JPH0276502A - Stance regulator for ground operating machine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is applied to ground-based work equipment such as a rotary tiller that is attached to the rear of a traveling vehicle such as a tractor (hereinafter simply referred to as a vehicle). (hereinafter simply referred to as work equipment), and in particular, when the engine is started while the position control of the work equipment is under automatic control, unexpected lifting, lowering, and tilting movements are not performed. The present invention relates to a ground work machine attitude control device that performs such control.

(Prior Art) Generally, in a traveling work vehicle in which a work equipment is attached to a vehicle such as a tractor, the work equipment can be raised and lowered between a work position and a non-work position, and is It is connected to the tractor side via a connecting mechanism so that it can be tilted. The starting and stopping of the lifting and tilting operations of the working machine and the control of the starting and stopping positions are often automatically controlled.

In such a mobile work vehicle, if the engine is started at the beginning of work, or if the engine stalls during work,
After that, when the engine is restarted, if the lifting/lowering/tilting control of the work equipment remains in the automatic control state, the automatic control will be activated at the same time as the engine starts, and the work equipment It is possible that the vehicle may start an unexpected downward movement or start tilting from side to side.

To address this problem, Japanese Patent Publication No. 5g-26926 proposes the following device.

In this device, when the engine is started while the lifting control of the work equipment is in the automatic control state, the safety lock circuit is set to operate, and the safety lock circuit is activated by switching the switching mechanism to the neutral state for lifting and lowering. , is configured to be reset.

Therefore, until the switching mechanism is reset and the automatic control state is canceled, the automatic control for raising and lowering the working machine will not be performed.

(Problems to be Solved by the Invention) -j The above-mentioned conventional techniques had the following problems.

When using an automatically controlled interlock mechanism such as the above-mentioned conventional technology, the operation by the operator tends to become complicated. With such a control device, operation becomes even more complex.

Therefore, it is desired that the necessary functions be satisfied while the operation is as labor-saving as possible.

If the vehicle enters a large pothole and the engine stops while the vehicle is tilted, and the degree of inclination of the vehicle and the degree of inclination of the work equipment are significantly different, the engine is restarted and the work equipment is When the horizontal tilting control of the machine is automatically started, the tilt of the work equipment is rapidly corrected according to the degree of the tilt, so the vehicle shakes greatly due to the tilt of the work equipment, and especially when the operator If the left/right tilt control was not predicted, it would feel very strange.

In addition, if the work equipment is located at a high position far from the ground and the engine is restarted at that position and the left/right tilting control is performed, the discrepancy between the degree of inclination of the vehicle and the degree of inclination of the work equipment will be small. However, there is a problem in that the weight balance is shifted due to the rocking of the working machine to eliminate this shift, which increases the sense of discomfort.

An object of the present invention is to solve the above-mentioned problems, and to prevent the deviation between the degree of inclination of the vehicle and the degree of inclination of the work equipment from becoming smaller due to the operator intentionally moving the operation switch or due to fluctuations in the inclination of the vehicle. As far as possible, there is provided a ground-based work machine attitude control device in which an interlock mechanism is activated to prevent the attitude change operation of the work machine from being performed, and in which the interlock mechanism can be released with a simple operation. It is about providing.

(Means and effects for solving the problem) The present invention to solve the above problem and achieve the purpose sets a target value for the left and right tilt of the working machine based on the value detected by the horizontal sensor. a target value setting device for detecting the current horizontal tilting value of the work equipment; a subtractor for subtracting the horizontal tilting target value from the horizontal tilting current value; and a means for detecting the horizontal tilting current value of the work equipment; a sign determining means for determining whether the sign of the immediately preceding deviation is different; and a left-right tilting control inhibiting means that is activated when the engine is stopped and prohibits left-right tilting control of the working machine;
means for detecting the current height of the work equipment, the current height of the work equipment is at a lower position than a predetermined position;
And is the positive or negative number 7 of the two deviations determined by the initial number discrimination means? ], and the work equipment is at a position lower than the current height or a predetermined position, and the horizontal tilt relative to the horizontal tilt 1'' target value calculated by the subtractor. The present invention is characterized in that it is configured to cancel the left/right tilting control inhibiting means and start the left/right tilting control in at least one of the cases where it is determined that the deviation of the current value is smaller than the scheduled value.

