JPH0534456B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for a boom-type working machine.

(Prior art) A front loader, which is attached to a tractor body and performs work, has a boom pivotably supported on the tractor body so that it can be raised and lowered, and a bucket rotatably attached to the tip of the boom. A solenoid valve corresponding to each cylinder is installed in the hydraulic circuit of the boom cylinder and bucket cylinder that operate the boom cylinder, and this solenoid valve controls the raising and lowering of the boom and the rotation of the bucket in the scooping and dumping directions. ing.

Conventionally, a control device for this type of work machine is generally configured to operate a switch by operating a control lever back and forth or left and right, and this switch turns on and off a solenoid valve.

(Problem to be solved by the invention) However, in the conventional on-off drive type control device, the solenoid valve simply opens and closes, so it is not possible to control the flow rate, and the operating speed of the cylinder is always constant. Ta. Therefore, since it is not possible to obtain very slow speeds, there is a drawback in that a very high degree of skill is required to operate the machine when performing work that requires fine movements.

(Means for Solving the Problems) In view of these conventional problems, the present invention uses a proportional solenoid valve with a simple structure to perform proportional control according to the amount of operation of the operation section. The purpose of this system is to use the motion to drive a solenoid valve to arbitrarily adjust the lifting and lowering speed of the boom and the rotating speed of the work implement.

As a means for achieving such an object, the present invention provides a boom elevating solenoid valve 39 that controls the boom 10 that is pivotably supported on the vehicle body 1 so as to be able to rise and fall freely, and a boom 10
In a control device for a boom-type working machine, which is equipped with a solenoid valve 42 for rotating a work tool that controls a work tool 13 that is rotatably provided in A boom raising/lowering command means 27 that generates a command signal, a working implement rotation command means 28 that generates a working implement rotation command signal that continuously changes depending on the amount of operation of the operating section, and the boom raising/lowering command means. 2
a boom raising/lowering determining means 45 for determining whether to raise or lower from the boom raising/lowering command signal 7; and a working implement rotating determining means 45 for determining dumping or scooping from the working implement rotating command signal from the working implement rotating command means 28. 49, a triangular wave oscillating means 53 that oscillates a triangular wave signal, and a boom elevating command signal of the boom elevating and lowering command means 27 and a triangular wave signal of the triangular wave oscillating means 53 are compared, and a pulse is generated according to a change in the boom rotation command signal. The boom elevating/lowering comparison means 54 generates a pulse signal of the same width, and the working implement rotation command signal of the working implement rotation command means 28 is compared with the triangular wave signal of the triangular wave oscillation means 53 to determine the working implement rotation command signal. The boom is moved in the operating direction determined by the boom rotation determination means 45 in synchronization with the pulse signals of the work tool rotation comparison means 57 that generates a pulse signal with a pulse width corresponding to the change in pulse width, and the boom elevation comparison means 54. In synchronization with the pulse signals of the boom rotation drive means 60 that drives the lifting electromagnetic valve 39 and the work implement rotation comparison means 57, the work implement rotation drive means 60 drives the work implement rotation in the operating direction determined by the work implement rotation determination means 49. It is equipped with a working tool rotation driving means 65 that drives the electromagnetic valve 42.

(Function) [1] Manual control For manual control, use the manual/automatic changeover switch 7.
7 to the manual side, operate the control lever 26. By operating the control lever 26 in the direction of the arrow shown in FIG. 7, you can raise and lower the boom 10 and dump the bucket 13. , scooping, and a combination of these operations (see Figure 10). Note that when the operating lever 26 is released, it automatically returns to the central stop position.

