JP2000184803A - Turning control device of powered vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject device capable of easily adjusting a working point without lifting a working machine even when a vehicle is turned by moving forward and backward in order to adjust the working position at a ridge side and without preventing a view when moving backward by installing a control means capable of lifting the working machine in a specific case. SOLUTION: In a powered vehicle so constituted to lift a working machine connected to the rear part of a machine body interlocking with a turning operation of the machine body, a sensor for detecting the proceeding direction is installed to the machine body and a control means, which enables to lift the working machine when the proceeding direction of the machine body is detected to be a forward movement by the sensor, is installed. In this case, it is preferable to constitute the sensor for detecting the proceeding direction to detect the operating position of a back and forth changeover lever installed below a handle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning control device for a powered vehicle such as a tractor, and an object of the present invention is to accurately raise a working machine when turning.

[0002]

2. Description of the Related Art It is known that a working machine connected to a rear portion of a machine body moves up and down in conjunction with a steering operation. In this conventional device, the hydraulic lifting mechanism and the steering operation system are mechanically linked, so that the work implement rises when the steering wheel is turned regardless of whether the body is moving forward or backward. However, when working with the vehicle, the steering wheel may be turned while moving the vehicle backward to adjust the work point,
At this time, if the working machine rises, there is a problem that the visibility is hindered and it is difficult to adjust the working point.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and the following technical measures have been taken. That is, in a powered vehicle configured to raise a working machine connected to a rear part of the fuselage in conjunction with a turning operation of the fuselage, a sensor for detecting a traveling direction is provided on the fuselage, and the sensor advances the traveling direction of the fuselage. The turning control device for a powered vehicle is provided with control means for enabling the work machine to rise when the detection is made. Further, the sensor for detecting the traveling direction according to claim 1 is configured to detect an operation position of a forward / reverse switching lever provided below the steering wheel.

[0004]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on embodiments shown in the drawings. First, the structure will be described. Reference numeral 1 denotes a tractor, 2 denotes a front wheel, and 3 denotes a rear wheel.
An engine 4 is mounted on a front part of the tractor, and a clutch housing 6 containing a main clutch 5 and a transmission case 8 containing a transmission are sequentially connected to a rear part of the engine 4. In the transmission case 8, there are provided a main transmission 9 capable of four-speed shifting, an auxiliary transmission 10 also capable of four-speed shifting, and a forward / reverse switching device 11 for changing the traveling direction of the fuselage. ing.

The main transmission 9 and the auxiliary transmission 10 are both constituted by synchromesh type transmissions, and only the forward / reverse switching device 11 is constituted by a hydraulic clutch having two clutch packs. When shifting is performed and the main transmission 9 or the auxiliary transmission 10 is switched, first, the hydraulic clutch of the forward / reverse switching device 11 is turned off.
F, then the main transmission 9 or the auxiliary transmission 10 is switched, and when the shift is completed, the hydraulic clutch of the forward / reverse switching device 11 is connected again. Reference numeral 12 denotes a forward / reverse switching lever for operating the forward / reverse switching device 11, 13 denotes a main transmission lever, and 14 denotes an auxiliary transmission lever. A forward detection switch 15 for detecting the forward switching state is provided at the rotation base of the forward / reverse switching lever 12, and a vehicle speed detection switch 16 for detecting that the vehicle speed is low is provided at the rotation base of the auxiliary transmission lever 14. A steering angle sensor 17 for detecting a turning angle of the front wheel 2 is provided at a rotating portion of the front wheel 2. In this embodiment, it is determined that the vehicle speed is low,
Although the configuration in which the indirect detection is performed at the lever position is adopted, the vehicle speed may be directly detected from a Doppler vehicle speed sensor or a sensor that measures the rotation of the rear wheel.

A lift arm 20 is pivotally supported at the rear of the body of the tractor 1. When hydraulic oil is supplied to and discharged from a hydraulic cylinder in a hydraulic cylinder case 22, the lift arm 20 is rotated. It is configured to move up and down. In the drawings, reference numeral 26 denotes a steering handle, 27 denotes a seat, and 28 denotes a position type hydraulic operation lever. An analog position setting device 29 is provided at the rotation base of the hydraulic operation lever 28, and the lift arm 20 is provided.
The hydraulic lift mechanism is controlled so that the value of the lift arm angle sensor 30 provided at the base of the above and the value of the position setting device 29 substantially match, and the position is controlled here.

The rotary tillage device 24 can perform not only position control but also plowing depth control (depth control). The plowing depth control is performed by a conventionally known method. The hydraulic lifting mechanism is controlled so that the value detected by the tillage depth sensor 34 installed on the tillage device 24 matches. Next, the block diagram of FIG. 2 will be described. Controller 36 composed of a microcomputer
The input side is connected to the steering angle sensor 17, the forward detection switch 15, and the vehicle speed detection switch 16 for indirectly detecting that the vehicle speed is low, and further connected to a switch 37 for switching the control mode. Have been. When the mode switch 37 is turned on, it is possible to perform turning control in which the work implement rises or descends in conjunction with the operation of the steering handle. When the mode switch 37 is turned off, turning control in conjunction with the steering handle becomes impossible.

The output side of the controller 36 is connected to a solenoid valve 39 for raising and lowering the working machine and a solenoid valve 40 for lowering the working machine. Controller 36
When the ascending or descending solenoid valve is selectively energized by a command from the work machine, the working machine moves up and down. Since a program for performing the turning control is stored in the controller 36, its operation will be described below with reference to the flowchart of FIG.

