JP2005287455A - Work machine rolling control device for work vehicle - Google Patents

Abstract

Conventionally, in rolling control that keeps a work machine such as a tractor parallel to an inclined ground, the inclination reference value is obtained by a moving average of sensor detection values within a predetermined time. When an abnormal value appears due to noise, the abnormal value greatly affects the average value until the predetermined time elapses, and as a result, there is a problem that the rolling posture of the work machine cannot be accurately controlled.
A tractor is provided with a slope sensor, and a detection value of the slope sensor is obtained at predetermined time intervals to calculate a first average value. The second average value is calculated by averaging the first average value and the newly acquired detection value of the latest slope sensor, and the second average value is set as the inclination reference value α. The second average value is calculated by a moving average of the first average value and the latest sensor detection value.
[Selection] Figure 1

Description

  The present invention relates to a configuration of a rolling control device for a work machine mounted on a work vehicle such as an agricultural tractor or a rice transplanter.

2. Description of the Related Art Conventionally, agricultural tractors and the like are equipped with a work machine at the rear of a vehicle body so that the work machine can be moved up and down and left and right freely, so that the rolling angle of the work machine can be maintained horizontal or at a predetermined angle regardless of the left-right inclination state of the ground surface. One having a control device is known. And in the said tractor etc., it is set as the structure which detects the inclination of the ground surface with the slope sensor with which the vehicle was equipped, for example, is set as an inclination reference value by carrying out the moving average of the sensor detection value within predetermined time.
JP 7-241102 A

  However, when the inclination reference value is obtained by the moving average of the sensor detection values within a predetermined time as in the conventional case, when the abnormal value appears due to local unevenness on the ground surface or sensor noise, the abnormal value is There is a problem that the average value is greatly affected until the predetermined time elapses, and consequently the rolling posture of the work machine cannot be accurately controlled.

In view of the above problems, the present invention is configured as follows. That is, in a work vehicle that includes a work machine (R) that can be moved up and down and rolled freely at the end of a vehicle body, and that maintains the left and right rolling posture of the work machine (R) at a set position based on the ground reference value (α). The vehicle body includes a slope sensor (2) for detecting right and left inclination angles, obtains a detection value of the slope sensor (2) every predetermined time, calculates a first average value, and Control means for calculating the second average value by averaging the average value and the newly acquired detection value of the latest slope sensor (2), and setting the second average value as the inclination reference value (α) A rolling control device for a work vehicle characterized by comprising (C).
(Operation of claim 1)
In the invention of claim 1 configured as described above, the detection value of the slope sensor (2) is acquired every predetermined time, the first average value is calculated, and the first average value and the newly acquired slope are calculated. The latest detection value of the sensor (2) is averaged and set to the vehicle body inclination reference value (α).

In the invention of claim 2, the control means (C) stores a predetermined number of first average values, and adds the predetermined number of first average values and the latest detected value of the slope sensor (2). The rolling control device for a work vehicle according to claim 1, wherein a moving average value of the sample data is set as the inclination reference value (α).
(Operation of claim 2)
In the invention of claim 2 configured as described above, the moving average value of the data sample obtained by adding the predetermined number of first average values and the detected value of the latest detected value of the slope sensor (2) is used as the slope. Set as reference value (α).

Accordingly, in the invention of claim 1, the latest change can be most influenced to the calculation of the inclination reference value (α), and the rolling posture of the work machine (R) can be quickly matched. In the invention, in addition to the effect of the first aspect, even if an abnormal value occurs in the detection value of the sensor (2), the influence of the abnormal detection value can be gradually reduced as time elapses. By simply moving and averaging a predetermined number of sensor detection values within the time, an accurate inclination reference value (α) can be obtained in comparison with a configuration in which the abnormal value of the sensor always has a constant effect within the predetermined time. As a result, the rolling control device of the work machine (R) can be operated accurately.

  Hereinafter, the case where this invention is mounted in the transmission of an agricultural tractor (hereinafter referred to as tractor 1) will be described with reference to the drawings.

  First, the configuration of the tractor 1 will be described.

  As shown in FIGS. 1 and 2, the tractor 1 includes a diesel engine E inside the bonnet 11, transmits the rotational power of the engine E to various transmissions in the transmission case 10, and after appropriately decelerating, The left and right rear wheels 12R or the left and right front and rear wheels 12F and 12R are configured to travel.

