JP2539035Y2 - Elevation control device for working unit in work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a lifting / lowering control device for a working unit in a working vehicle such as a tractor.

[Problems to be Solved by the Related Art and the Invention] Generally, in this type of working vehicle, in order to protect the work unit and ensure safety, the work unit is automatically raised based on the reverse operation of the body. There is one that performs reverse climb control. However, in such a case, even in the digging work and the trenching work performed while the body is moving backward, the working section is arbitrarily raised, so that such work cannot be performed. In order to solve this problem, it is proposed that the reverse climb control can be released by a switching operation. However, in this case, a separate switching switch is provided, so that an increase in the number of components becomes a problem.

[Means for Solving the Problems] The present invention has been conceived in view of the above-described circumstances and has an object to provide an ascent / descent control device for a working unit in a working vehicle that can eliminate these disadvantages. The lifting control unit that controls the lifting operation of the working unit includes an upper limit setting control unit that sets an upper limit of the working unit based on the set position of the setting volume, and automatically controls the working unit based on the reverse operation of the traveling body. In a working vehicle provided with reverse ascending control means for ascending, the setting range of the setting volume is divided into two setting ranges in which the same upper limit can be set, and the setting volume is set in the elevation control unit. If is located in one of the setting ranges, execute reverse climb control,
When the vehicle is located in the other set range, a reverse ascending control switching means for canceling the reverse ascending control is provided.

According to the present invention, the reverse climb control can be released without providing a specially-designated switching switch.

[Example] Next, an example of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling body of an agricultural tractor, and a rotary tilling type working unit 3 is connected to a rear portion of the body 1 via a lifting link mechanism 2 so as to be able to move up and down. Arm 5 associated with the extension and retraction of the hydraulic cylinder 4
The basic configuration, such as raising and lowering by swinging, is the same as the conventional one.

Reference numeral 6 denotes a side panel provided on the side of the driver's seat 7. The side panel 6 includes a shift lever 8 for performing forward / reverse switching and the like, an elevating operation lever 9 for performing an elevating operation of the working unit 3, and A lifting operation switch 10, a cultivation depth setting volume 11 for setting the cultivation depth of the cultivation depth automatic control described later, an automatic switching switch 12 for switching the automatic control, and a raising regulation for setting the upper limit of the working unit 3. Set volume
13, an inclination setting volume 14 for performing an inclination setting of automatic inclination control, a mode switching switch 16 for performing a control mode switching of a control unit 15 described later, a sensitivity adjustment switch 17 for adjusting the sensitivity of the automatic control, a tillage Operating tools such as a rear cover manual switch 19 for manually operating the rear cover 18 rotatable along an arc having the claw shaft 3a substantially as a center and a lift arm manual switch 20 for manually operating the lift arm 5 are provided. Have been.

The control unit 15 is configured using a so-called microcomputer (CPU, ROM, RAM) or the like, and is disposed below the side panel 6. The control unit 15 receives an operation signal from the operating tools. At the same time, a lever angle detection sensor 21 for detecting the lever angle of the lifting operation lever 9, a reverse operation detection switch 22 for detecting that the shift lever 8 has been operated backward, and an arm angle detection sensor for detecting the swing angle of the lift arm 5 23, tillage depth detection sensor 24 that detects the swing angle of rear cover 18, rear cover
A detection signal is input from sensors such as a rear cover position detection sensor 25 for detecting the rotation position of the hydraulic cylinder 18, and based on the judgment based on these input signals, the hydraulic cylinder 4 and the rear cover 18 that swing the rear cover 5 are rotated. An operation signal is output to an actuator such as the electric cylinder 26 to be moved.

Next, control procedures of various controls performed by the control unit 15 will be described with reference to flowcharts shown in FIGS. First, in the upper limit setting control for setting the upper limit of the working unit 3, the arm angle upper limit value C of the lift arm 5 is set based on the operation position of the raising restriction setting volume 13. The range is divided into left and right so that the left setting range is wider than the right setting range, so that the same setting operation can be performed in either the left or right setting range.

