JP2000083410A - Elevation controller of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify the position and the operation of a level for carrying out an elevating operation of a working machine. SOLUTION: This elevation controller has an elevating operation lever 12 of a working machine, capable of being operated in the mutually crossing two directions, the first detection means 53 for detecting the operation position of the level in one direction, the second detection means 54 for detecting the operation position of the lever in the other direction, an elevating means for lifting and lowering the working machine, and a controlling means for controlling the elevating means so as to lift and lower the working machine to the position corresponding to the result detected by the first detection means, and also so as to lift and lower the working machine successively between the working position and the non-working position based on the result detected by the second detection means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work machine elevating control device for an agricultural machine such as a tractor or a rice transplanter.

[0002]

2. Description of the Related Art With respect to lifting and lowering of a working machine in a tractor or a rice transplanter, there are cases where the working machine is lifted to an arbitrary position,
There is a case where the user moves up and down continuously between a predetermined working position and a non-working position. Conventionally, these two kinds of lifting and lowering are respectively operated by different operation levers.
For example, in many cases, the former lever for raising and lowering operation is provided on the side of the control seat, and the latter for raising and lowering operation is provided near the lower side of the control handle so that it can be operated only with a fingertip. .

[0003]

Since the agricultural machine is provided with a large number of various levers other than those for raising and lowering the working machine, the arrangement of the levers is complicated and operation errors easily occur. In addition, since the lever provided on the side of the control seat must be operated with the hand released from the control handle, the operation of the lever is delayed in an emergency or the handle operation is performed for the operation of the lever. It was the cause of mistakes. Therefore, an object of the present invention is to make it possible to perform the above-described two types of work machine lifting / lowering operations with a common lever, and to simplify the arrangement and operation of the lever.

[0004]

Means for Solving the Problems In order to solve the above problems, the present invention is configured as follows. That is, the work implement elevating control device according to the present invention includes a work implement elevating operation lever operable in two directions intersecting each other, a first detecting unit for detecting an operation position of the lever in one direction, A second detecting means for detecting an operation position in the direction of, a lifting means for lifting and lowering the working machine, and a lifting and lowering of the working machine to a position corresponding to the detection result of the first detecting means, and the detection of the second detecting means Control means for controlling the elevating means so as to continuously raise and lower the working machine between the working position and the non-working position based on the result.

[0005]

Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a state in which a rotary tilling device is mounted on a tractor as a working machine. The tractor 1 is a four-wheel drive vehicle provided with a pair of left and right front wheels 2 and 2 and rear wheels 3 and 3, and has an engine 5 at the front of the body.
Are mounted, a clutch housing 6 is provided on the rear side, and a transmission case 7 is further provided on the rear side. Fenders 8, 8 are attached to the left and right rear wheels 3, 3 from the front to the top, and a seat 9 is installed between the left and right fenders.

[0006] At the upper end of a steering shaft 10a projecting upward in front of the seat 9, a steering handle 10 for steering the front wheels 2, 2 as steering wheels is provided. A work implement raising / lowering operation lever 12 for raising and lowering the work implement is provided below the steering handle 10. Further, the rear wheel brake devices 37L and 37
Brake pedals 13L, 13 for actuating R independently for left and right
R is provided. Further, beside the seat 9, a control box 14 for accommodating a controller to be described later is provided.
The control box is provided with various switches and setting devices.

[0007] Lift arms 21, 21, which are vertically rotated by a lifting hydraulic cylinder 20 as lifting means, are provided at the rear of the body.
Is provided. The distal ends of the lift arms 21 and 21 and the intermediate portions of the lower links 22 and 22 are
The lower link 2 is connected to the lower link 2 by moving the lift arms 21 and 21 up and down.
The work machine 26 supported by a three-point link mechanism composed of the top link 25 and the top link 22 moves up and down. The left lift rod 23 is a hydraulic cylinder for tilting left and right, and by expanding and contracting the hydraulic cylinder, the tilt of the working machine 26 is adjusted.