In the present invention having the above configuration, the left/right tilting control inhibiting means operates when the engine is stopped.

When the engine is started, the horizontal tilt control inhibiting means is canceled if the horizontal tilt target value and the horizontal tilt current value substantially match, and the work equipment is at a low position below the planned height. , left/right tilt control is possible.

Therefore, if the vehicle tilts significantly due to falling into a pothole and the engine stops, restart the engine and drive the vehicle a little to correct the tilt.
Adjust the left/right tilt target value to match the current value, or operate the knob to set the left/right tilt target value, and then set the left/right tilt 1.
The target value is changed to match the current value and the state is restored to a state where left and right tilting control is possible.

However, even in this case, the prohibition means continues to function so that the left-right tilting control is not restarted unless the work machine is lowered to a certain level near the ground.

(Example) The present invention will be described in detail below with reference to the drawings.

FIG. 7 is a side view of a traveling working vehicle to which the present invention is applied, and FIG. 8 is a perspective view showing the main parts of a working machine and a coupling mechanism section connected to the rear of the traveling working vehicle.

In the figure, a working machine 3 including a tillage rotor is connected to a vehicle 1 via a connecting mechanism 2. As shown in FIG.

The working machine 3 is connected to the vehicle 1 via a three-point lifting link mechanism consisting of an L-tube link 4 and a pair of left and right lower links 5 and 6. Further, a hydraulic cylinder 7 and lift arms 8 and 9 driven by the cylinder tough are installed on the vehicle 1 side.

Lower links 5 and 6 are lift rods 1.0 and 1, respectively.
．． 1 to lift arms 8 and 9. Then, the hydraulic cylinder tuff expands and contracts, and the lift arms 8 and 9 are swung, so that the working machine 3 is raised and lowered.

The vehicle 1 is provided with a horizontal sensor 12 composed of a rotary potentiometer, and the lift rod 11 is equipped with a hydraulic cylinder 13 that extends and contracts the rod, and a linearly operated potentiometer that detects the amount of extension and contraction of the lift rod 11. Then, according to the degree of inclination of the vehicle 1 detected by the horizontal sensor 12, the stroke sensor 14 monitors the amount of expansion and contraction, and then the drive control of the hydraulic cylinder 13 is performed, causing the vehicle 1 to roll. Even in this case, the working machine 3 is maintained horizontally with respect to the ground or at a predetermined angle from the horizontal.

When controlling the attitude of the work equipment 3 to maintain it at a predetermined angle with respect to the horizontal attitude, the detected value of the horizontal sensor 12 is corrected according to a predetermined value set with a setting knob (not shown (7)). A tilting target value is set, and the current tilting stroke value of the working machine is controlled to follow the target value.

The lift arms 8 and 9 are provided with a lift sensor 15 composed of a rotary potentiometer that detects the lift angle thereof, and the lifting and lowering of the work implement 3 can be controlled in accordance with the output of the sensor.

On the other hand, on the work machine 3 side, a pillar 16 whose opening degree θ changes as it traces the ground is provided. The opening degree θ of the pillar 16 is detected via a rod 17A by a pillar sensor (angle sensor) 18A composed of a rotary potentiometer.

According to the output of the pillar sensor 18A, the hydraulic cylinder 7 is driven to maintain the tilling depth at a set value, thereby controlling the tilling depth.

The vehicle 1 is provided with an operator's seat 17, and an operation switch 18 for manually controlling the elevation and descent of the working machine 3 is provided near the seat.

The operation of the working machine 3 depending on the position of the operation switch 18 will be explained with reference to FIG.

The operation switch 18 is operated within the range of the lower position A and the upper position. Operation switch 18 or neutral position N
, the lifting and lowering of work equipment 3 is stopped, and A and B
In the position C and D the working implement 3 is lowered, and in the C and D positions the working implement 3 is raised.

Even if the operating switch 18 is moved to the above position, it returns to the neutral position N when the operator releases his/her hand. However, in the A and D positions, the lifting and lowering of the work implement 3 does not stop even if the switch 18 returns to the N position.

That is, once the operation switch 18 is operated to the A position, the work equipment 3 will not stop until it descends to the lowering limit position, and if it is operated to the D position, the work equipment 3 will not stop until it rises to the upper limit position. Do not stop.