Further, in the embodiment, the setting range in which the maximum arm angle (the highest position) is set is widely secured at substantially the center of the setting range.

Subsequently, in the manual elevating control shown in FIG. 7, a target arm angle A of the lift arm 5 is calculated based on the lever angle of the elevating operation lever 9, and the target arm angle A and the detection arm angle B are made to coincide. The lift arm 5 is moved up and down. When the calculated target arm angle A is larger than the arm angle upper limit C set by the upper limit setting control, the target arm angle A is set to the target arm angle upper limit C. It has become to be. That is, even if the lifting operation lever 9 is operated to the ascending side beyond the upper limit value C of the arm angle, the working unit 3 is stopped at the position corresponding to the upper limit value C of the arm angle.

Further, the reverse climb control shown in FIG.
The working unit 3 is automatically raised based on the reverse operation, and the control is turned ON / OFF by operating the lifting restriction setting volume 13. That is, in the reverse ascending control, first, it is determined which of the right and left setting ranges the raising regulation setting volume 13 is located in, and if it is determined to be the left setting range, the automatic operation of the working unit 3 based on the reverse operation is performed. Although the ascending is performed, these controls are avoided when it is determined to be within the right setting range.

On the other hand, the automatic plowing depth control shown in FIG. 9 is based on the target sensor value (the target swing angle of the rear cover 18) based on the plowing depth set value.
Is determined, and the working unit 3 is maintained in a constant plowing state by expanding and contracting the hydraulic cylinder 4 based on a comparison between the target sensor value D and the sensor detection value E of the plowing depth detection sensor 13, The relationship between the setting position of the tillage depth setting volume 11 and the tillage depth setting value is as shown in FIG. That is, in the setting range where the setting frequency is high (90 mm to 130 mm), the setting range of the tillage depth setting volume 11 is secured widely so that the tillage depth can be set with high accuracy. The pitch of the number attached to the scale (equal pitch) of the cultivation depth setting volume 11 is narrowed. In addition, in the setting range described above, the setting operation is facilitated by making the number assigned to the scale coincide with the tillage depth set value (the scale number is displayed in centimeters). Note that the target sensor value A changes with a change in the set position when the set position of the tillage depth setting volume 11 is within the shallow tillage range or the deep tillage range due to the relationship with the rear cover movement control described later. While the value is determined, if the set value is within the middle tillage range,
The predetermined value is determined in advance.

The rear cover movement control determines the target vertical position of the rear cover 18 based on the set value of the plowing depth setting volume 11, and expands and contracts the electric cylinder 26 based on a comparison between the target vertical position and the detected position. Although it is intended to move 18 to an appropriate position, in the determination of the target vertical position, as shown in FIG. 11, the setting range of the cultivation depth setting volume 11, the shallow cultivation range, the middle cultivation range,
When the set position of the tillage setting volume 11 is within the shallow tillage range or the deep tillage range, the target vertical position is determined as the shallowest position and the deepest position, respectively, while the set value is If it is within the middle tillage range,
The target vertical position of the rear cover 18 is determined based on the set value. That is, the rear cover 18
Although it can be moved only in the middle tillage range, since the vertical movement range of the rear cover 18 and the middle tillage range are matched, the above-described automatic tillage depth control sets the target sensor value (the target swing angle of the rear cover 18) in the middle tillage range. As shown in FIG. 13, it is possible to determine a predetermined optimum value without any change. The relationship between the plowing depth setting volume 11 and the target vertical position of the rear cover 18 is as shown in FIG. 14 with the expansion of the predetermined setting range in the plowing depth setting volume 11, so that the rear cover 18
Is also set with high accuracy in a frequently set range.