Now, when the operating lever 26 is rotated toward the rear rising side, the first potentiometer 27 is actuated via the horizontal shaft 30, and the resistance value changes according to the amount of operation, and the voltage of the command signal is becomes large. Here, it is assumed that the resistance value of the first potentiometer 27 becomes 1/2 at the stop point where the operating lever 26 is at the neutral stop position, and the voltage at that time becomes 1/2 of the supply voltage V. This is called the neutral point. When the command signal from the first potentiometer 27 is sent to the comparison sections 46 and 47 of the first discrimination means 45, since it is larger than the neutral point, the comparison section 46 discriminates it as a rising command and outputs a rising signal. The analog switch 63 of the first driving means 60 is turned on. On the other hand, the command signal from the first potentiometer 27 is transmitted to the first comparing means 54.
The signal is inputted to each comparing section 55, 56, and compared with the triangular wave signal of the triangular wave oscillation means 53. In this case, since the command signal is larger than the neutral point, the comparison section 55 of the first comparison means 54 compares the two, and turns on when the command signal is larger than the triangular wave signal as shown in FIG. A pulse signal is generated by the comparator 55. The larger the deviation between the two, the wider the pulse width of the pulse signal becomes.
The switching element 61 repeats on/off operation in response to a pulse signal via the analog switch 63 of 0, and the excitation current flows to the ascending solenoid 40 of the first solenoid valve 39, so that the first solenoid valve opens at an opening proportional to this. 39 is switched to the rising side, the boom cylinder 11 moves in the extension direction at a predetermined speed, and the boom 10 is raised around the pivot shaft 9. Therefore, by changing the amount of operation of the operating lever 26, the first
The opening degree of the solenoid valve 39 changes, and the boom cylinder 1
Since the flow rate to 1 changes, the boom 10 rises at a speed proportional to the amount of operation of the control lever 26, and can be controlled at any speed from high speed to slow speed. Then, when the operating lever 26 is returned to the neutral stop position, the first solenoid valve 39 returns to the neutral position, and the boom 10 stops at the raised position. At this time as well, if the operating lever 26 is gradually returned, the boom 10 will come to a slow and smooth stop.

This is the same when operating the operating lever 26 forward to lower the boom 10, and when operating the operating lever 26 left and right to cause the bucket 13 to perform a dumping or scooping operation.

When the operating lever 26 is operated to the maximum in the front-back direction,
The switches 34 to 37 are operated by the operating section 33, and the corresponding solenoids 40, 41, 4
Since current flows through solenoid valves 39 and 42,
works. This allows the solenoid valves 39, 42 to be operated without going through the control system. However, in this case, proportional control is not possible, and therefore, it is only necessary to use it in the event of a failure.

[] Automatic control For automatic control, use the manual/automatic changeover switch 7.
Set 7 to automatic. However, this is Bucket 13
Only the attitude control of the boom 10 is automatic.
The elevation control is performed by operating the operating lever 26 back and forth in the same manner as described above.

In this case, the attitude sensor 16 that detects the attitude of the bucket 13 is used, but the relationship between the attitude sensor 16 and the attitude of the bucket during scooping, horizontal elevation of the opening surface, horizontal elevation of the bottom surface, and dumping is as shown in FIG.
~It will look like D. In addition, the relationship between the posture sensor 16 and the voltage when the bottom surface is horizontally raised and lowered and the opening surface is horizontally raised and lowered is as follows.
As shown in FIG.

Each operation will be explained below in the order of horizontal bottom surface, horizontal horizontal opening surface, posture maintenance, and bottom surface grounding.

(i) Bottom horizontal control First, turn the changeover switch 73 to the setting means 71 side, and select the bottom horizontal voltage Vr ₁ with the selection switch 72. Here, when the bottom surface of the bucket 13 is parallel to the horizontal line, the voltage (resistance) of the attitude sensor 16 is always constant and is independent of the attitude of the boom 10 and the attitude of the tractor body 1. Therefore, the setting means 7 is set so that the voltage at this time becomes the bottom horizontal voltage Vr ₁ .
Set the potentiometer 1 as shown in Figure 12.

When the selection switch 72 is turned to the horizontal side of the bottom surface, the voltage Vr ₁ is inverted by the inverting section 74 around the 1/2V voltage at the N terminal to become the voltage Vr ₁ '. Then, the deviation detecting means 75 adds this voltage Vr ₁ ' and the detected voltage from the attitude sensor 16, that is, the voltage indicating the current attitude of the bucket bag 13, and after determining the deviation between the two voltages, the inverting unit 76 Invert and amplify. These characteristics are shown in FIGS. 13A to 13C.