FIG. 1 shows a block diagram of an electrical control system in such a traveling work vehicle.

□Here, we will discuss the configuration for canceling the elevation control inhibiting means that is set when the engine is stopped according to the operating position of the operating switch 18, the operating position of the operating switch 18, and the deviation of the current horizontal tilting stroke value from the horizontal tilting stroke target value. , and a configuration for canceling the left/right tilting control inhibiting means that is set when the engine is stopped when the current height of the work implement with respect to the ascent limit position satisfies a predetermined condition.

In Figure 1, the current value of the left and right tilting stroke (hereinafter referred to as
The current stroke value) is calculated by the current value calculator 19 based on the detection result of the stroke sensor 14, and the target value setter 20 is set to the target value of the left and right tilt stroke of the left and right tilt control based on the detection result of the horizontal sensor 12. A value (hereinafter referred to as a stroke target value) is set.

The stroke target value is set, for example, as follows from the detected value of the horizontal sensor 12.

When the vehicle 1 is tilted at an angle α from the vertical, the work implement 3 connected to the vehicle 1 is also tilted by the angle α following the vehicle 1. In this case, in order to tilt the work implement 3 left and right and hold it in a horizontal position, the work implement 3 may be tilted by an angle α in a direction opposite to the direction in which the vehicle 1 is tilted.

Since the horizontal sensor 12 is mounted on the vehicle 1, the tilt angle of the vehicle 1 itself can be detected by the horizontal sensor 12. Therefore, the stroke target value when tilting the working machine 3 left and right and holding it in a horizontal posture is set to a value with the sign of the detected value of the horizontal sensor 12 reversed.

The left-right tilting control is not limited to the horizontal attitude control described in [2], but also includes control to hold the working machine 3 in an attitude at an arbitrary angle β from the horizontal. In this case, the angle β may be set using a setting knob, and the value obtained by adding the angle β to the value α detected by the horizontal sensor 12 may be set as the stroke target value.

Note that the detection value of the stroke sensor 14, which is made up of a linear action type potentiometer, detects the amount of left and right inclination based on the setting knob made up of a rotary type potentiometer, and the amount of swing of a pendulum, which is linked to the rotary type potentiometer. The value converted by the current value calculator 19 is treated as the current stroke value so that it can be directly compared with the stroke target value set based on the detected value of the horizontal sensor 12 configured as described above.

The subtracter 21 subtracts the stroke target value from the current stroke value, and the result is stored in the A storage section 22. When the latest subtraction result is input to the A storage section 22, the old storage contents are transferred to the B storage section 23. and,
A determining means 24 determines whether the values in the A storage section 22 and the B storage section 23 have positive or negative signs.

The A storage section 22 and the B storage section 23 can be configured with shift registers, for example, but the subtraction results are stored in the A storage section 2.
2 and B storage section 23 alternately.

” The upper limit value of the working machine 3 is set in the second upper limit value setter 41. The height determination unit 42 determines the relative position of the current height value (current lift value) of the work equipment 3 to the height position that is closer to the lowering side by a predetermined value (initial setting value = ROM value) from the upper limit value. It is determined.

The tilt protection dead zone comparing means 40 compares the subtraction result of the subtracter 21 with the tilt protection dead zone (ROM value).

Turning on/off the left tilt valve 25 and the right tilt valve 26
A left-right tilting control drive section 2 for controlling the left-right tilting of the working machine 3 by expanding and contracting the hydraulic cylinder 13 through the off-operation.
7 is ink-locked by the left/right tilting control inhibiting means 28.

The interlock between the left and right tilting control inhibiting means 28 is performed by the height determining section 42 and the tilting protection dead zone comparing means 4.
0 and is canceled according to the determination result of the sign determining means 24. Furthermore, the ink lock of the left/right tilting control inhibiting means 28 is also released by operating the position of the operation switch 18, as will be described later.

” The hydraulic cylinder 7 is expanded and contracted by the on/off operation of the lifting valve 29 and the lowering valve 30, and the working machine 3
An elevation control drive unit 31 for controlling the height position of the vehicle is interlocked by an elevation control inhibiting means 32.

The interlock by the elevation control inhibiting means 32 is released by moving the operation switch 18 to the neutral position N.

