, and the high speed tilt control is performed.

That is, as shown in the embodiment, the tilt speed switching switch 21.
When switching to the slow side, the current value C and the target value L
And the slope difference value is larger than the set difference value α (| C−L |>
α), the second set difference value β, which is the initial value of the switching operation when it is determined that a high-speed and quick tilt control operation is required.
Up to the range, the control in the high speed control mode is limited as a temporary high speed control mode state and the operation is performed in the low speed control state by inching. Therefore, for example, the vehicle body is repeatedly tilted greatly to the left and right, and the detection value of the tilt detection sensor 19 is largely deviated alternately. As shown in F of FIG. 9, the tilt difference value between the current value C and the target value L is the set difference value. In the case where the left / right inclination change that is larger than α is continuously occurring with a short cycle that does not exceed the set value difference β, the inclination control operation is performed at high speed from the beginning of the switching operation. Like the one (when the tilt speed switching switch 21 is switched to the faster side), the length of the lift rod 5 does not greatly expand and contract each time, and speed control in the high speed control mode is limited. In the high-speed control mode state, at the beginning of the switching operation, the inclining operation causes the tilt control operation at a slow speed, so that the lift rod 5 actually performs the expansion / contraction control operation with a small width. The tilt control is stable. If the cycle of the continuous left-right inclination change is such that it slightly exceeds the second setting range β, the lift rod 5
The change in expansion and contraction is smaller than that of the conventional one in which there is no provisional high-speed control mode in which a low-speed control state is entered and the high-speed control state is immediately reached. Therefore, even in this case, the deflection of the working unit 2 is It can be made as small as possible and the working posture of the working unit 2 is stabilized, and the shock to the traveling machine body due to the expansion / contraction switching can be made small, so that the shake due to the recoil of the machine body itself can be reduced, and the inclination detection sensor is not allowed. The influence on 19 can be minimized, and the sensitivity (responsiveness) of the tilt detection sensor 19 can be increased. Moreover, the provisional high-speed tilt control at this low speed is in the range up to the second set difference value β, and when it is judged that the tilt control at the high speed is actually required beyond this range, the true corresponding tilt value is determined. Since the high speed smooth tilt control is performed by switching to the high speed control mode, there is almost no obstacle to the substantially quick tilt control.

Further, in the embodiment, since the deceleration by the low speed control mode by inching is performed even when the vehicle is stopped from the state of being in the true high speed control mode state, so-called hunting phenomenon is eliminated and more accurate tilt control can be performed. It will be. Also, as in the embodiment, the tilt speed switching switch 2
When 1 is switched to a slower side, that is, only when working in a hard field, when the high speed control mode is reached, a slow temporary high speed control mode is provided at the beginning of the tilt control operation, and work is performed in a soft field. When the high-speed control mode is entered when the mode is switched to the fast side in order to respond to, the tilt control operation will be performed immediately in the high-speed control mode state from the beginning of the operation without going through the temporary high-speed control mode. It is convenient that a tailored tilt control operation can be optionally provided.

Of course, the present invention is not limited to the above-mentioned embodiment, and the process of switching from the temporary high-speed control mode to the true high-speed control mode is not a two-step process but a multi-step process such as a three-step process. The operating speed can be adjusted by adjusting the throttle amount of the control valve or changing the rotational speed of the hydraulic pump without depending on the inching mode. Needless to say.

Further, deceleration at the time of stop in the high speed control mode state is effective for preventing the occurrence of the hunting phenomenon, but the present invention can be implemented regardless of the presence or absence of this.
Further, the range of low speed at the beginning of switching can be set arbitrarily, but it may be set to the same as the first set difference value when the tilt range is small, and the limit of the high speed control mode at the beginning of switching. The temporary high-speed control mode state range is not set by height difference, but is, for example, the elapsed time from the time of switching to the high-speed control mode (a predetermined time has elapsed from the beginning of the operation). Of course, it can also be carried out by determining whether or not).

[Advantageous Effects] In short, since the present invention is configured as described above, when controlling the inclination of the working part, the control speed is changed by the speed control mode switching means based on the judgment of the difference value judgment means. Therefore, when the tilt control amount is small, the low speed control mode is performed, and when the tilt control amount is large, the high speed control mode is performed, and the tilt control is performed at an appropriate speed corresponding to the tilt control amount. .

