JP2001000006A - Tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a tractor having improved operability by providing a specific speed determining means and a specific command outputting means to perform quick posture-changing operation when the target posture is distant and slow operation when the target posture is near. SOLUTION: The posture of a working machine relative to a mobile machine body of a tractor is controlled either by a setting operation with a posture- setting device or by a switching operation with a posture-controlling switch placed separately from the posture-setting device. The tractor is provided with a speed determining means to determine the posture controlling speed according to the switch operation period of the posture-controlling switch and a command outputting means to output a command to get the determined posture controlling speed. At least one of the lifting speed of the working machine by a lift arm and the inclining speed of the working machine by a lift drop can be used as the posture-controlling speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the technical field of a tractor capable of controlling the attitude of a working machine such as a tilling device with respect to a traveling machine body.

[0002]

2. Description of the Related Art Generally, in a tractor of this type, lifting and lowering control and tilt control of a working machine with respect to a traveling body are performed by setting operation of a position setting device such as a position lever and a tilt setting device disposed around a driver's seat. I was However, when attaching and detaching the work machine, the workability is poor because the detached state is difficult to see from the driver's seat.Therefore, in addition to the setting device, a posture setting switch that can be operated from outside the vehicle is provided. In some cases, the operator operates the switch while watching the attachment / detachment state to control the posture of the work implement.

[0003]

However, in the prior art, when the attitude control switch of the work implement is operated by a switch operation, the attitude control speed is set to be constant.
Therefore, if the attitude control speed is set to a high speed, it becomes difficult to align the work implement, while if it is set to a low speed, there is a problem that the alignment takes a long time when the target position is far away, and the workability is lacking. Here, there is a problem to be solved by the present invention.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in order to solve these problems in view of the above-mentioned circumstances, and is intended to control the posture of a working machine with respect to a traveling machine by using a posture setting device. In a tractor configured to be able to execute both the setting operation according to the above and the switch operation by a posture control switch provided separately from the posture setting device, the posture control speed is determined according to the switch operation time of the posture control switch. And a command output means for outputting a command to achieve the determined attitude control speed. This makes it possible to automatically perform low-speed transformation when controlling the posture slightly, and high-speed transformation when the target position is separated based on the operation time of the switch. Is improved. In this case, the attitude control speed can be characterized in that it is at least one of the lifting / lowering speed of the working machine by the lift arm and the tilting speed of the working machine by the lift rod. You will be able to make different changes in figure speed.

[0005]

Next, an embodiment of the present invention will be described with reference to the drawings. In the figure, reference numeral 1 denotes a traveling body of an agricultural tractor, and a hydraulic case 3 is provided above a transmission case 2 provided at a rear portion of the traveling body 1.
A pair of left and right lift arms 4 is provided on the hydraulic case 3 so as to be vertically swingable. The lift arm 4 simultaneously swings up and down by the expansion and contraction of a main hydraulic cylinder 5 housed in the hydraulic case 3. Is omitted.

On the other hand, reference numeral 6 denotes an elevating link comprising a top link 6a and a lower link 6b. A rotary type working machine 7 is mounted at the rear of the elevating link 6, and the left and right lower links 6b and the lift Arm 4 is lift rod 8
, One of the right and left lift rods 8 is constituted by a sub-hydraulic cylinder 9. The vertical movement control of the work machine 7 is executed by the expansion and contraction operation of the main hydraulic cylinder 5 described later, and the left and right inclination control of the work machine 7 is executed by the expansion and contraction operation of the sub hydraulic cylinder 9.

On the left and right sides of the driver's seat 10 of the traveling body 1,
A position lever 11 and an inclination setting device 12 are provided,
When the operator operates the position lever 11 and the tilt setting device 12 while sitting in the driver's seat 10, the expansion and contraction control of the two hydraulic cylinders 5 and 9 can be performed. Also, on the outer surface of the rear fender 10,
An elevating switch 13 and an inclining switch 14 are provided for the operator who got off the body 1 to perform a switch operation to control the expansion and contraction of both hydraulic cylinders 5 and 9.

FIG. 2 shows a hydraulic circuit diagram of the raising / lowering switch 13 and the tilting switch 14. Here, reference numeral 15 denotes a hydraulic pump driven in conjunction with the engine E, and reference numeral 16 denotes a main control for controlling expansion and contraction of the main hydraulic cylinder 5. Control valves (electromagnetic proportional type) and 17 are sub-control valves (electromagnetic proportional type) for controlling expansion and contraction of the sub-hydraulic cylinder 9, and these control valves 16 and 17 are used for controlling the flow rate based on a control command from a control unit 18 described later. The valve path is set to open and close in a controlled state.