Note that in the first limit comparison means 36, the current stroke value is compared with the stroke upper limit value of the hydraulic cylinder 13 set in the second stroke limit setter 33, while in the lower limit comparison means 37, the current stroke value and the stroke lower limit value set in the stroke lower limit setter 34 are compared.

If the comparison result of the comparison means 36 and 37 shows that the current stroke value exceeds the upper limit stroke value, the gate 38 is opened and the current stroke value is replaced with the upper limit stroke value; If the current stroke value is below the upper stroke limit, gate 38 is opened and the current stroke value is replaced by the lower stroke limit.

In summary, in this embodiment, when the work equipment 3 is located at a lower position than the planned height, and the deviation of the current stroke value from the stroke target value is smaller than the slope protection dead zone, and The interlock of the left-right tilt control drive unit 27 is released in either case when the sign of the deviation detected twice is reversed.

Further, the ink lock is released regardless of the above conditions when the operation switch 18 is moved from the neutral position N to another position.

The ink lock of the elevation control drive section 31 is operated by the operation switch 1.
8 is moved to the neutral position N, it is released.

As described above, in the present invention, when the ink lock is activated and the engine is started, unexpected left/right tilt control,
Or the lift control will never start.

Said left tilt valve 25. Right tilt valve 26°-1-
Valve hull 29. The lowering valve 30 is turned on every preset period for an on-time calculated using a calculation table described later, and the hydraulic cylinder 7.13 is expanded or contracted according to the on-time.

FIG. 5 shows a time chart of the on-time. The valves 25, 26, 29, 30 are as shown in the same figure.
Intermittent operation is performed by repeatedly turning on and off.

Therefore, the larger the ratio of on-time ON in each period f, the closer to continuous operation, so the hydraulic cylinder 7.13
As the average driving speed of the hydraulic cylinder 7 becomes faster and the ratio of ON time becomes smaller, the intermittent operation becomes more noticeable, and the hydraulic cylinder 7
．． 13, the average driving speed becomes slower.

FIG. 4 shows a diagram of the relationship between the on-time and the deviation. In the figure, the horizontal axis represents the stroke's second limit value, or the stroke value.
The deviation of the current loaf value from the loaf lower limit value, and the vertical axis is the on time.

The relationship between on-time and deviation can be defined as curve S1 or S2. When the deviation becomes greater than the dead zone P, the valves 25.degree. 2B and 29.30 are turned on for an on-time period that corresponds to the curve S1 or S2 corresponding to the deviation.

In the relationship of curve S1, the on-time increases until the deviation reaches M, and in the range where the deviation is less than or equal to M, the valve is intermittently turned on according to the on-time, and when the deviation is less than or equal to M, the lift valve is not turned on. Continuous.

In the relationship of curve S2, two stages of on-time can be set depending on the magnitude of the deviation.

It is arbitrary to select either the curve S1 or the curve S2.

The table shown in FIG. 4 is prepared for lifting and lowering. You can also use the same timetable for both.

Since the on-time of the valve is determined according to the on-time calculated based on the table shown in FIG. When the speed is fast and the deviation of the current stroke value from the stroke target value is reduced, the driving speed becomes slow. As a result, it is possible to reduce the impact and overrun that occur when the hydraulic cylinder stops driving after the working machine 3 is raised and lowered and tilted left and right.

Next, the control flow of this embodiment will be explained in detail with reference to the flowcharts of FIGS. 2 and 3.

In the figure, the initial flag indicates the lifting valve 29 that drives the hydraulic cylinder 7 for lifting and lowering the working machine 3.
This is a flag for determining whether to calculate the on time of the descending valve 30 or to set "0" to the on time without calculating the on time.

In addition, the horizontal prohibition flag can be set by calculating the ON time of the left tilting valve 25 and the right tilting valve 26 that drive the hydraulic cylinder 13 for horizontally tilting the work equipment 3, or by calculating the ON time without calculating the ON time. This flag is used to determine whether to set "0" to "0".

First, AT is executed according to the states of the two flags.
The T control process will be explained.

In FIG. 3, in step 5201, the initial flag is determined, and if the flag state is "0",
Proceeding to step 5202, the lift-on time per period f is calculated. If the state of the flag is I+1#, the process advances to step 5203, where "0" is set as the elevating/lowering on time per period f.