Therefore, if the voltage of the attitude sensor 16 indicates the voltage Vr ₁ , the deviation becomes 0, and there is no need to correct the attitude of the bucket 13, so the subsequent stage side does not operate.
Further, if the attitude sensor 16 is rotated toward the dumper side than the horizontal level of the water surface, the voltage of the attitude sensor 16 is large, so the deviation voltage of the deviation detection means 75 becomes the state shown in FIG. 13C, and the neutral point The voltage will be below. Then, based on this deviation voltage, the second determining means 49 judges that the rake direction needs to be corrected, and the second comparing means 57 compares the deviation voltage with the triangular wave signal, A pulse signal with a pulse width is generated, and the scoop solenoid 44 of the second electromagnetic valve 42 is energized via the analog switch 69 and switching element 67 of the second driving means 65, and the bucket cylinder 14 is contracted. Correct it in the scooping direction. Bucket 1
3 approaches the bottom horizontally, the attitude sensor 16
As the voltage becomes smaller, the deviation voltage gradually becomes smaller and the pulse width of the pulse signal becomes smaller, so the operating speed of the bucket cylinder 14 becomes slower and the correction operation stops when the deviation becomes zero. That is, the closer the bottom surface is to the horizontal, the slower the operating speed of the bucket 13 becomes, and the operation speeds up and stops smoothly.

Conversely, if the bucket 13 is on the rake side, the deviation voltage will be in the state shown in FIG. 13C, so the bucket 13 will move in the dumping direction to correct the bottom surface horizontally.

(ii) Aperture horizontal control At this time, the selection switch 72 selects the aperture horizontal. In this case, the opening surface horizontal voltage Vr ₂ is set on the potentiometer of the setting means 71 so that it is the same as the voltage of the attitude sensor 16 when the opening surface of the bucket 13 is horizontal as shown in FIG. put.

The operation is similar to the bottom horizontal control, and its operating characteristics are shown in FIGS. 14A to 14C.

(iii) Attitude maintenance control: scoop compost etc. into the bucket 13 and move the boom 1
0, if the bucket 13 is not held in the state it was in when scooping, there is a risk that the compost in the bucket 13 will spill out or fall onto the operator side due to the force of the lift. Therefore, in such a case, it is necessary to raise and lower the bucket 13 while holding it in the scooping position.

Therefore, at this time, the changeover switch 73 is set to the posture holding side, and the holding switch 32 is turned on. Then, a voltage indicating the current attitude of the bucket 13 is input to the sample/hold circuit 70 and is held for a certain period of time (several seconds), so this held voltage is inverted by the inverting section 74 and the deviation detecting means 7
5, the deviation from the voltage from the attitude sensor 16 is determined and inverted. Then, the attitude of the bucket bag 13 is controlled by the deviation voltage in the same manner as the bottom horizontal control and opening surface horizontal control described above. Therefore, even if the boom 10 moves up and down, the bucket 13 will maintain its initial position.

(iv) Bottom surface grounding control Bottom surface grounding means that the bottom surface of the bucket 13 is grounded or parallel to the plane that is the same as or parallel to the plane on which the front and rear wheels 2 and 3 of the tractor body 1 touch the ground, as shown in FIG. 14A. Refers to the condition. This is used when lowering the bucket 13 onto the ground or scooping it along the ground surface. In particular, when the bucket truck 13 is grounded, it is difficult for the operator in the driver's seat 5 to see the attitude of the bucket truck 13 because it is obstructed by the bonnet, so this is very convenient in such a case.

The major difference between bottom ground control and other controls such as bottom horizontal control is that in other controls, control is based on the deviation of the rotation angle of bucket 13 with respect to the direction of the center of gravity; This is because a new factor, the inclination of the tractor body 1, is added to the posture.

Therefore, the tilt sensor 15 is used for control. In this case, as shown in FIG. 15B, the bucket 13
The signal voltage (resistance) of the tilt sensor 15 and the attitude sensor 16 are set to be the same when the bottom surface of the sensor is grounded.