The control section 18 is constituted by using a microcomputer. The control section 18 receives signals from the position lever 11, the inclination setting device 12, the elevation switch 13 and the inclination switch 14, and Control commands are output to both control valves 16 and 17 based on these input signals. Here, conventional procedures for position control and tilt control by the position lever 11 and the tilt setting device 12 are adopted. However, such a technique is not particularly necessary for describing the present embodiment, so that it is not necessary. The details will be omitted, and the control procedure in the case of operating the lifting switch 13 and the tilt switch 14 will be described below.

The control unit 18 includes an elevating switch 1
3. A counter means 19 for counting each ON operation time of the tilt switch 14 is provided, and a control command is outputted to the control valves 16 and 17 so that the valve opening amounts correspond to the counted times. Is set. The valve opening control in this case is controlled, for example, as a graph shown in FIG. 3, and an example of the control procedure is shown in a flowchart in FIG. In other words, start the system,
It is determined whether or not the up / down switch 13 has been turned on. If it is determined that the up / down switch 13 has been turned on, the ON time is counted, and control is performed based on the counted ON time. The valve opening amount of the valve 16 is determined (having the maximum value, and the speed is increased as the count number increases), and a control command based on the determined disclosure amount is output to the control valve 16, whereby The rising (falling) operation speed of the main hydraulic cylinder 5 is set. On the other hand, the tilt switch 14
Is further determined whether or not the ON operation has been performed. If it is determined that the ON operation of lowering the left (reducing the sub hydraulic cylinder) or lowering the right (extending the sub hydraulic cylinder) has been performed,
The ON time is counted, and the valve opening amount of the control valve 17 is determined based on the counted ON time (determined such that the control valve 17 has a maximum value and the speed increases as the count number increases). A control command based on the disclosed amount is output to the control valve 17,
Thereby, the expansion / contraction speed of the sub hydraulic cylinder 9 is set.

In the construction as described above, the lifting position and the inclination posture of the work machine 2 with respect to the traveling machine body 1 are determined by the position lever 11 and the inclination setting device 12 operated by the operator sitting in the driver's seat 10 in addition to those by the operator. An elevator switch 13, which is operated by the operator moving to the rear outside the vehicle,
The operation is performed by operating the tilt switch 14, and the speeds of the vertical movement and the tilt control when the switches 13 and 14 are turned ON become faster as the switch ON operation time is longer. As a result, when the target position for the transformation is far, high-speed operation can be performed, and when the target position is close, low-speed operation can be performed, so that operability is improved.

Further, in this device, the lifting switch 1
3. Since the speed changes depending on the operation time of each ON operation of the tilt switch 14, for example, as for the lifting speed of the work implement 2 which may have a large moving amount, the rate of change with time is increased, and the moving amount is increased. With respect to the inclination speed of which is small, the rate of change with time can be reduced so that the speed change suitable for the elevation control and the inclination control can be set.

It is needless to say that the present invention is not limited to the above-described embodiment, and that the tilt control is performed only for the elevation control without implementing the present invention because the moving distance is small. And vice versa.

[Brief description of the drawings]

FIG. 1 is a schematic side view of an agricultural tractor.

FIG. 2 is a hydraulic circuit diagram of a hydraulic cylinder.

FIG. 3 is a graph showing a relationship between a switch ON time and a cylinder operating speed.

FIG. 4 is a flowchart showing a control procedure.

FIG. 5 is a block circuit diagram of a control system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 2 Work implement 5 Main hydraulic cylinder, 9 Sub hydraulic cylinder 13 Lifting switch 14 Tilt switch 18 Control part

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toyoharu Endo 667 Idaicho, Oji, Higashi-Izumo-cho, Yatsuka-gun, Shimane 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. Address 1 Inside Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Shigeharu Kimura 667 Iida-cho, Oji-machi, Higashi-Izumo-cho, Yatsuka-gun, Shimane Prefecture 1 Within Mitsubishi Agricultural Machinery Co., Ltd. Address 1 F-term in Mitsubishi Agricultural Machinery Co., Ltd. (Reference) 2B304 KA08 LA02 LB05 MA06 MB02 MC02 MC08 PA11 PB02 QA08 QA09 QB18 QB28 RA08 RA10 3H089 AA32 BB15 DA02 DA13 DB03 DB13 DB33 DB46 DB49 EE16 EE31 EE36 GG02 JJ29 JA5 LA15 LA18 LB07 MA02 MA21 MA33 5H301 AA03 AA10 BB01 CC08 DD06 DD07 JJ01

Claims (2)

[Claims] 1. A work machine attitude control with respect to a traveling machine body,
In a tractor configured to be able to execute both a setting operation by a posture setting device and a switch operation by a posture control switch provided separately from the posture setting device, posture control is performed according to a switch operation time of the posture control switch. A tractor comprising: speed determining means for determining a speed; and command output means for outputting a command so as to achieve the determined attitude control speed. 2. The tractor according to claim 1, wherein the attitude control speed is at least one of a lifting / lowering speed of the working machine by a lift arm and an inclining speed of the working machine by a lift rod.