  Below the cockpit 13 of the tractor 1 is provided a controller C serving as a control means and a slope sensor 2 serving as a sensor for detecting the tilt angle of the vehicle body, and a steering handle for steering the front wheel 12F in front of the cockpit 13. 14, a forward / reverse switching lever 15, a one-touch work machine lifting / lowering lever 16, and an accelerator lever 17 are provided below. In addition, a lever holding mechanism having a friction material is provided at the rotating base of the accelerator lever 17 and connected to the speed control mechanism G on the engine side via a wire. Thereby, the accelerator position of the engine E can be held at the set position.

  The engine E is provided with an engine rotation sensor 22 for the output shaft, and an electric motor actuator (hereinafter referred to as an accelerator adjusting motor 18) for increasing / decreasing the output speed of the engine E to the speed adjusting mechanism G. In addition, the output rotational speed of the engine E is decreased by a predetermined amount in conjunction with the reverse operation of the forward / reverse switching lever 15 and the upward operation of the work implement R.

  In addition, a clutch pedal 19, left and right brake pedals 20, 20, and an accelerator pedal 21 are provided below the steering handle 14, and a spring for returning the pedal is provided on each rotation base. Similarly to the accelerator lever 17, the rotation base of the accelerator pedal 21 is connected to the speed control mechanism G of the engine E via a wire. Thus, with the accelerator setting position set and held by the accelerator lever 17 as a lower limit, the engine speed is increased only when the accelerator pedal 21 is depressed, and the original position is restored when the depression is released.

  As shown in FIG. 3, an h-type shift lever 25 is provided on the side of the cockpit 13, and the sub-transmission device of all three stages (L, M, H) is provided by rotating the lever 25. Is configured to switch. The lever grip 25g is provided with a pair of front and rear shift switches (shift up switch 25u, shift down switch 25d) for switching all eight-stage main transmissions, and the main switch is operated by the operator via the energization command of the controller C. The transmission position of the transmission is switched one by one.

  Further, the shift lever 25 shifts the sub-shift position of the H stage from the first high speed working position H1 capable of switching all the main shift positions from the first speed to the eighth speed, and from the first main speed to the fourth speed. It can be switched to two patterns of high speed position H2 that disables and shifts the main shift position from the fifth speed to the ninth speed, and four shift areas are selected in combination with the sub shift position M and L stages. It is the composition to do. These selection areas are detected by auxiliary shift position sensors 26L, 26M, 26H1, and 28H2 provided at the lever rotation base.

  Similarly, a work implement raising / lowering lever 32 for changing the height of the work implement at the rear of the vehicle body, the rotary work implement R in the figure, is provided on the side of the cockpit 13, and the operation position is detected at the rotation base of the lever 32. A potentiometer 32s is provided. Further, behind the guides of these levers 32, the work implement R is raised in conjunction with the turning operation of the tractor 1, the peripheral speed of the front wheel 12F is increased relative to the peripheral speed of the rear wheel 12R, A turn control on / off switch 29 for turning on and off the operation of the turning control device for braking the rear wheel brake, a brake pressure setting device 30 for setting the rear wheel brake pressure inside the turning at the time of turning, and selecting a plurality of types of work implement rolling control modes Various setting devices such as a tact switch type rolling control mode setting device 31, an inclination direction adjusting dial 33, and manual inclination setting switches 57a and 57b are provided.

  Here, the link configuration of the rear wheel brake mechanism will be described with reference to FIG.

  The rear wheel brake mechanism supports a brake operation arm 35 on the transmission case 10 in the vicinity of the left and right rear wheel drive shafts 34 so that the brake operation arm 35 can pivot back and forth. When the tractor 1 is turned, it is forcibly operated by a cylinder hydraulic actuator (hereinafter referred to as a brake cylinder 36) when the tractor 1 is turned. The brake operation arm 35 is rotated by pushing and pulling.

  Specifically, a floor support bracket 41 extending left and right is provided below the floor 40 of the tractor 1, the base of the brake cylinder 36 is attached below the bracket 41, and the piston tip is rotated below the floor 40. The configuration is such that it is connected to the rear end portion of the “L” -shaped link arm 42 that is freely supported in a side view ((A) in the figure). The front end portion of the link arm 42 is connected to a vertical rod 43 connected to the brake pedal base portion, and the rear end portion is connected to the brake operation arm 35 via a rod 44 extending substantially horizontally to the rear of the vehicle body. It is the structure connected to.