In step 5204, the horizontal prohibition flag is determined, and if the state of the flag is "0", the process proceeds to step 5205, where the left and right ON times per cycle f are calculated. If the state of the flag is "1", the process advances to step 5206, where "0" is set as the left and right on time per period f.

The hydraulic cylinders 7 and 13 are expanded and contracted in accordance with the on-time of the valves calculated in the above step, and the lifting/lowering or left/right tilting control of the working machine 3 is performed.

Next, a flow of initial protection for controlling the states of the initial flag and horizontal inhibition flag in the above-mentioned ATT control process will be described.

In FIG. 2, in step S1 it is determined whether the engine is in a stopped state. If the engine is stopped, the determination in step S1 is affirmative, and the process proceeds to step S2, where an initial flag and a horizontal prohibition flag are set.

When the initial flag and horizontal prohibition flag are set,
In the ATT control process of step S20, the step 5
The determination results of 201 and 204 are both "1", and in step 8203.206, "-H valve 29
．． On-time of descending valve 30 and left tilting valve 25. The on-time of the right tilting valve 260 is set to "0", and the work implement 3 is not moved up and down and left and right tilted.

In other words, when the engine is stopped, neither lifting control nor left/right tilting control of the working machine 3 is performed.

When the engine is started, the determination in step S1 is negative, and the process proceeds to step S3, where the state of the initial flag is determined.

Since the initial flag remains set when the engine is stopped, a determination of 1'' is made, and in step S4, it is determined whether the operating switch 18 is in the neutral position N (see FIG. 6).

First, a case where the operation switch 18 is moved to the neutral position N will be described.

If the operation switch 18 is in the neutral position N, the initial flag is cleared in step S5, and the process proceeds to step S8.

In step S8, a horizontal prohibition flag is determined. Since the horizontal prohibition 11 flag remains set, the process advances to step S9.

In step S9, it is determined whether the current lift value is located above or below with respect to a position that is below the rise limit value by the initial setting value.

If the current lift value is above the above-mentioned position, the judgment in step S9 is affirmative, and the process proceeds to step S20.
TT control processing is performed.

Since the initial flag is cleared in step S5, step 520 in the ATT control process
The determination result of 1 becomes "0", and the lift-on time calculation is performed in step 5202.

The on-time calculation is performed based on the calculation table shown in FIG. 4 above.

Once the initial flag is cleared, it will not be set unless the engine is stopped, so the calculation of the lift-on time is repeated. In other words, the state in which the vehicle can be raised and lowered continues.

Thereafter, when the operation switch 18 is moved to a position other than the neutral position N, the on/off operations of the ascending valve 29 and descending valve 30 are performed according to the position of the switch 18 and the result of the above-mentioned elevation ON time calculation. The working machine 3 is raised and lowered.

At the time of determination in step S9, if the current lift value is located further below the initial set value from the lift limit value, the process moves to step SIO.

In step SIO, it is determined whether the current stroke value exceeds the stroke upper limit value STMAX. If the current stroke value exceeds the stroke upper limit value STMAX, the current stroke value is replaced with the stroke limit value STMAX in step S11, and the process proceeds to step S14.

If the current stroke value does not exceed the stroke upper limit value STMAX, the judgment in step SIO is negative;
Next, in step S12, it is determined whether the current stroke value is less than the stroke lower limit value STMIN.

If the current stroke value is less than the lower stroke limit STMIN, the current stroke value is replaced with the lower stroke limit STMIN in step 813, and the process advances to step S14.

Only within the range of stroke upper limit value and stroke lower limit value.
If the control device is configured so that the stroke target value cannot be set, and the work equipment 3 overruns and exceeds the stroke upper limit value and the stroke lower limit value and is located outside the slope protection dead zone, It may or may not be possible to substantially match the stroke target value and the current stroke value.

Therefore, in such a case, by replacing the stroke limit value or stroke lower limit value with the stroke current value as described above, the problem that the stroke target value cannot approximately match the stroke current value can be eliminated. are doing.

If the current stroke value is within the range between the stroke upper limit value and the stroke lower limit value, step S11
Then, step S13 is skipped and the process proceeds to step S14.

In step S14, the stroke target value is subtracted from the current stroke value and stored in the A storage section 22. In step S15, the absolute value of the value stored in the A storage section 22 is compared with a slope protection dead zone set in advance as ROM data.