In the embodiment of the present invention configured as described above, when performing burial work, trench work, and replacement of the working unit 3 while moving the aircraft backward, the working unit 3 is automatically operated based on the aircraft backward operation. It is necessary to cancel the reverse ascending control to make the ascent rise, but the switching of the reverse ascending control in the present invention is as follows.
The raising regulation setting volume 13 for setting the upper limit of the working unit 3 can be performed by operating the left or right setting range. Therefore, without providing a specially-designed switching switch for switching the reverse climb control, the number of parts can be reduced by effectively using the lifting regulation setting volume 13.

Further, in the embodiment, the setting range of the raising regulation setting volume 13 is divided into left and right so that the left setting range (reverse ascending control ON) is wider than the right setting range (reverse ascending control OFF). In the high reverse climbing control ON state, the upper limit can be set with high accuracy. In addition, since the setting range of the uppermost position in the upper limit setting is widely secured at substantially the center of the setting range of the raising regulation setting volume 13, the upper limit setting is set to the highest position and the reverse ascent control is set to ON. The standard setting position, which is the most frequently set, can be positioned at the center of the setting range of the lifting restriction setting volume 13.Therefore, a stopper or the like is provided in order to force the standard setting position to the center. Simplification of the structure and reduction of the number of parts can be achieved by eliminating the irrationality that restricts the setting range of.

Further, in the tillage depth setting volume 11 of the embodiment, a predetermined setting range with a high setting frequency is widely secured,
Corresponding to this, the pitch of the numbers attached to the scales is also narrowed, so that it is possible to easily set the cultivation depth with high accuracy. In addition, in the above-mentioned predetermined setting range, since the elevating speed of the working unit 3 due to the setting operation of the tillage depth setting volume 11 is low, there is also a problem that the engine speed is reduced due to a sudden load change in the working unit 3. Can be prevented.

[Operation and Effect] In short, since the present invention is configured as described above, the reverse work is performed while the vehicle is provided with reverse ascent control means for automatically raising the working unit based on the reverse operation of the traveling body. The switching of the reverse climbing control, which is necessary for burying work, trench work, and replacement of the working unit, is performed by selectively setting the volume for setting the upper limit of the working unit to each of the divided setting ranges. It can be done by manipulating. Therefore, the setting volume for setting the upper limit of the working unit can be used also as the switching operation tool for the reverse ascending control without providing a specially-designed switching switch as in the prior art, thereby reducing the number of parts. Cost can be reduced.

[Brief description of the drawings]

1 is a side view of a tractor, FIG. 1 is a side view of a tractor, FIG. 2 is a plan view of the same, and FIG. FIG. 4 is a plan view of a lifting regulation setting volume, FIG. 5 is a block diagram of a control mechanism, FIG. 6 is a flowchart of upper limit setting control, and FIG. 7 is a flowchart of manual lifting control. Fig. 8, Fig. 8 is a flow chart of the reverse climb control, Fig. 9 is a flow chart of the automatic plowing control, Fig. 10
FIG. 11 is a flowchart of the rear cover movement control, FIG. 11 is a plan view of the tillage setting volume, FIG. 12 is a graph showing the relationship between the setting position of the tillage setting volume and the set tillage value,
FIG. 13 is a graph showing the relationship between the plowing depth setting value and the target sensor value, and FIG. 14 is a graph showing the relationship between the setting position of the plowing depth setting volume and the target vertical position of the rear cover. In the figure, 1 is a traveling body, 3 is a working unit, 4 is a hydraulic cylinder,
5 is a lift arm, 8 is a shift lever, and 13 is a lifting restriction setting volume.

Claims (1)

(57) [Scope of request for utility model registration] An up / down control unit for controlling the up / down operation of the working unit includes an upper limit setting control means for setting an upper limit of the working unit based on a set position of a set volume, and a working unit based on a reverse operation of the traveling body. In a working vehicle provided with reverse ascending control means for automatically ascending, the setting range of the setting volume is divided into two setting ranges in which a similar upper limit can be set, and the setting is set in the elevating control unit. A reverse ascent control switching means for executing reverse ascent control when the volume is located in one set range and canceling the reverse ascend control when the volume is located in the other set range; A lifting / lowering control device for a working unit in a traveling vehicle.