For control, the selection switch 72 and changeover switch 73 are placed on the side of the inclination sensor 15 on the bottom surface. Then, if the tractor body 1 has an inclination, the inclination sensor 15 detects the inclination and its voltage changes. At this time, if the bucket 13 is on the same ground surface, the attitude sensor 16 also has the same signal voltage as the tilt sensor 15. However, if the voltages of the attitude sensor 16 are different, the bucket cylinder 14 operates to correct the attitude of the bucket 13 so that it is on the bottom surface, by the same operation as the bottom horizontal control described above.

(Example) Hereinafter, the present invention will be described in detail with reference to the illustrated embodiment. In FIG. 2, 1 is a tractor body, 2 is a front wheel, 3 is a rear wheel, 4 is a rear wheel fender, and 5 is a driver's seat. Reference numeral 6 designates a front loader, which includes a mast 8 that is detachably installed on both sides of the tractor body 1 via a mounting base 7, and a boom 10 that is pivoted to the upper end of the mast 8 via a pivot shaft 9 so as to be movable up and down. This boom 10
It consists of a boom cylinder 11 for raising and lowering, a bucket (working tool) 13 rotatably supported at the tip of the boom 11 by a pivot 12, and a bucket cylinder 14 for rotating the bucket.

Reference numeral 15 denotes an inclination sensor for detecting the inclination of the tractor body 1, which is attached to the front loader 6 side, for example, the mast 8. Reference numeral 16 denotes an attitude sensor for detecting the rotating attitude of the bucket cart 13, which is attached to a bracket 17 on the back side of the bucket cart 13. These sensors 15 and 16 are constructed by incorporating a weight plate 21 and a potentiometer 22 into two divided chambers 19 and 20 within a box-shaped case 18, as shown in FIG. The weight plate 21 is attached to a rotating shaft 23 supported by the case 18, and the potentiometer 22 is configured to be interlocked with the weight plate 21 via the rotating shaft 23. The weight plate 21 responds to changes in the attitude of the bucket 13, and a voltage signal corresponding to the attitude is output from the potentiometer 22. In addition, room 19
Damper oil 23a is placed inside.

Reference numeral 24 denotes an operating device, and as shown in FIGS. 4 to 7, there is an operating lever on a case 25 mounted on the rear wheel fender 4 on one side of the driver's seat 5, which can be operated longitudinally, horizontally, and diagonally. (Operation unit) 26, first and second potentiometers 27, 28, etc. that are interlocked with this operation lever 26 are incorporated. That is, the operating lever 26 is pivotally supported on a movable frame 29 via a horizontal shaft 30, and the movable frame 29 is supported on the case 25 side via a longitudinal shaft 31. With two axes, a shaft 30 and a front-rear shaft 31, as fulcrums, it can be operated in any direction as shown in FIG. Note that the operating lever 26 is elastically held at a neutral position by a spring (not shown). The first potentiometer 27 is the boom 10
It constitutes an elevation command means for instructing the elevation of the operating lever 26, and outputs a voltage command signal corresponding to the amount of operation of the operating lever 26, which is linked to the back and forth movement of the operating lever 26 via the horizontal shaft 30. The second potentiometer 28 constitutes a rotation command means for commanding the rotation of the bucket belt 13, and includes the front and rear shafts 31,
A voltage command signal is outputted via the movable frame 29 in conjunction with the left and right movement of the operating lever 26 and corresponding to the amount of operation of the operating lever 26 .

A push-button posture holding switch 32 is attached to the upper end of the operating lever 26. A hemispherical operating portion 33 is provided at the lower end of the operating lever 26,
Further, on the bottom side of the case 25, a rise switch 34, a fall switch 35, a dump switch 36, and a scoop switch 37 are provided front and back, left and right around the operating part 33. Each of these switches 34~
37 is adapted to be actuated by the actuating portion 33 when the operating lever 26 is operated by the maximum amount. Note that 38 is a flexible cover.