If the value in the A storage section 22 is within the range of the tilt protection dead zone, the determination in step S15 becomes affirmative, and the horizontal prohibition flag is cleared (step 519).

As a result, in the ATT control process (step 520), the on time of the left/right tilting valve is calculated (step 5205), and the left/right tilting control is started.

On the other hand, if the value in the A storage unit 22 is outside the slope protection dead zone, the determination in step S15 is negative, and the process proceeds to step 816, where it is determined whether or not this step S16 is being executed for the first time. .

If this is the first processing, and the horizontal prohibition flag is not cleared, the ATT processing (step 520) is performed.
The left and right ON time is 0'', and left and right tilting control is not performed.

In the second and subsequent executions of the program, the determination at step S16 becomes negative, and the value previously stored in the A storage section 22 is transferred to the B storage section 23 (step 517), and the value stored in the latest A storage section 22 is transferred to the B storage section 23 (step 517). It is determined whether the positive or negative sign of the value and the value of the B storage unit 23 are the same (step 518).

When the value in the A storage section 22 and the value in the B storage section 23 have the same sign, that is, the latest data stored in the A storage section 22 and the data stored in the B storage section 23 one cycle before. If the sign relationship between the current stroke value and the target stroke value has not changed based on , that is, if the inclination direction is the same, the horizontal prohibition flag is not cleared and the ATT control process (step 520) is performed. .

At this time, the horizontal prohibition flag is not cleared, so
In step 5206, “0” is set as the left and right on time.
, and no left/right tilt control is performed.

In the latest data stored in the A storage section 22 and the data stored in the B storage section 23 one cycle ago,
If the magnitude relationship between the current stroke value and the target stroke value is reversed and the data in the A storage section 22 and the data in the B storage section 23 have different signs, that is, after reading the data one cycle ago, the latest If it is determined that there was a moment when the stroke target value and the current stroke value matched while the data was being read, the horizontal prohibition flag is cleared in step S19.

As a result, the ATT control process (Su-27= At chip 520), left-right tilt control is started.

If the operation switch 18 is in a position other than the neutral position N when the engine is started, the determination in step s4 is negative and step S5 is skipped. The state remains unchanged. Therefore, the working machine 3 is not raised or lowered.

Furthermore, the left-right tilt control is also started by moving the position of the operation switch 18. That is, if the determination result in step S4 is affirmative and the initial flag is cleared in step S5, the determination in step S3 becomes "0", and therefore, in step S6, the operation switch 18 is moved to the neutral position N again. It is determined whether the

If the operation switch 18 is moved from the N position,
The horizontal inhibition flag is cleared in step S7, the state of the horizontal inhibition flag is determined to be "0" in step 5204 of the ATT control process, and the left/right tilt on time is calculated in step 5205.

The valve is operated on and off based on the horizontal tilt ON time, and the work equipment 3 causes the current value detected by the stroke sensor to approach the target value set based on the detection result of the horizontal sensor 12. Left and right tilting is controlled.

The left/right tilting speed is controlled to be fast when the deviation from the target value is large, and slow when the deviation is small, according to the calculation result of the left/right tilt ON time in step 5205.

According to the present embodiment, as is clear from the above description, the elevation control of the working machine 3 is performed after the engine is started by operating the operating switch 1.
8 is started only after it has been moved to the neutral position N. Further, the left/right tilting control of the working machine is not started until after the operation switch 18 is moved from the neutral position N to the raising/lowering operation position.

However, if the work equipment 3 is located further below the planned position, which is set to the initial setting value below the ascent limit value, the deviation of the current stroke value from the stroke target value or the slope If the vehicle is within the protective dead zone, the left/right tilt control is automatically started when the engine is started.

On the other hand, if the deviation of the current stroke value from the stroke target value is larger than the tilt protection dead zone, the engine will not be started and the horizontal tilting value of the work equipment 3 will not suddenly start, and the current stroke value will be After the stroke target value is changed to fall within the range of the tilt protection dead zone, the left/right tilt control is started.

To change the stroke target value so that the current stroke value falls within the range of the tilt protection dead zone, drive the vehicle 1, correct the tilt of the vehicle 1, and adjust the force of the horizontal sensor 12. Either the stroke target value is changed based on the signal, or the stroke target value is changed by operating the stroke target value setting knob.