FIG. 2 is a transmission mechanism diagram of the tractor. The rotational power of the engine 5 is input to the transmission case 7 via the main clutch 30 in the clutch housing 6 so that the power can be transmitted and disconnected. The power input to the transmission case 7 is first transmitted and branched to two systems, a driving power for driving the front wheels and the rear wheels, and a PTO driving power for extracting external power.

The traveling driving force is switched between forward and reverse by a forward / reverse switching device 31, a main transmission device 32, and an auxiliary transmission device 33 and shifted, and a part of the driving force is transmitted via a rear differential device 36 to the left and right rear wheels 3. , 3. In the transmission path to the rear wheels 3, 3, rear wheel brake devices 37L, 37R capable of individually braking the left and right rear wheels are provided. The rear wheel brake device is operated by a depression force of the brake pedals 13L and 13R, and is also operated by a brake cylinder 38.
L, 38R. The remaining power that has been shifted is supplied to the drive switching device 40.
Via the front differential device 42 in the front wheel axle case 41 and transmitted to the front wheels 2. The drive switching device 40 includes the front wheels 2, 2
And a "front and rear wheel constant speed four-wheel drive" that drives the rear wheels 3 and 3 at substantially the same speed, and a "front wheel speed-up four-wheel drive that drives the front wheels 2 and 2 and the rear wheels 3 and 3 at a speed ratio of approximately 2: 1 And a device for switching to a "rear wheel two-wheel drive" in which the driving of the front wheels 2 and 2 is turned off and only the rear wheels 3 and 3 are driven.

On the other hand, the PTO driving force is transmitted by the PTO transmission 4
4 and taken out from the rear part of the transmission case 7 to the PTO shaft 45 projecting rearward. And PTO shaft 4
A transmission shaft 46 to various working machines is detachably connected to the projecting portion 5 by transmission.

FIG. 3 shows a mounting portion of the working machine elevating operation lever 12. The work implement elevating operation lever 12 is provided with a rotating shaft 5 at a right end of a rotating body 51 rotatably fitted to an outer peripheral portion of a steering post 50 supporting the steering shaft 10a.
2 to rotate the rotating body 51 back and forth around the steering shaft.
The tip side can be turned up and down around two turns. Since the grip portion of the work implement elevating operation lever 12 is provided so as to be located near the lower right end of the steering handle 10, the above two directions can be operated by a finger while holding the steering handle 10 with the right hand. Can be rotated.

A gear 51a is provided on a part of the outer peripheral portion of the rotating body 51.
The pinion 53a attached to the detection shaft of the potentiometer 53 as the first detection means meshes with the gear 51a. Thereby, the potentiometer 53 detects the turning angle of the work implement elevating operation lever 12 in the front-rear direction. Further, a limit switch 54 as a second detection means is attached to the rotating body 51, and by rotating the working machine elevating operation lever 12 up and down,
The limit switch 54 switches between ON and OFF. For convenience, when the working machine elevating operation lever 12 is operated upward, it is turned on, and when it is operated downward, it is turned off.
Actually, ON / OFF may be reversed.

The elevating hydraulic cylinder 20 is controlled to expand and contract by a solenoid control valve (not shown). The ascending solenoid 60 and the descending solenoid 61 of the control valve are provided with the potentiometer 53, the limit switch 54,
Based on the detection result of the lift arm sensor 63 for detecting the angles of the lift arms 21 and 21, the drive is driven by an energization signal output from a controller 64 as a control means (see FIG. 4).

That is, as shown in the flow chart of FIG. 5, when the working machine elevating operation lever 12 is operated upward to switch the limit switch 54 from OFF to ON, the working solenoid is continuously energized by turning on the ascending solenoid 60. When the limit switch 54 is switched from ON to OFF by operating the working machine elevating operation lever 12 downward at a stretch to the working position (uppermost position), the lowering solenoid 61 is continuously energized to set the working machine in advance. To a working position.