FIG. 8 shows a hydraulic circuit for the lift cylinder 11 and the bucket cylinder 14. Reference numeral 39 is a first electromagnetic valve for controlling the lift cylinder 11, which has an ascending solenoid 40 and a descending solenoid 41. A second electromagnetic valve 42 controls the bucket cylinder 14, and has a dump solenoid 43 and a scoop solenoid 44. Both of these solenoid valves 39 and 42 are proportional type.

FIG. 1 shows an electric circuit for driving and controlling the solenoid valves 39, 42. In FIG. 1, reference numeral 45 denotes a first discrimination means for discriminating the direction of movement during lifting and lowering, and includes two comparison sections 46 and 47, and a dead zone between the comparison sections 46 and 47.
The command signal from the first potentiometer 27 is the upper reference value (1/
2V+α), the comparison unit 46 outputs a rising signal, and when the voltage is smaller than the lower reference value (1/2V−α), the comparison unit 47 outputs a fall signal. 49 is a second discrimination means for discriminating the direction of movement during dumping/scooping, and the first discrimination means 4
5, two comparing parts 50 and 51, variable resistor 5
The comparator 50 outputs a dump signal and the comparator 51 outputs a scoop signal in response to a command signal from the second potentiometer 28.

Reference numeral 53 denotes triangular wave oscillation means, which oscillates a triangular wave signal a of a constant frequency as shown in FIG. 54 is a first comparison means, which includes two comparison units 55,
56, as shown in FIG. 9, the command signal b from the first potentiometer 27 and the triangular wave signal a from the triangular wave oscillation means 53 are compared, and the pulse width is determined according to the change in the command signal a. It is designed to generate a pulse signal c of . That is, comparison sections 55, 56
The inputs of the command signal b and the triangular wave signal a are reversed, and the comparator 55 turns on when the command signal b is larger than the triangular wave signal a, and turns off when it is smaller.
Although the pulse signal c is generated according to the relationship shown in FIG. 9, the comparator 56 turns on when the command signal b is smaller than the triangular wave signal a, and turns off when the command signal b is larger than the triangular wave signal a, which is the opposite of that shown in FIG. 57 is a second comparison means, which has two comparison parts 58 and 59, and which is connected to the second potentiometer 2.
Based on the command signal from 8 and the triangular wave signal from the triangular wave oscillator 53, it generates a pulse signal similarly to the first comparing means 54.

Reference numeral 60 denotes a first driving means for driving the first solenoid valve 39, which includes switching elements 61, 62 connected to the respective solenoids 40, 41, and comparison parts 55, 5.
Analog switch 6 that sends a pulse signal from 6
3, 64, and the comparing section 5 of the first determining means 54
The signals from 5 and 56 are sent to analog switches 63 and 6.
4, switching elements 61 and 62 are turned on and off in synchronization with the pulse signal. 65 is a second driving means for driving the second solenoid valve 42, and like the first driving means 60,
It is composed of switching elements 66, 67 and analog switches 68, 69.

70 is the sample/hold part, and operation lever 2
When the holding switch 32 of No. 6 is turned on, the signal from the posture sensor 16 at that time is input and held for a certain period of time (several seconds). 71
is a setting means for setting the attitude of the bucket 13 to a desired desired attitude, and is a setting means that sets the bottom horizontal voltage Vr ₁ necessary to make the bottom of the bucket 13 horizontal, and
Aperture horizontal voltage required to make the aperture horizontal
Vr ₂ and a voltage indicating the inclination of the tractor body 1 from the inclination sensor 15 are selected and set by an attitude selection switch 72. Incidentally, the inclination sensor 15 is for the bottom surface of the bucket 13.
73 is a changeover switch, and the sample/hold section 7
The signal from 0 and the signal from setting means 71 are selected. 74 is an inverter that converts the signal selected by the changeover switch 73 to the reference voltage (1/2
V) as a reference. 7
Reference numeral 5 denotes a deviation detecting means, which adds the signal from the attitude sensor 16 and the signal from the inverter 74 to detect a deviation between the two, and amplifies it in the inverter 76. Reference numeral 77 denotes a manual/automatic changeover switch, which outputs a command signal from the second potentiometer 28 when the switch is manual, and outputs a signal from the deviation detection means 76 when the switch is automatic.
It is now scheduled to be sent to 7th.