That is, in this embodiment, the ink lock for starting the lift control is released by switching the operating switch 18 to the neutral position, and the ink lock for starting the left/right tilting control is released by switching the operating switch 18 to a position other than neutral. It is designed to be canceled by switching or changing the stroke target value.

Furthermore, when releasing the ink lock for left/right tilt control by changing the stroke target value, it is divided into cases where it is performed automatically and cases where it is performed manually depending on the degree of inclination of the work equipment, and where possible unnecessary manual operations are avoided. This makes it possible to eliminate

Further, if the working machine 3 is raised above the planned height, the interlock of the left and right tilting control will not be released.

(Effects of the Invention) As is clear from the following explanation, according to the present invention,
The following effects can be achieved:

(1) When starting the engine, the work equipment will not start unexpectedly tilting to the left or right unless the operator consciously moves the operation switch.

(2) If the degree of inclination of the work equipment is small before starting the engine, the ink lock for left/right tilt control can be automatically released, eliminating unnecessary manual operations and improving operability.

(3) Even if the degree of inclination of the work equipment before starting the engine is small, if the work equipment is above the expected height, the lateral tilt control interlock will not be automatically released, and the work equipment or the lateral tilt control will not be automatically released. It is released only when the required height is reached.

(4) If the degree of inclination of the work equipment is large before starting the engine, it is possible to run the vehicle to correct the posture of the vehicle and automatically release the left/right tilt control interlock. It is also possible to manually release the switch by operating the button, so the operator can select an easier method to carry out the work depending on the situation during the work.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a control device showing an embodiment of the present invention, Fig. 2 is an operation flowchart of the control device shown in Fig. 1, and Fig. 3 is a flowchart of on-time calculation. Relationship diagram of time calculation, Figure 5 is an on-time time chart, Figure 6 is a schematic diagram of the operation switch of the work equipment, Figure 7 is a side view of the traveling work vehicle, and Figure 8 is the connection to the rear of the traveling work vehicle. FIG. 3 is a perspective view of a working machine and a connecting portion. DESCRIPTION OF SYMBOLS 1... Traveling vehicle, 2... Connection mechanism part, 3... Ground work machine, 7, 13... Hydraulic cylinder, 12... Horizontal sensor, 14... Stroke sensor, 15... Lift sensor, 18... Operation switch, 19... Current value calculator, 20... Target value setter, 21... Subtractor,
22...A storage section, 23...B storage section, 24...
Sign discrimination means, 28... Lateral tilting control prohibition means, 41.
・・Rise limit value setting device, 42 ・・Height judgment department agent
Patent attorney Michito Hiraki and 1 other person in attendance ←

Claims (2)

[Claims] (1) A target value setting device that sets a horizontal tilt target value for controlling the ground-based work equipment to a set ground attitude based on the detected value of a horizontal sensor installed on a traveling vehicle that tows the ground-based work equipment; means for detecting the current horizontal tilting value of the ground work equipment with respect to the vehicle; a subtractor that calculates a deviation of the current horizontal tilting value from the horizontal tilting target value; the latest deviation obtained by the subtractor, and the latest deviation obtained by the subtractor, and the latest deviation obtained by the subtractor, and the latest deviation obtained by the subtractor and a left/right tilting control inhibiting means that is set when the engine is stopped and prohibits left/right tilting of the working machine, and the code determining means makes a determination when the engine is started. In at least one of the following cases: when the results are determined to be of different signs, and when the deviation is a small value less than the expected value, the horizontal tilting inhibiting operation by the horizontal tilting control inhibiting means is canceled and set. The system is configured to start left and right tilting control with respect to the ground attitude, and a means for detecting the current height of the work equipment, and a comparison between the current height detected by the detection means and a preset height, and a height determination unit that determines the relative height of the work equipment, and when the determination unit determines that the height of the work equipment is higher than the set height, the height determination unit determines the relative height of the work equipment. A ground work machine attitude control device characterized in that a prohibited operation by a left/right tilting control prohibition means is maintained. (2) When the current horizontal tilt value exceeds a preset upper limit value, the upper limit value is replaced with the current horizontal tilt value, and when the current horizontal tilt value falls below the preset lower limit value. 2. The ground work machine attitude control system according to claim 1, wherein: replaces the lower limit value with the current horizontal tilting value.