When the potentiometer value is changed by operating the work implement elevating operation lever 12 in the front-rear direction, the work implement position indicated by the changed potentiometer value and the actual work implement position indicated by the lift arm sensor value match. So that the ascending solenoid 60 or the descending solenoid 6
The work machine is raised and lowered by applying a pulse current to 1. In addition, when operating the work implement elevating operation lever 12 in the front-rear direction, if the lever position at the start of the operation does not match the actual work implement position, the work implement has a check function for restricting energization to the solenoids 60 and 61. ing. This check function is performed when the work implement lifting / lowering operation lever 12 is moved back and forth due to an erroneous operation or the like after the work implement lifting / lowering operation lever 12 is vertically operated to move the work implement to the non-working position or the working position. In addition, it is intended to prevent the working machine from unexpectedly moving up and down. When the work implement elevating operation lever 12 is erroneously operated as described above, the work implement elevating operation lever 12 is temporarily moved until the actual work implement position and the lever position match, and then the new work implement elevating operation lever 12 is newly operated. May be operated to a desired position.

The brake cylinders 38L, 38
R is also controlled to extend and contract by a pair of solenoid control valves (not shown), and the brake solenoids 66 and 67 of these control valves output the detection result of the steering amount sensor 68 for detecting the operation amount of the steering handle 10. Based on
It is driven by an energization signal output from the controller 64 (see FIG. 6). That is, when the steering amount exceeds a certain value so that the body turning can be performed smoothly, the brake solenoid 66 (or 67) is output so that the brake is applied only to the rear wheel inside the turning, and the steering amount returns to less than the certain value. Then, the one-side brake is stopped. The magnitude of the steering amount at which the one-brake operation starts and stops can be arbitrarily set by the one-brake operation timing setting device 69.
For this reason, appropriate braking can be performed according to the hardness and the like of the field. The steering angle may be detected by measuring the turning angle of the front wheels.

[0017]

As is apparent from the above description, the working machine lifting / lowering control device according to the present invention is provided with a working machine lifting / lowering operating lever operably provided in two directions intersecting each other, and operating the lever in one direction. The work machine goes up and down to any position,
When the lever is operated in another direction, the working machine is continuously moved up and down between a predetermined working position and a non-working position.
It is now possible to use a book lever to reduce the number of levers, and any of the above operations can be easily operated with only a fingertip while holding the control handle, for example.

[Brief description of the drawings]

FIG. 1 is a side view of an agricultural machine in which a rotary tilling device is mounted on a tractor.

FIG. 2 is a transmission mechanism diagram of a tractor.

FIG. 3 (a) is a plan view of a working machine elevating operation lever mounting portion,
(B) is a rear view.

FIG. 4 is a block diagram of a work implement elevation control device.

FIG. 5 is a flowchart of work implement elevating control.

FIG. 6 is a block diagram of a rear wheel brake control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tractor 2 Front wheel 3 Rear wheel 10 Steering handle 12 Work implement elevating operation lever 20 Elevating hydraulic cylinder (Elevating means) 26 Work implement 37L, 37R Rear wheel brake device 53 Potentiometer (First detection means) 54 Limit switch (Second detection) Means) 60 Ascending solenoid 61 Ascending solenoid 64 Controller (control means) 66, 67 Brake solenoid 68 Single brake actuation timing setting device

Continuation of the front page F term (reference) 2B304 KA08 LA02 LA06 LB05 LB15 MA03 MB02 MC08 MC12 PA01 PA11 QA08 QA22 QB01 QB13 QC04 QC14 QC16 RA27

Claims (1)

[Claims] 1. A work implement raising / lowering operation lever operable in two directions crossing each other, a first detection means for detecting an operation position of the lever in one direction, and detecting an operation position of the lever in another direction. Second detecting means, elevating means for elevating and lowering the work implement, and raising and lowering the work implement to a position corresponding to the detection result of the first detection means, and moving the work implement to a work position based on the detection result of the second detection means And a control means for controlling the elevating means so as to continuously elevate and lower between a work position and a non-working position.