JPS63287405A - Attitude control device for working machine in traveling and operating machine - Google Patents
Attitude control device for working machine in traveling and operating machineInfo
- Publication number
- JPS63287405A JPS63287405A JP12082787A JP12082787A JPS63287405A JP S63287405 A JPS63287405 A JP S63287405A JP 12082787 A JP12082787 A JP 12082787A JP 12082787 A JP12082787 A JP 12082787A JP S63287405 A JPS63287405 A JP S63287405A
- Authority
- JP
- Japan
- Prior art keywords
- output
- sensor
- main body
- work machine
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009434 installation Methods 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 10
- 239000002689 soil Substances 0.000 abstract 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
この発明は、例えば農業用トラクタのような走行作業機
械の本体に連結される作業機の耕深量、すなわち該作業
機の接地端の地表面に対する位置を制御するための姿勢
制御装置に関するものである。Detailed Description of the Invention (Industrial Application Field) This invention relates to the amount of plowing of a working machine connected to the main body of a traveling working machine such as an agricultural tractor, that is, the amount of plowing at the ground end of the working machine. The present invention relates to an attitude control device for controlling a position relative to a surface.
（従来技術とその問題点）
従来、走行作業機械の本体に連結された作業機の耕深量
を制御する手法としては、例えば実公昭５５−３９６９
０号公報に記載されているようなものが知られている。(Prior art and its problems) Conventionally, as a method for controlling the plowing depth of a working machine connected to the main body of a traveling working machine, for example,
The one described in Publication No. 0 is known.
これによると、作業機械本体（農用トラクタＡ）の地表
面に対する傾斜角度（θ、）を検出するセンサ（機構１
１）と、作業機械本体（農用トラクタＡ）に対する作業
機（ロータリー装置Ｂ）の取付は傾斜角度（θ、）を検
出するセンサ（機構１２）とを設け、両センサの出力に
基づき作業機の耕深量を演算する構成となっている。According to this, a sensor (mechanism 1
1), and a sensor (mechanism 12) that detects the inclination angle (θ, ) is installed to attach the work machine (rotary device B) to the work machine body (agricultural tractor A), and the work machine is determined based on the outputs of both sensors. It is configured to calculate the plowing depth.
しかしながら、かかる従来の構成によると、作業機の耕
深量は走行作業機械本体の基準設置面とは無関係に演算
されるので、演算結果としての耕探偵は走行作業機械本
体の基準設置面に対する浮沈位置に応じて変動してしま
い、作業機の正確な耕深量制御を行なうことができない
という問題点があった。However, according to such a conventional configuration, the plowing depth of the work implement is calculated independently of the standard installation surface of the traveling work machine body, so the plowing depth as a result of calculation is There is a problem in that the plowing depth varies depending on the position, making it impossible to accurately control the plowing depth of the working machine.
（問題点を解決するための手段）
この発明はかかる従来技術の問題点を解決するべくなさ
れたものであり、走行作業機械本体の後方に装着された
作業機を昇降自在に制御する作業機の姿勢制御装置にお
いて、前記作業機の前方に設けられ該走行作業機械本体
の基準設置面に対する浮沈位置を検出する対地センサと
、前記作業機の前記走行作業機械本体に対する昇降位置
を検出する昇降位置検出センサと、前記走行作業機械本
体の前後方向の前記基準設置面に対する傾斜角を検出す
る傾斜センサと、該傾斜センサの出力に基づき前記対地
センサ及び昇降位置検出センサの各出力を補正する補正
手段とを備え、該補正手段の出力により前記作業機を所
定位置に位置制御するようにしたことを特徴とし、走行
作業機械本体の設置面に対する位置関係如何に拘わらず
作業機の真正の耕深値を演算することができ、作業機の
耕深量制御を常時正確に行なえる姿勢制御装置を提供す
ることを目的とする。(Means for Solving the Problems) The present invention has been made to solve the problems of the prior art, and is a work machine that controls a work machine mounted at the rear of a traveling work machine body so that it can be raised and lowered. In the attitude control device, a ground sensor is provided in front of the work machine and detects a floating position of the traveling work machine main body with respect to a reference installation surface, and an elevation position detection detecting a rising/lowering position of the work machine with respect to the traveling work machine main body. a sensor, an inclination sensor that detects an inclination angle of the traveling work machine main body with respect to the reference installation surface in the front-rear direction, and a correction means that corrects each output of the ground sensor and the elevation position detection sensor based on the output of the inclination sensor. The work implement is position-controlled to a predetermined position by the output of the correction means, and the true plowing depth value of the work implement is determined regardless of the positional relationship with respect to the installation surface of the traveling work machine main body. It is an object of the present invention to provide a posture control device that can perform calculations and accurately control the plowing depth of a working machine at all times.