  In addition, here, the rear end portion of the link arm 42 has a bifurcated shape, and a long hole 42a having the same shape is opened at the branch portion, while the left and right side portions are formed at the piston front end portion of the brake cylinder 36. A pin 45 ((B) in the figure) having a stepped portion 45a having a smaller diameter than the central portion and having a flat portion before and after the side view is attached. The flat portion of the pin 45 is inserted through the cylinder 36 between the branches of the link arm 42 from below, and then the pin 45 is rotated 90 degrees to lock the stepped portion 45a in the elongated hole 42a. In this state, the cylinder 36 is fixed in a substantially horizontal state.

  As a result, the piston tip of the brake cylinder 36 can be slidably connected within the elongated hole 42a of the link arm 42, and an excessive load is applied to the brake cylinder 36 when the brake pedals 20 and 20 are depressed. This will not occur and durability will not be impaired.

  The tractor 1 is provided with a cylinder case 49 that houses a hydraulic cylinder 48 for raising and lowering the work implement at the rear of the vehicle body, and the lift arms 50 and 50 that support the case 49 on the left and right sides are rotated up and down by the expansion and contraction of the cylinder 48 It has become. Further, a three-point link mechanism 51 including a top link 51 a and left and right lower links 51 b and 51 b is provided at the rear part of the vehicle body, and the working machine R is connected to the link mechanism 51. Further, the left and right lift arms 50 and the lower link 51b are connected by a fixed rod 52, and the other side is connected by a working machine rolling hydraulic cylinder 8 and a stroke sensor 8s for detecting the extension / contraction length of the piston, The left and right one side (right side in the example) of the work machine R is operated up and down to change the left and right rolling posture of the work machine. Also, on one side of the lift arm 50, a lift arm angle sensor 50s is provided at the rotation base.

  Thus, in the controller C, the solenoid 53s of the proportional pressure control valve 53 for raising the work implement or the work implement lowering so as to match the operation angle of the work implement raising / lowering lever 32 and the set angle of the lift arm 50. The solenoid 54s of the control valve 54 is energized to raise and lower the work implement R. Further, the work machine R is configured to be raised or lowered at a stroke between the work position and a separately set raised position by an up / down operation of the one-touch type work machine lifting / lowering lever 16.

  Further, in the work implement rolling control device, as shown in FIGS. 5 and 6, the pressure oil from the pump P is communicated with the rolling hydraulic cylinder 8 by the switching operation of the three-position switching control valve 59. .

  Specifically, a cylinder shortening solenoid 59a and an extension solenoid 59b are provided on both sides of the spool 59s of the switching control valve 59, and the spool 59s is moved by energizing the extension solenoid 59b, and the pump 59s The pressure oil from P is sent to the cylinder 8 and the right side of the work machine R is lowered. Further, when the solenoid 59a for shortening is energized, the spool 59s is moved, the pressure oil from the pump P is fed through the two check valves 55a and 55b, and the right side of the work machine R is raised. It has become. Of the two check valves, the check valve 55b provided on the upper side of the circuit includes a check valve 55b that constitutes a lift-reduction mechanism that maintains the opening of the oil discharge passage when the solenoid 59a for extension is energized. When the solenoid 59a for extending the piston is energized, the pressure oil in the cylinder 8 falls to the tank port T through the orifice 59o formed in the check valve 55b and the spool 59s in the control valve 59. It has become.

  In the figure, symbol B indicates a valve housing, and the switching control valve 59 and the check valves 55a and 55b are integrally incorporated.

  In the work machine rolling control, when the rolling control mode setting unit 31 is in the “automatic horizontal mode”, the value of the slope adjustment dial 56 separately provided for the detection value of the slope sensor 2 and the detection value of the stroke sensor 8s is used. In order to maintain, the piston of the rolling hydraulic cylinder 8 is driven.

  In the “tilt mode”, the inclination of the ground surface is calculated from the detection value of the slope sensor 2, and the piston of the rolling hydraulic cylinder 8 is extended and retracted so that the inclination of the front work implement R is parallel to the ground surface.

  In the “parallel mode”, the piston of the rolling hydraulic cylinder 8 is driven so that the length of the rolling hydraulic cylinder 8 is maintained to the length of the fixed rod 52 or the set length of the tilt manual switch 57.

  Next, the control system of the tractor 1 will be described with reference to FIG.

  The controller C of the tractor 1 includes a work machine control controller C1 that controls the lifting and rolling control of the work machine R serving as a host controller, a meter panel controller C2 that controls various display devices on the meter panel M, And a controller for processing various sensors and setting device information, a RAM for temporarily storing the information, an EEPROM for storing various control programs, etc., and other controllers. In order to share the sensor information, it is configured to connect via a communication line.

