JPH0655589B2 - Automatic steering control device for towed work machines on sloping ground - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a working machine towed by a tractor and steered by automatic control of a wheel by a tilt angle sensor that prevents lateral flow of the wheel due to tilting of a field. The present invention relates to an automatic steering control device for a towed work machine in a sloping ground, in which the wheels can artificially appropriately correct an excessive or insufficient steering degree by automatic control under various conditions other than the factor of tilt.

[Technical background] While a working machine towed by a tractor causes a lateral flow phenomenon due to the inclination of the field during work traveling in a field, it may be contrary to the desire of straight traveling and exhibit a wheel removal action from a ridge.

In order to prevent the lateral flow phenomenon due to these inclined fields,
Despite the fact that the wheels of the work machine face the inclination direction and run straight, the steering wheel is steered at an appropriate angle with respect to the longitudinal centerline of the work machine, and the wheel is actually rotated in a spiral shape. , Was to deal with the lateral flow phenomenon.

In this steering operation, the operator manually steered the vehicle appropriately in response to the current tilt condition.
Two different types of maneuvering, which are different depending on the tractor's maneuvering work and the current condition, are required. In order to reduce these difficulties, a tilt sensor is installed on the work machine, and the lateral flow phenomenon is detected according to the detected tilt angle. And the wheels can be automatically steered with respect to the work machine so that the work machine can go straight.

However, since the steering control that is automatically performed on the wheels is automatic steering by automatically detecting the inclination angle, the progressive weight change such as the weight of the working machine and the successive weight due to the harvesting work, and the wheel and There is an excess or deficiency phenomenon in the steering angle due to the coefficient of friction with the traveling soil. Particularly, in the present invention, in the steering control by the automatic detection of the degree of inclination, when the excess or deficiency phenomenon occurs, the steering action A variable resistor that adjusts the excess or deficiency that tries to add or remove the degree as needed is inserted in the electric circuit so that it can be operated manually so that an arbitrary set value can be obtained. It is configured by additionally adding a device capable of adding and removing action corresponding to excess and deficiency.

[Conventional technology]

In order to prevent the lateral flow phenomenon of the wheels of a work machine driven by a tractor, especially a root harvester, such as a beet harvester and a potato harvester, which performs ridge work, in order to prevent lateral flow of its wheels, Regardless, there is a technical idea to steer the wheels and, in combination with the straight-line action of the work machine, spirally rotate the wheels to avoid the lateral flow phenomenon.
In addition to the operation of the tractor, the operation of the work equipment was also operated to deal with the predisposition to the lateral flow phenomenon, which changes from moment to moment according to the situation in the field.

[Problems to be Solved by the Invention]

During the lateral flow phenomenon of a work machine that is a towed vehicle on a slope,
The degree of lateral flow is as follows: a. Left and right tilt angle b. Inclination angle in the front and rear Due to the factors on the working machine side, c. Weight of work implement d. It is determined by the coefficient of friction between the soil and the tires, and against the lateral flow of the work machine that will be generated in the future, the hydraulic valve is operated according to the degree to which the operator is flowing, and steering and steering by hydraulic pressure are extremely nerve fatigue and physical fatigue. It was a work that was accompanied by, and required skill.

The present invention aims to solve the above problems.

[Means for Solving the Problems]

As a means for achieving the above object, the present invention provides an X sensor and a Y sensor capable of detecting the inclination in the front-rear direction and the inclination in the left-right direction, respectively, at an appropriate portion of a working machine towed by a tractor and traveling. Provided,
Also, one end of a cylinder is pivotally supported on an axle that rotatably supports the wheels of the work machine, and a piston rod for moving the cylinder in and out is pivotally attached to a tie lot parallel to the axle.
The cylinder and the oil tank are connected by a hydraulic circuit including a solenoid valve and an oil pump, and the solenoid valve is controlled to open and close based on the values detected by the X sensor and the Y sensor to steer the wheel to be steered. Cylinder sensor that can detect the differential between the axle and Tylot, and Y variable resistor and X that can be manually operated
A variable resistor is provided in the circuit formed between the X sensor and Y sensor and the solenoid valve.