（作用）
走行作業機械本体が基準設置面から所定量浮上あるいは
沈下した場合、対地センサ及び昇降位置検出センサの各
出力は傾斜センサの出力に基づく補正手段の作動により
補正される。これにより作業機の正確な耕深値が演算で
き、作業機の耕深量を精度良く所望の値に保つことがで
きる。(Function) When the main body of the traveling work machine rises or sinks by a predetermined amount from the reference installation surface, each output of the ground sensor and the vertical position detection sensor is corrected by the operation of the correction means based on the output of the inclination sensor. As a result, an accurate plowing depth value of the work implement can be calculated, and the plowing depth of the work implement can be maintained at a desired value with high accuracy.
（実施例）
第２図及び第３図はこの発明に係る走行作業機械として
の農業用トラクタの外観構成を示すものであり、トラク
タ本体ｌの後方（後輪ｌｌ側）には昇降機構２を介して
作業機としてのロータリ装ｒｃ３が連結されている。こ
こで、昇降機構２は左右一対のロアーリンク２ａ、２ｂ
とトップリンク２Ｌとから成るリンク機構で構成され、
また、この昇降機構２は油圧シリンダ４により駆動され
、この油圧シリンダ４は左右一対のリフトアーム５ａ、
５ｂと左右一対のリフトロッド５ａ、６ｂとをそれぞれ
介して前記両ロアーリンク２ａ、２ｂに連結されている
。さらに、トラクタ本体ｌの後方には、該トラクタ本体
ｌと作業機としてのロータリ装置３との間に、後輪１１
の接地端の上下動に追従すると共に作業時には常時地表
面に接触して転勤する前尾輪７が設けられている。(Example) Figures 2 and 3 show the external configuration of an agricultural tractor as a traveling working machine according to the present invention, and a lifting mechanism 2 is installed at the rear of the tractor body 1 (on the rear wheel ll side). A rotary equipment rc3 as a working machine is connected through the link. Here, the elevating mechanism 2 includes a pair of left and right lower links 2a and 2b.
It consists of a link mechanism consisting of and a top link 2L,
Further, this lifting mechanism 2 is driven by a hydraulic cylinder 4, which has a pair of left and right lift arms 5a,
5b and a pair of left and right lift rods 5a, 6b, respectively, to the lower links 2a, 2b. Further, at the rear of the tractor main body l, a rear wheel 11 is disposed between the tractor main body l and a rotary device 3 as a working machine.
A front tail wheel 7 is provided which follows the vertical movement of the ground contact end of the machine and which constantly moves in contact with the ground surface during work.
一方、トラクタ本体ｌの所定部位には該トラクタ本体ｌ
の基準設置面Ｐ１（トラクタ本体ｌが浮沈していないと
した場合の地表面）に対する前後方向の傾斜角を検出す
る傾斜センサ８が設けられ、昇降機構２の所定部位には
該昇降機構２に連結されたロータリ装置３のトラクタ本
体ｌに対する昇降量を検出する昇降位置検出センサ９が
設けられ、そして、前尾輪７の所定部位にはトラクタ本
体ｌの地表面に対する浮沈位置を検出する対地センサ１
０が設けられている。On the other hand, a predetermined portion of the tractor body l is provided with the tractor body l.
An inclination sensor 8 is provided at a predetermined portion of the elevating mechanism 2 to detect the inclination angle in the longitudinal direction with respect to the reference installation surface P1 (the ground surface when the tractor main body l is not floating or sinking). A lifting position detection sensor 9 is provided to detect the lifting amount of the connected rotary device 3 with respect to the tractor main body l, and a ground sensor is provided at a predetermined portion of the front tail wheel 7 to detect the floating position of the tractor main body l with respect to the ground surface. 1
0 is set.