  The input unit of the work machine control controller C1 includes a lift switch 16a and a lower switch 16b at the base of the one-touch type work machine lift lever 16; a potentiometer 28s at the base of the work machine lift lever 28; a lift arm angle sensor 42s; A mode setting device 31, an inclination adjustment dial 33, a manual inclination setting switch 57, a slope sensor 2, a stroke sensor 8s, and the like are connected.

  Further, on the output side, the pressure oil is discharged from the solenoid 53s of the proportional flow rate control valve 53 that sends the pressure oil to the working machine lifting / lowering hydraulic cylinder 48 and the working machine lifting / lowering hydraulic cylinder 48 to move the lift arm 42 upward. A solenoid 54 s of the proportional flow rate control valve 54, a solenoid 59 a of the switching control valve 59 that sends pressure oil to the rolling hydraulic cylinder 8, and a solenoid 59 b of the switching control valve 59 that discharges the pressure oil from the rolling hydraulic cylinder 8. Connected.

  In the tractor 1 configured as described above, work implement rolling control is performed as shown in FIGS. 8 and 9.

  When the power supply system of the tractor 1 is first turned on, the work machine controller C1 reads connection states of various sensors and setting devices and performs sensor diagnosis processing. In this sensor diagnosis process, when the detected value of a sensor provided as standard on the tractor 1, such as the potentiometer 28s or the lift arm angle sensor 42s at the base of the work equipment lifting lever 28, exceeds the preset range and shows an abnormal value. A warning is displayed on the meter panel M.

  On the other hand, if the sensor equipped as an optional part on the tractor 1, for example, the front wheel turning angle sensor 37 used for the turning control device exceeds the preset range, only the processing for turning control without warning is jumped. To do.

  The work machine controller C1 determines the setting state of the rolling control mode setting unit 31.

  If the setting of the control mode is “automatic horizontal mode”, the value of the slope sensor 2 is acquired every predetermined time, and the working machine R becomes the set inclination of the inclination adjustment dial 33 with respect to this value. The piston of the rolling hydraulic cylinder 8 is extended or shortened to maintain the angle of the work machine R.

  If the control mode is “parallel mode”, the length of the rolling hydraulic cylinder 8 is changed according to the setting operation of the tilt manual switch 57, and thereafter, the piston of the rolling hydraulic cylinder 8 is set. Thereafter, the length of the cylinder 8 is kept constant even when a load is applied from the outside or internal pressure oil leaks.

  If the control mode is “inclination mode”, the piston of the rolling hydraulic cylinder 8 is extended so that the inclination of the work machine R is parallel to the ground surface based on the inclination reference value obtained by the inclination reference value calculation process. Alternatively, the angle of the work machine R is maintained by shortening.

  In the inclination reference value calculation process, as shown in FIGS. 9 and 10, the work machine controller C1 acquires the detection value (data sample value) of the slope sensor 2 every predetermined time. An average value (first average value Aven) is calculated. Then, the second average value is calculated from the first average value and the newly acquired sensor value of the latest slope sensor 2, and the second average value is set in the RAM as the ground inclination reference value α. . Further, here, the number of detected values of the sensor 2 (number of samples) is calculated up to a predetermined number n, and n data of the second average value and newly acquired data of the detected value of the latest slope sensor 2 are obtained. And calculating the slope of the ground surface.

  In other words, the past first average value that has reached n or more is deleted, and the newly determined first average value is sequentially adopted as a sample value with the inclination reference value α.

  As a result, the latest change has the greatest influence on the calculation of the inclination reference value α, and the rolling posture in the “inclination mode” of the work machine R can be quickly handled. Further, even if an abnormal value occurs in the detection value of the slope sensor 2, the influence of the abnormal detection value can be gradually reduced as time elapses. For example, a predetermined number of sensor detection values within a predetermined time can be simply averaged. In comparison with the configuration in which the abnormal value of the sensor 2 always has a constant influence within a predetermined time, an accurate inclination reference value α can be obtained, and the rolling control device of the work machine R can be operated accurately. it can.

  In addition, about this inclination reference value (alpha), it is good also as a data value when this value is displayed on the meter panel M, or an agricultural field map is created or displayed. Further, the actual control may be started when the number of samples of the first average value (Aven) reaches n, and the preparation state may be displayed by blinking the pilot lamp until now. Further, as shown in FIG. 11, the mode setting unit 31 of the rolling control device has a “manual mode” in which the inclination of the work implement R can be arbitrarily changed by the manual inclination setting switch 57 instead of the “horizontal mode”. It is good also as a structure. At this time, the setting position of the mode setting device is such that “inclination mode” and “parallel mode” are arranged on both sides of the “manual mode”, and when the mode is switched, the rolling hydraulic cylinder 8 is Try not to be inadvertently driven.