First, the states of sensors and switches are read (step S1), and it is determined whether or not the mode switch 37 has been pressed to perform turning control (step S2). Then, when the forward / reverse switching lever 12 is operated to the forward side (step S3), the sub transmission lever 14 is switched to the low speed (step 4), and when the rotary tilling device 24 is operated to the lower side (step S5). In this case, it is determined whether or not the work implement is raised based on the state of the steering angle sensor 17. That is, when the steering handle 26 is disengaged from the straight traveling state in the above state and is largely turned on the premise of turning, the steering angle sensor 17 detects this and excites the ascending solenoid valve 39 so that the working machine Is raised (steps S6 and S7).

When turning is completed while the rotary tilling device 24 is lifted, and the steering handle 26 is returned to the straight running state, it is measured by a timer whether or not a fixed time has elapsed since the turning end operation. Sets a descent flag to excite the descent solenoid valve 40 (steps S8, S9, S10, S11, S12).

The automatic descent flag is set (step S1).
3) When a certain time has elapsed (step S14),
Energize the descending solenoid valve 40 (step S1)
5). In this embodiment, the operation is described assuming that the adjacent tilling work is performed while reciprocating in the field. In this case, the steering is performed so that the end of the rotary tilling device 24 is aligned with the end of the cultivated land. Handle 26
Therefore, even if the descent flag is set, the descent output is not output until a certain time elapses.

As described above, in this embodiment, the rotary tillage device 24 rises in conjunction with the turning operation only during the work, and the rotary tillage device 24 descends again after a certain period of time after the end of the turn. In this case, the turning operation is simplified, and the burden on the operator is greatly reduced. Although not shown in the drawings, when the work machine is lifted in conjunction with the turn and the brake inside the turn is operated in an interlocking configuration, a small turn is possible, and the turn operation is simplified and more convenient than before. .

Next, the structure and operation of the improved device shown in FIGS. 4 to 6 will be briefly described. The tractor 1 described in the above embodiment is provided with various setting devices and sensors. When these setting devices and sensors are mounted at predetermined locations, the reference values stored in the storage device of the controller 36 and the reference values are used. After confirming that the detection values at a specific position (for example, the upper limit position) of the setting device or the sensor match, the setting device or the sensor must be fixed with screws or the like.

In general, in the case of a sensor, a buzzer or the like is used to notify when the reference value and the detected value match. However, since the accuracy of each sensor varies, the adjustment and the like are complicated. In recent years, E
The reference value is written to the EPROM each time to simplify the operation. For example, when attaching the lift arm angle sensor 30 to the lift arm 20, the lift arm 20 is rotated to the upper or lower limit position, and then the lift arm angle sensor 30 is attached, and this position is recognized as the upper or lower limit. The detected value at that time is written in the EEPROM as a reference value. This method has the advantage that the operability is improved by eliminating the need for complicated operations such as fine adjustment and confirmation as in the past, but the control operation becomes defective when there is an error in writing to the EEPROM. There is a problem that cannot be expected.

Therefore, the improved apparatus described here is designed to stabilize control by writing a reference value in another area and writing an address at the same time when a write error occurs. The configuration will be described with reference to FIG. 4 (portions having the same configuration as the above embodiment are denoted by the same reference numerals). A switch 41 for turning on / off the check mode, a position setting device 29, , Tillage setting device 32, tillage depth sensor 3
4 is connected. The output side is connected to a solenoid valve 39 for raising and lowering the working machine, a solenoid valve 40 for lowering, and a buzzer 42.

Further, an EEPROM 44 for storing a reference value of each sensor is provided in the controller 36. FIG. 5 shows a memory map of the EEPROM 44. When a write error occurs, an area A for writing the error information and an area B for writing a reference value are provided. When the reference value is rewritten in another area, the address is also stored.

As is clear from the flowchart of FIG. 6, when writing the reference value of each sensor, the buzzer 42 sounds continuously if the writing area is full, and if the writing area is not full, after writing, the buzzer 42 sounds. The write value and the read value are compared, and if an error occurs and the values do not match, a write change is made. When the writing is completed without any error, the buzzer 42 sounds once.

[0018]

According to the present invention, as described above, in a powered vehicle configured to raise a working machine connected to a rear portion of the machine in association with a turning operation of the machine, a sensor for detecting a traveling direction is provided on the machine. Since the sensor is provided with a control means that enables the work machine to be lifted when the forward direction of the machine body is detected to be a forward movement, for example, in the case of ridge work such as scraping work or spraying work. Therefore, even if the vehicle is turned backward while adjusting the work point, the work machine does not rise, and the work point can be easily adjusted. Also, it does not obstruct the field of view during reverse travel.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor with a working machine.

FIG. 2 is a block diagram showing a control system.

FIG. 3 is a flowchart illustrating an operation.

FIG. 4 is a block diagram of a partially modified device.

FIG. 5 is a diagram illustrating a memory map of an EEPROM.

FIG. 6 is a flowchart illustrating the operation of the device of FIG. 4;

[Explanation of symbols]

 Reference Signs List 1 tractor 11 forward / reverse switching device 12 forward / backward switching lever 15 forward detection switch 17 steering angle sensor 24 rotary tillage device 36 controller

Claims (2)

[Claims] In a powered vehicle configured to raise a working machine connected to a rear part of a body in conjunction with a turning operation of the body, a sensor for detecting a traveling direction is provided on the body, and the sensor detects the traveling direction of the body. A turning control device for a powered vehicle, further comprising control means for enabling the work machine to rise when it is detected that the direction is forward. 2. The turning control device for a powered vehicle according to claim 1, wherein the sensor for detecting the traveling direction according to claim 1 is configured to detect an operation position of a forward / reverse switching lever provided below the steering wheel.