ここで、傾斜センサ８は、より具体的には、例えばトラ
クタ本体１の傾斜に応じて傾動する振り子の振れ角を電
気的信号に変換するものであり、該変換出力はトラクタ
本体ｌの前後方向の傾斜角に対しリニアに変化する一方
、該変換出力にはトラクタ本体ｌのいわゆるピッチング
による外乱のために、通常例えば２ Ｈｚ程度の低周波
数のノイズが重畳する。More specifically, the inclination sensor 8 converts the swing angle of a pendulum that tilts according to the inclination of the tractor main body 1 into an electrical signal, and the conversion output is generated in the longitudinal direction of the tractor main body 1. However, due to disturbance caused by so-called pitching of the tractor body 1, low frequency noise of about 2 Hz is usually superimposed on the converted output.
また、昇降位置検出センサ９は、例えば昇降機構２のリ
フトアーム５ａ％５ｂの軸部にポテンショメータを装着
することにより、該リフトアーム５ａ、５ｂの回動角を
電気的信号にリニアに変換するものである。Further, the lifting position detection sensor 9 linearly converts the rotation angle of the lift arms 5a, 5b into an electrical signal by attaching a potentiometer to the shaft portion of the lift arms 5a, 5b of the lifting mechanism 2, for example. It is.
さらに、対地センサｌＯは前尾輪７の支持アーム７ａと
後輪１１の車軸との連結部における軸受に設けられ、支
持アーム７ａの回動角に応じてリニアに出力が変化する
ポテンショメータにより構成されるものである。Furthermore, the ground sensor IO is provided on a bearing at the connection between the support arm 7a of the front tail wheel 7 and the axle of the rear wheel 11, and is constituted by a potentiometer whose output changes linearly according to the rotation angle of the support arm 7a. It is something that
第１図は昇降制御装置の全体構成を概略的に示すもので
あり、前記傾斜センサ８はその出力Ｖ１から前述した低
周波数のノイズをカットするためのフィルタ１２を付設
しており、その出力ｖ１′は対地センサｌＯの出力Ｖ１
と共に減算器１３に供給され、この減算器１３では、対
地センサｌＯの出力Ｖ１から傾斜センサ８の出力ｖ、′
を減する演算が行なわれ、後輪１１の前記基準設置面Ｐ
。FIG. 1 schematically shows the overall configuration of the elevation control device. The inclination sensor 8 is equipped with a filter 12 for cutting the aforementioned low frequency noise from its output V1. ' is the output V1 of the ground sensor lO
The subtracter 13 converts the output V1 of the ground sensor 10 to the output v,' of the inclination sensor 8.
A calculation is performed to reduce the reference installation surface P of the rear wheel 11.
.
に対する接地端位置が検出される。つまり、減算器１３
の出力Ｖ、が例えば正の値であれば、後輪ＩＩの接地端
は該基準設置面Ｐ１から沈下した位置にあり、負の値で
あれば該基準設置面Ｐ、から浮上した位置にあり、零で
あれば該基準設置面Ｐ、と同一位置にあることを表わす
。The grounding edge position is detected. In other words, the subtractor 13
For example, if the output V is a positive value, the ground contact end of the rear wheel II is at a position submerged from the reference installation surface P1, and if it is a negative value, it is at a position raised from the reference installation surface P. , if it is zero, it means that it is at the same position as the reference installation surface P.
また、昇降位置センサ９の出力Ｖ、は傾斜センサ８の出
力（正確にはフィルタの出力Ｖ、′）と共に補正回路１
４に供給され、この補正回路１４では、リフトアーム５
ａ、５ｂの回動角毎に、ロータリ３ａの接地端位置のト
ラクタ本体ｌの前後方向の傾斜角に対する変化が検出さ
れる。つまり、この補正回路１４の出力Ｖ４が例夫ば正
の値であればロータリ３ａの接地端はトラクタ本体１の
浮沈とは無関係に、前記基準設置面Ｐ、から所定の耕深
位置にあり、負の値であれば、該基準設置面Ｐ、よりも
浮上した位置にあり、そして、零であれば該基準設置面
Ｐ１位置にあることを表す。In addition, the output V, of the vertical position sensor 9 is the output of the tilt sensor 8 (more precisely, the output V,' of the filter) as well as the correction circuit 1.