  Next, the configuration of the travel controller C3 and various control devices performed by the controller C3 will be described.

  The travel controller C3 includes a shift up switch 25A and a down switch 25B in the gripping portion of the shift lever 25, auxiliary shift position sensors 26L, 26M, 26H1, 26H2 in the lever base, and a main shift position provided in the transmission case. Sensors 27a, 27b ..., forward switch 15a and reverse switch 15b, turning control on / off switch 29, brake pressure setting device 30, front wheel turning angle sensor 37 serving as a sensor for detecting turning operation of the vehicle, accelerator control on / off switch 61, A load control on / off switch 62a and a load setting switch 62b are connected to each other.

  Further, the output section includes solenoids 65a, 65b for control valves that drive actuators for switching the shift position of the main transmission, solenoids 66a, 66b for control valves that change the forward / reverse switching position of the forward / reverse switching device, and the accelerator position. An accelerator adjusting motor 18 for increasing / decreasing the speed and a solenoid 66L, 66R of a proportional flow rate control valve for driving the brake cylinders 36, 36 for braking the left and right rear wheels are connected to each other.

  The travel controller C3 configured as described above activates the accelerator control when the accelerator control on / off switch 61 is on.

  Specifically, when the operation of the work machine R is monitored by the ON operation of the lift switch 16a of the base of the one-touch type work machine lift lever 16 or the potentiometer 28s of the base of the lift lever 28, when this operation is detected, Assuming that the load is reduced, the accelerator adjusting motor 18 is energized to change the accelerator position to the low engine speed side. When the work machine R is lowered, the accelerator position is returned.

  In the accelerator control, the shift lever 25 is continuously operated while the lever is switched between the L, M, and H1 positions, that is, the positions assumed for work, and when the shift lever 25 is operated to the road traveling area H2. When the operation is turned off and the control on / off switch 61 is turned on and set again, the control is activated.

  In addition, although the said accelerator control was set as the structure which detects the raising operation of the working machine R, it is good also as a structure which detects the raising drive of the lift arm 50 side, ie, the working machine R, this. Further, in addition to the ascending operation or ascending drive of the work implement, the backward operation of the tractor 1 may be detected by the reverse switch 15b, and at this time, the accelerator position may be changed to the low rotation side.

  In the load control, the engine rotation sensor 22 monitors the load state of the tractor 1 and travels at a constant speed. When the load setting switch 62b is depressed, the speed V at this time is used as a reference. With the V + α speed as an upper limit, the controller C3 operates the vehicle at a constant speed by operating the shift position and the accelerator position up and down.

  As a result, the load state and the vehicle speed suitable for the work can be determined by the operator himself and stable low-speed traveling can be performed.

The rear view of a tractor. The whole tractor side view. The side view and top view of the transmission lever vicinity. (A) The figure which shows the attachment state of a brake cylinder. (B) The front view and side view of a pin with which the piston tip part of a brake cylinder is equipped. (C1) The rear view which shows the attachment effect | action of a brake cylinder. (C2) A side view showing the mounting action of the brake cylinder. 1 is a partial hydraulic circuit diagram of a tractor. (A) Sectional drawing which shows the valve inside of the switching control valve for rolling. (B) The hydraulic circuit diagram. The figure which shows the connection state of a controller. The flowchart which shows the outline | summary of the whole control. The flowchart which shows the outline | summary of an inclination reference value calculation process. The figure which shows the sample data acquisition number of inclination reference value calculation processing. Another form of rolling control mode setting device.

Explanation of symbols

1 Tractor 2 Slope sensor C Controller E Engine R Rotary work machine

Claims (2)

In a work vehicle that includes a work machine (R) that can be moved up and down and rolled freely at an end of a vehicle body, and that maintains a left-right rolling posture of the work machine (R) at a set position based on a ground inclination reference value (α), The vehicle body is provided with a slope sensor (2) for detecting the left and right inclination angles, obtains a detection value of the slope sensor (2) at every predetermined time, calculates a first average value, and also calculates the first average value. And a newly acquired value of the latest slope sensor (2) are averaged to calculate a second average value, and the second average value is set as the inclination reference value (α) (C A rolling control device for a work vehicle. In the control means (C), a predetermined number of first average values are stored, and a moving average value of sample data obtained by adding the predetermined number of first average values and the latest detected value of the slope sensor (2) is obtained. The rolling control device for a work vehicle according to claim 1, wherein the inclination reference value (α) is set.

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