In addition, the selection switch 72, the changeover switch 73,
77 is attached to the side surface of the case 25 of the operating device 24 together with a power switch 78, as shown in FIG.

In the configuration of the above embodiment, since the inclination sensor 15 is attached to the mast 8 side of the front loader 6,
The front loader 6 side is equipped with an attitude sensor 16 and an inclination sensor 15, which has the advantage of being able to be adjusted in advance at the factory during manufacturing, and also makes handling easier when attaching and detaching the front loader 6 to the tractor body 1. The sensor 15 may be attached to the tractor body 1 side.

Furthermore, if the signal from the inclination sensor 15 is displayed on a display means such as a diode array, it can be used as an inclinometer for a tractor. Furthermore, by displaying the attitude sensor 16 on the target, it can also be used as an attitude indicator for the bucket 13.

Further, in the embodiment, a changeover switch 73 is provided in addition to the selection switch 72, but if the sample/hold section 70 is incorporated into the setting means 71, the changeover switch 73 can be omitted.

Further, in the embodiment, the bucket 13 is used as an example of the working tool, but the tool is not limited to the bucket 13, and may be a fork or other attachment. In that case,
If you want to be able to attach and detach the work tool at will and replace it, a mounting bracket is pivotally attached to the tip of the boom 10, and the work tool is attached to this mounting bracket with a pin or the like in a removable manner. If the attitude sensor 16 is provided on the bracket side, even if there are various working tools, there is no need to provide the attitude sensor 16 for each working tool, which is very convenient.

(Effects of the Invention) According to the present invention, there is provided a boom elevating and lowering command means 27 that generates a boom elevating and lowering command signal that continuously changes according to the amount of operation of the operating section, and a boom elevating and lowering command means 27 for boom elevating and lowering. A boom elevating/lowering discriminating means 45 that determines whether to ascend or descend based on a command signal, a triangular wave oscillating means 53 that oscillates a triangular wave signal, and a boom elevating command signal from the boom elevating/lowering command means 27 and a triangular wave signal from the triangular wave oscillating means 53. Compare the
Boom elevating comparison means 54 that generates a pulse signal with a pulse width corresponding to changes in the boom rotation command signal
and a boom rotation driving means 60 that drives the boom lifting solenoid valve 39 in the direction of operation determined by the boom rotation determining means 45 in synchronization with the pulse signal of the boom lifting comparing means 54.
Comparatively controlled operation is possible using the on-off type solenoid valve 39 for lifting and lowering the boom, and the operation of the boom 10 can be controlled arbitrarily in the range from high speed to slow speed, and can also be controlled continuously according to the amount of operation of the operating section. a work implement rotation command means 28 that generates a work implement rotation command signal that changes over time, and the work implement rotation command means 28
The work implement rotation discrimination means 49 determines dumping or scooping from the work implement rotation command signal 28, and the work implement rotation command signal of the work implement rotation command means 28 is compared with the triangular wave signal of the triangular wave oscillation means 53. , a comparison means 57 for rotating the work implement, which generates a pulse signal with a pulse width in response to a change in the command signal for rotating the work implement.
and a work implement rotation drive means 65 that drives the work implement rotation solenoid valve 42 in the direction of operation determined by the work implement rotation determination means 49 in synchronization with the pulse signal of the work implement rotation comparison means 57; , it is possible to perform comparatively controlled operation using the on-off type work tool rotation solenoid valve 42, and the work tool 13
The operation can be controlled arbitrarily from high speed to slow speed.
Therefore, work can be done easily and smoothly.

