JPH02177806A - Horizontal control device for tractor working machine - Google Patents

Abstract

PURPOSE:To improve working accuracy and operating properties by lengthening inhibition time of rolling control output in reverse direction according to vehicle speed after carrying out rolling control output in one direction according to vehicle speed. CONSTITUTION:A working device 2 is subjected to rolling by inclination of a vehicle unit 1 to retain the working device 2 in horizontal state. After carrying out rolling control output in lateral one direction, inhibition time of rolling control output in the reverse direction is lengthened according to vehicle speed and timing of rolling control output in the direction opposite to the rolling control output outputted at present is changed and controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a horizontal control device for a tractor working machine, and can be used in a tillage device and the like.

Background Art and Problems to be Solved by the Invention In horizontal control, which controls and maintains the working equipment connected to the tractor body in a horizontal horizontal position regardless of the horizontal inclination of the tractor body, it is necessary to control the unevenness of the work ground and the vehicle speed. This greatly affects the accuracy of horizontal control.

Means for Solving the Problems The present invention provides a method for horizontally controlling a vehicle body (11) by rolling a working device (2) to horizontally control the rolling control output in one direction and then changing the rolling control output in the opposite direction. A horizontal control device for a tractor working machine is configured to control a prohibition time to lengthen according to vehicle speed.

Operation and effect of the invention As the vehicle body (1) runs, the working device (2) connected to the rear side
), when the vehicle body (1) is tilted due to the horizontal slope of the ground, etc., the work device (2) is rolled relative to the vehicle body (11).
The machine is horizontally controlled to have a horizontal horizontal posture, and works are performed by maintaining the working device (2) horizontally horizontally regardless of the inclination of the vehicle body (1).

In this horizontal control device, the prohibition time of rolling control output in the opposite direction after outputting the rolling control output in one direction to the left or right is changed and controlled to lengthen according to the vehicle speed, and the prohibition time becomes longer as the vehicle speed increases. As the vehicle speed decreases, the prohibition time becomes shorter, and the timing of the low link control output in the direction opposite to the currently output rolling control output direction is changed and adjusted. As a result, it becomes difficult to react to small changes in ground irregularities, and it is able to quickly follow large changes, suppressing unnecessary operations and improving work accuracy. Operation is automatically controlled according to vehicle speed. Improves sex.

Example In addition, when the vehicle body (11) is rotated, the engine (
3) and a front axle (5) that is steered by a steering handle (4), a driver's seat (6), rear wheels (7), etc. are provided at the rear, and the engine (3) drives these front axles. (5) and the rear axle (7) are four-wheel drive systems. The working device (2) is a tilling device, and the tilling shaft (9) on which the tilling claws (8) are disposed is attached to the vehicle body (
1) A leveling plate (11) for leveling the tilled soil surface is provided on the rear side of the tilling cover (10) which is arranged to rotate in conjunction with the power output shaft at the rear and covers the upper layer of the tilling claw (8), This tilling machine (1) is attached to the rear of the vehicle body (1) by a pair of left and right lower links (13) and a top link (141) so that it can be raised and lowered, and by rotation control of the lift arm (Is) of the vehicle body + 11. , this lift arm (1 and 1~
Left and right lower links (1) connected via rondo (16)
3) The working device (2) is raised and lowered by vertical movement.

The pair of left and right lower links (13) and lift arms (Is
) is connected to the lift rod (I [il).On one side of the lift rod (I (18tr is provided, and the rolling cylinder (1 force) moves the left and right lower links (13) up and down by a predetermined amount to control the rolling of the working device (2) with respect to the vehicle body (1). There is.