4, and in this correction circuit 14, the lift arm 5
For each rotation angle of a and 5b, a change in the ground contact end position of the rotary 3a with respect to the longitudinal inclination angle of the tractor body l is detected. In other words, if the output V4 of this correction circuit 14 is, for example, a positive value, the grounding end of the rotary 3a is at a predetermined plowing depth position from the reference installation surface P, regardless of the ups and downs of the tractor body 1. A negative value indicates that the position is higher than the reference installation surface P, and a value of zero indicates that the reference installation surface P1 is located.
減算器１３及び補正回路１４の各出力Ｖ１、■４は加算
器１５に供給され、この加算器１５の正負の出力の値に
応じて当該地表面（トラクタ本体ｌの実際の設置面）Ｐ
、に対するロータリ３ａの接地端の実際の位置Ｐ、が検
出される。すなわち、トラクタ本体ｌの基準設置面Ｐ、
からの浮沈が考慮され、加算器１５の出力Ｖ、が正の値
であればロータリ３ａの接地端は当該地表面Ｐ、から所
定の耕深位置にあり、負の値であればロータリ３ａの接
地端は当該地表面Ｐ、から浮上した位置にあり、零であ
れば当該地表面Ｐ、上にあることを表す。The respective outputs V1 and V4 of the subtracter 13 and the correction circuit 14 are supplied to an adder 15, and the ground surface (the actual installation surface of the tractor body l) P is determined according to the positive and negative output values of the adder 15.
The actual position P of the grounding end of the rotary 3a with respect to , is detected. That is, the reference installation surface P of the tractor body l,
If the output V of the adder 15 is a positive value, the ground end of the rotary 3a is at a predetermined plowing depth position from the ground surface P, and if it is a negative value, the ground end of the rotary 3a is at a predetermined plowing depth position. The grounding edge is located at a position floating above the ground surface P, and if it is zero, it means that it is above the ground surface P.
他方、加算器Ｉ５の出力Ｖ、は耕深表示回路１６に供給
され、この耕深表示回路１６によりロータリ３ａの実際
の耕深量が表示される一方、加算器１５の出力Ｖ、は比
較回路１７に供給され、所望の耕深量を設定するための
耕深設定回路１８の出力Ｖ、との比較が行なわれ、この
比較回路１７の出力Ｖ、により昇降機構２を駆動するた
めの出力回路である昇降駆動回路１９を作動させる。つ
ます、この比較回路１７の出力Ｖ、は出力Ｖ、が出力Ｖ
、よりも大なるときはリフトアーム５ａ、５ｂの上昇駆
動回路１９ａを作動させる信号を出力して上昇駆動用ア
クチュエータ（具体的には電磁バルブ）２３ａを作動さ
せ、逆に出力Ｖ、が出力Ｖ。On the other hand, the output V of the adder I5 is supplied to the plowing depth display circuit 16, which displays the actual plowing depth of the rotary 3a, while the output V of the adder 15 is supplied to the plowing depth display circuit 16. 17 and is compared with the output V of a plowing depth setting circuit 18 for setting a desired plowing depth amount, and an output circuit for driving the lifting mechanism 2 by the output V of this comparison circuit 17. The vertical drive circuit 19 is activated. The output V of this comparator circuit 17 is the output V, and the output V is the output V.
, when the output V is greater than the output V, a signal is output to operate the lift drive circuit 19a of the lift arms 5a, 5b, and the lift drive actuator (specifically, the electromagnetic valve) 23a is activated. .
よりも小なるときはリフトアーム５ａ、５ｂの下゛時駆
動回路１９ｂを駆動させる信号を出力して下降駆動用ア
クチュエータ２３ｂを作動させ、出力Ｖ、が出力Ｖ、と
等しいときにはアクチュエータ２３ａ、２３ｂの駆動出
力を停止する。なお、昇降駆動回路１９には感度設定回
路２０が設けられており、この感度設定回路２０の出力
Ｖ、により昇降機構２の駆動反応を調整できる。When the output V is equal to the output V, a signal to drive the lower drive circuit 19b of the lift arms 5a, 5b is output to operate the lower drive actuator 23b, and when the output V is equal to the output V, the lower drive circuit 19b of the lift arms 5a, 5b is output. Stop drive output. The lift drive circuit 19 is provided with a sensitivity setting circuit 20, and the drive response of the lift mechanism 2 can be adjusted by the output V of the sensitivity setting circuit 20.