Moreover, when the mode is switched to the high-speed control mode, at the beginning of the switching, the high-speed control mode restricts the high-speed tilt control to enter the temporary high-speed control mode state in which the low-speed tilt control is performed. The high-speed control mode state is switched to when the state to be the high-speed control mode exceeds the range of the provisional high-speed control mode set in advance.

As a result, even if the high speed control mode is switched to the high speed control mode based on the detection of the tilt detection sensor, the tilt control operation of the working unit corresponding thereto is changed to the temporary high speed control mode state at the beginning of the switching, and the tilt control at the low speed is performed. Therefore, in the case where the aircraft sways greatly to the left and right, or returns to the original state immediately after a large inclination, the effective amount of tilt control of the working unit can be suppressed to a small range. Incidentally, even when the traveling machine body shakes repetitively and greatly, the working section is maintained in a stable work posture state, and it is not possible to perform highly accurate field work. It can be made small, and the vibration of the traveling body itself due to the recoil will also be small.

Moreover, when the high-speed control mode state continues beyond the range of the temporary high-speed control mode state,
The mode is switched to the true high-speed control mode state, the tilt control operation is performed at a high speed, and this state does not last long when the high-speed control mode is entered due to the large tilt of the traveling aircraft. In such cases, it is slow,
If it lasts for a long time, it will be possible to control the attitude at a high speed, and set this high control speed to a slow one in consideration of the stability when the above-mentioned large tilt of the vehicle does not last. Further, even if the field work is performed under bad conditions, the inclination control corresponding to the field conditions can be performed, the work accuracy is high, and extremely excellent workability that has never been seen can be exhibited.

[Brief description of drawings]

The drawings show an embodiment of a tilt control device for a working part in a field working machine according to the present invention, wherein FIG. 1 is an overall side view of an agricultural tractor, and FIG. 2 is a perspective view of relevant parts. Three
FIG. 4 is a front view of the lift-rotating part, FIGS. 4 and 5 are explanatory views showing the tilt control state, FIG. 5 is a front view of the control operation part, and FIG. 6 is a plan view of the tilt speed switching switch part.
FIG. 7 is a block diagram of the control mechanism, FIG. 8 is a timing chart showing a case where the tilt state lasts for a long time, and FIG. 9 is a timing chart showing a case where the tilt state is short.
FIG. 10 is a flow chart. In the figure, 1 is a traveling body, 2 is a working unit, 5 is a lift rod,
13 is a tilt setting device, 14 is a switch for automatically switching the tilt, and 18
Is a control unit, 20 is a stroke sensor, and 21 is a tilt speed switching switch 21.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Hideya Matsuno Hideya Matsuno, 667 Izuya-cho, Higashi Izumo-cho, Yatsuka-gun, Shimane Prefecture 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. (56) Reference JP-A-60-83505 (JP, A) Showa 54-75309 (JP, A) Actually opened Showa 59-81306 (JP, U)

Claims (1)

[Claims] 1. A tilt posture control mechanism for controlling a left and right tilt posture of a work unit with respect to a traveling machine body, and a tilt detection value of a tilt detection sensor for detecting a work unit tilt is preset by a tilt setter. In a field work machine configured to output a tilt control command to the working unit tilt actuation mechanism so as to correspond to the tilt set value, the tilt posture control mechanism calculates from the tilt detection value and the tilt set value. Difference judgment means for judging whether or not the tilt difference value to be set is larger than a preset set difference value, and a difference value judgment for the speed control mode of the tilt control command output to the working section tilt actuating mechanism. The speed control mode switching means switches the mode to the high speed control mode when the means determines that the inclination difference value is larger than the set difference value, and to the low speed control mode when it determines that the inclination difference value is smaller than the set difference value. When it is determined that the high-speed control mode has been switched to, the high-speed tilt control in the high-speed control mode is restricted to a low-speed tilt control state in the low-speed control mode up to a preset range from the beginning of the switching. A field that is provided with high-speed control mode limiting means for temporarily changing the mode to the high-speed control mode state and then switching the mode to the true high-speed control mode state at a stage beyond this. Tilt control device for working unit in working machine.