〔Example〕

Next, the present invention will be described with reference to the drawings. Left and right provided at appropriate positions of a working machine (A) which is a root harvester such as a beat harvester or a potato harvester towed by a tractor (not shown). The X sensor (1), which is the left and right tilt angle sensor for detecting the tilt angle of the direction, is a resistor.
Connect to the operational amplifier (3) via (2), and connect the Y sensor (4), which is a tilt angle sensor for detecting the tilt angle in the front-back direction, to the resistance (5).
Connected to the operational amplifier (6) via the
(6) is connected to the operational amplifier (3) via the resistor (7).

Further, before and after the operational amplifier (6), a Y variable resistor (8) for front-back direction numerical value correction is provided so as to bypass, and the operational amplifier (8) is provided in parallel with the X sensor (1) and the Y sensor (4). The X variable resistor (9) and the operational amplifier (10) for correcting the lateral value of the X sensor (1) are connected in series to 3).

Furthermore, the cylinder sensor (11) is connected to the operational amplifier (3) via the resistor (12).

A diode (13), a resistor (14), a transistor (15), a relay (17) for controlling the steering solenoid valve (16) to the right and a power supply (18) are connected in series from the operational amplifier (3), and the operational amplifier is further connected. The diode (19), the resistor (20), the transistor (21) and the relay (22) for left control of the solenoid valve (16) for steering are connected in series from (3) in parallel with the diode (13). .

The power supply (18) is connected to the transistor (21).

In the working machine (A), an oil cylinder (26) is provided across a tie lot (25) provided in parallel with the axle (24), that is, one end of the cylinder (27) is pivotally supported on the axle (24), cylinder
Tylot the tip of the piston rod (28) into and out of (27)
Install it on (25), connect the hydraulic circuit (29) from the solenoid valve (16) to the oil cylinder (26), and install the oil pump (33) from the oil tank (30) on the solenoid valve (16). The hydraulic circuit (31) is connected.

Further, the cylinder sensor (11), as one example thereof, is composed of a coil body and a finger contact piece in the form of a resistor, and acts as a differential between the axle (24) and the tie lot (25). If it is a direct drive type, the axle (24)
And a tie-lot (25) fixed to the coil body and the other is provided with a finger-moving contact piece, and the finger-moving contact piece is formed so that the finger-moving contact piece can slide on the coil body due to the difference between these. In the case of the rotary type, the coil body is formed in an arc shape,
It is installed at the end of (24) or at the position of the king pin at the tie-lot end so that the finger contact piece can be moved together with the steering piece.

In the figure, reference numeral (32) indicates a wheel.

[Action]

First, the switch (23) of the power supply (18) is closed and turned ON, the left and right tilt angles are detected by the tilt angle sensor (1) and sent to the cylinder sensor (11) via the X variable resistor (9), Further, the other Y-angle sensor, which is a Y-angle sensor, detects the forward-backward inclination angle and sends it to the cylinder sensor (11) via the Y-variable resistor (8) for numerical correction.

Then, based on the command from the cylinder sensor (11), either the left or right steering solenoid valve (16) for steering
Oil pump from the oil tank (30)
The pressure oil is sent to the oil cylinder (26) by the operation of (33), and the piston is operated to move the tie lot (2) to the axle (24).
The angle of the wheel (32) is converted by moving 5) to the left or right. At this time, axle (24) and tie lot (25)
Cylinder sensor (11) is interlocked by the differential of, and the value detected by this operation and the X of the tilt angle sensor.
Is there a mistake in the wheel steering angle based on the values detected by the X sensor (1) and Y sensor (4) by comparing the values detected by the sensor (1) and Y sensor (4) with the cylinder sensor (11)? If there is no error, the oil pump (33) is stopped and the solenoid valve
Issue a command to move (16) to the neutral position. If there is an error in the wheel steering angle at this point, it is instructed to continue the pressure feed of the pressure oil until the set value is reached. In addition, the above-mentioned state is explained when the Y variable resistor (8) and the X variable resistor (9) in the circuit are not operated, and the steering state of the wheels (32) in this state is just the field. The automatic steering control is performed by detecting the tilt angle by the X sensor (1) and the Y sensor (4) which are tilt angle sensors.