したがって、ロータリ３ａの耕深量はトラクタ本体ｌの
浮沈状態に応じて正確に制御できる。Therefore, the plowing depth of the rotary 3a can be accurately controlled according to the floating state of the tractor body l.
なお、昇降位置センサ９の出力Ｖ、は比較器２１におい
て、上限値設定回路２２の出力Ｖ、どの比較が行なわれ
、この上限値設定回路２２の出力■１．によりリフトア
ーム５ａ、５ｂの上昇位置の上限が規制される。さらに
、この出力Ｖ６．によす上限位Ｗ１１ｔｌ整駆動回路２
４を作動させる。つまり、この比較器２１の出力ｖ１．
は出ノＪＶ、が出力■、よりも大なるときはリフトアー
ム５ａ、５ｂの上昇駆動回路２５ａを作動させる信号を
出力して上昇駆動用アクチュエータ２３ａを作動させ、
逆に出力Ｖ、が出力Ｖ、よりも小なるときはリフトアー
ム５ａ、５ｂの下降駆動回路２５ｂを駆動させる信号を
出力して下降駆動用アクチュエータ２３ｂを作動させ、
出力Ｖ、が出力Ｖ、と等しいときには出力を停止する。Note that the output V of the vertical position sensor 9 is compared with the output V of the upper limit value setting circuit 22 in the comparator 21, and the output of the upper limit value setting circuit 22 is 1. The upper limit of the raised position of the lift arms 5a, 5b is regulated by this. Furthermore, this output V6. upper limit W11tl adjustment drive circuit 2
Activate 4. In other words, the output v1 of this comparator 21.
When the output JV is greater than the output ■, a signal is output to operate the lift drive circuit 25a of the lift arms 5a and 5b, and the lift drive actuator 23a is activated.
Conversely, when the output V is smaller than the output V, a signal is output to drive the lower drive circuit 25b of the lift arms 5a, 5b, and the lower drive actuator 23b is activated.
When the output V is equal to the output V, the output is stopped.
昇降駆動回路１９及び上限位置調整駆動回路２４は切換
えスイッチ２６の操作にュートラル接点２６ｃを挟む接
点２６ａ、２６ｂの切換え）により選択的に作動できる
。The lift drive circuit 19 and the upper limit position adjustment drive circuit 24 can be selectively operated by operating the changeover switch 26 and switching the contacts 26a and 26b sandwiching the neutral contact 26c.
（発明の効果）
以上のようにこの発明によれば、走行作業機械本体の後
方に装着された作業機を昇降自在に創部する作業機の姿
勢制御装置において、前記作業機械の前方に設けられ該
走行作業機械本体の基準設置面に対する浮沈位置を検出
する対地センサと、前記作業機の前記走行作業機械本体
に対する昇降位置を検出する昇降位置検出センサと、前
記走行作業機械本体の前後方向の前記基準設置面に対す
る傾斜角を検出する傾斜センサと、該傾斜センサの出力
に基づき前記対地センサ及び昇降位置検出センサの各出
力を補正する補正手段とを備え、該補正手段の出力によ
り前記作業機を所定位置に位置制御する構成としたので
、走行作業機械本体の地表面に対する位置関係如何に拘
わらず作業機の真正な耕深値を演算することができ、作
業機の所定位置に保つための位置制御を常時正確に行な
え、農作業等の作業能率向上に貢献することができる。(Effects of the Invention) As described above, according to the present invention, in the posture control device for a working machine that freely raises and lowers the wound on the working machine mounted at the rear of the main body of the traveling working machine, the device is provided in front of the working machine and a ground sensor that detects the floating position of the traveling work machine main body with respect to a reference installation surface; a lifting position detection sensor that detects the lifting position of the work implement with respect to the traveling work machine main body; and the reference in the longitudinal direction of the traveling work machine main body. A tilt sensor that detects an angle of inclination with respect to an installation surface, and a correction means that corrects each output of the ground sensor and the elevation position detection sensor based on the output of the tilt sensor, and the work machine is adjusted to a predetermined position based on the output of the correction means. Since the configuration is configured to control the position of the working machine, it is possible to calculate the true plowing depth value of the working machine regardless of the positional relationship of the main body of the traveling work machine to the ground surface, and position control is performed to maintain the working machine at a predetermined position. can be performed accurately at all times, contributing to improving work efficiency in agricultural work, etc.