In addition, the boom raising/lowering command signal from the boom raising/lowering command means 27 is determined by the boom raising/lowering determining means 45 to determine whether the boom is rising or lowering, and the boom raising/lowering comparing means 5
4 is used to form a pulse signal, and the work implement rotation command signal of the work implement rotation command means 28 is used to determine dump or rake by the work implement rotation determination means 49 and by the work implement rotation comparison means 57. Since they are used to form pulse signals, the boom lifting/lowering command signal and the work implement rotation command signal can be effectively used to efficiently control the boom lifting/lowering solenoid valve 39 and the working implement rotation solenoid valve 42. The configuration of the device can be made very simple. Moreover, in synchronization with the pulse signal of the comparison means 54 for boom elevation, the solenoid valve 39 for boom elevation is driven in the operating direction determined by the boom rotation discrimination means 45, and in synchronization with the pulse signal of the comparison means 57 for rotating the work implement. Since the work implement rotation solenoid valve 42 is synchronously driven in the direction of operation determined by the work implement rotation determination means 49, there is no risk of the boom 10 and work implement 13 being operated in the opposite direction due to malfunction. Therefore, the boom 10 and the work implement 13 can be operated reliably.

[Brief explanation of the drawing]

The drawings illustrate one embodiment of the present invention, in which Fig. 1 is an electrical circuit diagram of the control system, Fig. 2 is a side view of the tractor, Fig. 3 is a sectional view of the sensor, and Fig. 4 is an operation diagram. Rear view of the device, Figure 5 is a sectional rear view of the same, Figure 6 is a view taken along the X-X arrow in Figure 5, Figure 7 is a view taken along the Y-Y arrow in Figure 5, and Figure 8 is a hydraulic circuit. Figure 9 is a signal waveform diagram, Figure 10 is an explanatory diagram of the control position, and Figure 11 is a diagram of the control position.
The figure shows the relationship between Bucket's posture and the sensor.
Figure 12 is an explanatory diagram of voltage settings, Figure 13 and
FIG. 4 is an explanatory diagram of the operation, and FIG. 15 is a diagram showing the relationship between the attitude of the tractor and the sensor. 1...Tractor body, 6...Front loader, 10
...Boom, 13... Bucket (working tool), 16... Posture sensor, 24... Operating device, 26... Operating lever (operating section), 27, 28... Potentiometer (command means), 41, 42... Solenoid valve, 45 , 49... Discrimination means, 53... Triangular wave oscillation means, 54, 57... Comparison means, 60, 65... Driving means, 71... Setting means,
75...Deviation detection means.

Claims (1)

[Claims] 1. A boom elevating solenoid valve 39 that controls the boom 10 that is pivotably supported on the vehicle body 1 so as to be able to rise and fall freely, and the boom 10
In a control device for a boom-type working machine, which is equipped with a solenoid valve 42 for rotating a work tool that controls a work tool 13 that is rotatably provided in A boom raising/lowering command means 27 that generates a command signal, a working implement rotation command means 28 that generates a working implement rotation command signal that continuously changes depending on the amount of operation of the operating section, and the boom raising/lowering command means. 2
a boom raising/lowering determining means 45 for determining whether to raise or lower from the boom raising/lowering command signal 7; and a working implement rotating determining means 45 for determining dumping or scooping from the working implement rotating command signal from the working implement rotating command means 28. 49, a triangular wave oscillating means 53 that oscillates a triangular wave signal, and a boom elevating command signal of the boom elevating and lowering command means 27 and a triangular wave signal of the triangular wave oscillating means 53 are compared, and a pulse is generated according to a change in the boom rotation command signal. The boom elevating/lowering comparison means 54 generates a pulse signal of the same width, and the working implement rotation command signal of the working implement rotation command means 28 is compared with the triangular wave signal of the triangular wave oscillation means 53 to determine the working implement rotation command signal. The boom is moved in the operating direction determined by the boom rotation determination means 45 in synchronization with the pulse signals of the work tool rotation comparison means 57 that generates a pulse signal with a pulse width corresponding to the change in pulse width, and the boom elevation comparison means 54. In synchronization with the pulse signals of the boom rotation drive means 60 that drives the lifting electromagnetic valve 39 and the work implement rotation comparison means 57, the work implement rotation drive means 60 drives the work implement rotation in the operating direction determined by the work implement rotation determination means 49. 1. A control device for a boom-type work machine, characterized in that it is equipped with a work tool rotation driving means 65 that drives a solenoid valve 42.