However, the friction coefficient between the wheel (32) and the soil in the field is not constant, and sometimes the steering angle obtained by the steering action by the above-mentioned automatic control is insufficient, and as a result, a lateral flow phenomenon may occur. In addition, the steering angle due to the automatic control may be excessive. It is the Y variable resistor (8) and the X variable resistor that are artificially operated at this time.
(9). These are provided with knobs, artificially,
In addition, it can be operated freely, and whether the steering angle of the wheel (32) is excessive or insufficient due to the soil, the weight of the working machine (A), etc. is operated by judging the situation.

These Y variable resistors (8) and X variable resistors (9)
The action of is arbitrarily operated as described above, and its means is mainly performed by the turning operation, and the rank can be gradually increased or decreased from 0th position, and the set rank is used as a reference value. The steering angle by the above-mentioned automatic control is added to this.

For the operation of the variable resistors described above, the operator predicts beforehand the coefficient of friction between the wheel (32) and the soil due to the humidity and viscosity of the soil and the progressive weight increase of the working machine, etc. If a value that can satisfy the numerical value that compensates for the shortage of the steering angle due to automatic control is set and operated, proper steering is automatically performed based on the set command numerical value.

〔effect〕

Since the present invention is as described above, it is intended to automatically detect the inclination of the field and steer the wheels of the working machine, which is going to go straight, by automatic control based on this value.
In the steering control for only these inclinations, the steering corresponding to the phenomenon of excess or deficiency of the steering angle due to various conditions other than the inclination is artificially preset in advance by means of the operator's judgment to correct the excess or deficiency. Because you can
By enabling the pre-correction of the disadvantage phenomenon during the work by setting the prediction before the work, it is possible to reduce the overwork condition of the worker involved in operating the work machine.

[Brief description of drawings]

FIG. 1 is a plan view showing a traveling department by cutting out a part of a working machine towed by a tractor, and FIG. 2 is a perspective view showing a steering department for wheels and axles and a hydraulic circuit diagram of the steering means. FIG. 3 is a circuit diagram, FIG. 4 is a flowchart of wheel automatic control by a tilt angle sensor, and FIG. 5 is a control block diagram. (1) …… X sensor (4) …… Y sensor (8) …… Y variable resistor (9) …… X variable resistor (16) …… Solenoid valve (24) …… Axle (25) …… Tylot (27) …… Cylinder (28) …… Piston rod (29) …… Hydraulic circuit (30) …… Oil tank (31) …… Hydraulic circuit (32) …… Wheels (33) …… Oil pump (A ) …… Working machine

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-60-80954 (JP, A) Actual development Sho-50-35703 (JP, U)

Claims (1)

[Claims] 1. A working machine to be run by being pulled by a tractor.
An X sensor (1) and a Y sensor that can detect the inclination in the front-back direction and the inclination in the left-right direction, respectively, at appropriate points in (A)
A sensor (4) is provided, and one end of a cylinder (27) is pivotally supported on an axle (24) that rotatably supports the wheels (32) of the working machine (A), and the cylinder (27) is moved in and out. Piston Rod (28)
Is pivotally attached to a tie lot (25) parallel to the axle (24), and the cylinder (27) and the oil tank (30) are hydraulically connected with a solenoid valve (16) and an oil pump (33). The circuits (29) and (31) are connected to each other, and the X sensor (1) and the Y sensor are connected.
For cylinders that control the opening and closing of the solenoid valve (16) based on the value detected by the sensor (4) and can detect the steering degree of the wheel (32) being steered by detecting the differential between the axle (24) and the tie lot (25) Sensor (11) and Y variable resistor that can be operated manually
(8) and X variable resistor (9) together with the above X sensor (1)
Also, an automatic steering control device for a towed work machine on a sloping ground, which is provided in a circuit formed between the Y sensor (4) and the solenoid valve (16).