また、この発明に係る姿勢制御装置のセンサは、従前の
昇降位置検出センサ及び傾斜センサ以外に対地センサを
設ける構成で済むから大幅なコストアップを回避できる
。Further, the sensor of the attitude control device according to the present invention can be configured to include a ground sensor in addition to the conventional elevation position detection sensor and inclination sensor, so that a significant increase in cost can be avoided.
、第１図はこの発明の一実施例の全体構成を示すブロッ
ク図、第２図及び第３図はこの発明に係る農業用トラク
タを示すものであり、第２図はその側面図、第３図はそ
の要部斜視図である。
ｌ・・・トラクタ本体（走行作業機械本体）、２・・・
昇降機構、３・・・ロータリ装置（作業機）、８・・・
傾斜センサ、９・・・昇降位置センサ、ＩＯ・・・対地
センす、Ｐｌ・・・基準設置面。, FIG. 1 is a block diagram showing the overall configuration of an embodiment of the present invention, FIGS. 2 and 3 show an agricultural tractor according to the invention, FIG. 2 is a side view thereof, and FIG. The figure is a perspective view of the main part. l...tractor body (traveling work machine body), 2...
Lifting mechanism, 3... rotary device (work machine), 8...
Inclination sensor, 9...Elevation position sensor, IO...Ground sensor, Pl...Reference installation surface.
Claims (1)
自在に制御する作業機の姿勢制御装置において、前記作
業機の前方に設けられ該走行作業機械本体の基準設置面
に対する浮沈位置を検出する対地センサと、前記作業機
の前記走行作業機械本体に対する昇降位置を検出する昇
降位置検出センサと、前記走行作業機械本体の前後方向
の前記基準設置面に対する傾斜角を検出する傾斜センサ
と、該傾斜センサの出力に基づき前記対地センサ及び昇
降位置検出センサの各出力を補正する補正手段とを備え
、該補正手段の出力により前記作業機を所定位置に位置
制御するようにしたことを特徴とする走行作業機械にお
ける作業機の姿勢制御装置。1. In a work machine attitude control device that controls a work machine mounted at the rear of a traveling work machine body so as to be able to rise and fall, a ground control system is provided in front of the work machine and detects the floating position of the traveling work machine body with respect to a reference installation surface. a sensor, a lifting position detection sensor that detects the lifting position of the work implement with respect to the traveling work machine main body, a tilt sensor that detects an inclination angle of the traveling work machine main body with respect to the reference installation surface in the front-rear direction, and the tilt sensor. a correction means for correcting each output of the ground sensor and the elevation position detection sensor based on the output of the above, and the work machine is position-controlled to a predetermined position by the output of the correction means. A posture control device for a working machine in a machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62120827A JPH0773446B2 (en) | 1987-05-18 | 1987-05-18 | Lifting position control device for work machine in traveling work machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62120827A JPH0773446B2 (en) | 1987-05-18 | 1987-05-18 | Lifting position control device for work machine in traveling work machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63287405A true JPS63287405A (en) | 1988-11-24 |
| JPH0773446B2 JPH0773446B2 (en) | 1995-08-09 |
Family
ID=14795946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62120827A Expired - Lifetime JPH0773446B2 (en) | 1987-05-18 | 1987-05-18 | Lifting position control device for work machine in traveling work machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0773446B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011177100A (en) * | 2010-03-01 | 2011-09-15 | National Agriculture & Food Research Organization | Apparatus and tractor for obtaining information of tilling depth |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5539690U (en) * | 1978-09-08 | 1980-03-14 | ||
| JPS5847124A (en) * | 1981-09-16 | 1983-03-18 | Ishikawajima Harima Heavy Ind Co Ltd | Control method for temperature of gas generated at the furnace top |
-
1987
- 1987-05-18 JP JP62120827A patent/JPH0773446B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5539690U (en) * | 1978-09-08 | 1980-03-14 | ||
| JPS5847124A (en) * | 1981-09-16 | 1983-03-18 | Ishikawajima Harima Heavy Ind Co Ltd | Control method for temperature of gas generated at the furnace top |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011177100A (en) * | 2010-03-01 | 2011-09-15 | National Agriculture & Food Research Organization | Apparatus and tractor for obtaining information of tilling depth |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0773446B2 (en) | 1995-08-09 |
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