On the side of the cockpit (6), there is a posisimin lever (19) that moves the lift arm (19) twice to raise and lower the working device (2), and a tilling depth setting that sets the tilling depth of the tilling device. vessel(
20, and a tilt setting device (21) for setting the left and right tilt angle of the working device (2) with respect to the vehicle body (1). (2
? J is a lift angle sensor that detects the lift angle of the lift 1 hair arm (Is), (23 is a tilt sensor that detects the left and right tilt angle of the vehicle body (1), 24 is a vehicle speed sensor that detects the vehicle speed from the rotation of the axle, QSl is a mode switch that changes various automatic control modes of the microcomputer (cPU) of the controller, (2e is a depth sensor that detects the tilling depth that detects the leveling angle of the leveling plate (11), (υ is the lift arm (Is) ) is a rising proportional solenoid valve that rotates upward, (211 is a downward proportional solenoid valve, and the lift arm (one is provided in the hydraulic circuit that moves up and down).

Also, 9 is a horizontal extension solenoid valve that hydraulically controls the rolling cylinder (171) in the direction of extension, and 0 (4) is a horizontal solenoid valve that performs rolling control.

Plowing depth control is performed by lowering the lift arm (IS) to the position set by the plowing depth setting device ff1Q and lowering the leveling plate (11).
Depth sensor +2119 measures the leveling position of the tilled soil surface.
This system maintains vertical control of the tiller while detecting
If the depth sensor C2e detects too deep, the lift proportional solenoid valve (271) is output and the lift arm (IS
1 to raise the tilling device to shallower the tilling depth to within the set range. Also, if the depth sensor (2Q) detects too shallow, it outputs the descending proportional solenoid valve υ to bring the tilling depth within the set range. Go deeper.

For horizontal control, when controlling the working device (2) at the angle set by the inclination setter (21), for example horizontally on the left and right to form plow marks on the left and right horizontal planes, set the inclination setter (21) horizontally. Set. At this time, even if the vehicle body (1) tilts to the left or right, the work device (2) is rolled by horizontal control.
The tilled soil surface leveled by the leveling plate (11) is formed horizontally from side to side. When the inclination sensor (21) detects the inclination of the vehicle body (1), the horizontal extension side or horizontal solenoid valve (291C) [D] is output, and the rolling cylinder (1η is controlled to extend or shorten). When the stroke sensor (II3) detects the horizontal position set by the inclination setter (21), rolling is stopped at this horizontal position.

Further, such horizontal control is performed through each step shown in the flowchart of FIG. 3 when the vehicle speed sensor Q4 detects the vehicle speed. Specifically, in step (2), the number of samples used to calculate the average value of the tilt sensor (23) is changed, and the higher the vehicle speed, the smaller the number of samples is. The inhibition time becomes longer as the vehicle speed increases.

When the output direction of the horizontal control is in the neutral region and does not change, neither the horizontal expansion side solenoid valve 2910m nor the horizontal line solenoid valve 2910m outputs through steps ① to ②. When the inclination sensor detects the inclination of the vehicle body (1) and outputs a control output in the direction of extending the rolling cylinder (171), it is performed through steps ■ to QH, and the prohibition of line output, which is an output in the opposite direction, is canceled. O0 continues to prohibit the output of the dose line up to 0, and conversely, the rolling cylinder (17I
When controlling output in the direction of shortening, step ■, O
-0, and the extension output prohibition continues until O, when the push force prohibition, which is an output in the opposite direction, is canceled O0

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a side view, FIG. 2 is a block diagram, and FIG. 3 is a flowchart. In the figure, code (1) is the vehicle body, (2) is the working device, (171
is a rolling cylinder, (18 is a stroke sensor, 1
21) is a tilt setting device, (23 is a tilt sensor, Q4 is a vehicle speed sensor, 9) is a horizontal expansion/opening solenoid valve, and 2 is a horizontal contraction solenoid valve.

Claims (1)

[Claims] In horizontal control that performs horizontal control by rolling the working device (2) relative to the vehicle body (1), the prohibition time of rolling control output in the opposite direction after the rolling control output in one direction is lengthened according to the vehicle speed. Horizontal control device for tractor work equipment.