JP2002101737A - Controller of working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To continue operation by actuating an actuator AC while avoiding the occurrence of trouble such as an accident in the actuator AC for moving and operating an object of operation or the object of operation when the execution of manual operation control is stopped because of an abnormality in detected information from an operating state detecting means SS for detecting an operating position of the object of operation. SOLUTION: This controller for a working machine is capable of stopping the execution of the manual operation control for controlling the actuator AC based on operation information for manual operation inputted from a manual operating type information inputting means J and detected information from the operating position detecting means SS when the detected information from the operating position detecting means SS is judged to be abnormal by a controlling means H and executing an emergency operation for controlling the actuator AC in the operating state for emergency operation different from the operating state for manual operation in the manual operation control in the state of the stopped execution of manual operation control based on the operation information for manual operation inputted from the manual information inputting means J.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control means for controlling a work actuator, a manually operated information input means for inputting operation information for manual operation, and an operation position of the actuator or its actuator. Operating position detecting means for detecting an operating position of an operation target to be moved, and the control means controls the actuator based on the operation information by the information input means and the detection information of the operating position detecting means. The present invention relates to a work machine control device configured to execute a manual operation control.

[0002]

2. Description of the Related Art In a working machine control apparatus having the above-described structure, for example, in a combine as a working machine, an electric motor for turning a grain unloader and a hydraulic cylinder for lifting and lowering are provided as working actuators. ,
As operation information for manual operation, manual operation type information input means including a manual switch for inputting a command for turning the unloader and raising and lowering operation is provided. As an operation position detecting means, the operation of the unloader turning motor and the operation of the lifting cylinder are performed. A sensor for detecting a position, a sensor for detecting an operation position of a grain discharging unloader which is an operation target to be moved and operated by the actuator, and the like are provided. Then, the control means constituted by a microcomputer or the like, based on the operation information for manual operation and the detection information of the operation position detection means,
Manual operation control for controlling the actuator is being performed.

[0003] In addition to the manual operation control described above, the control means includes information on a set target value set in advance by a manual operation tool such as a set target value or a volume stored in the control means, Automatic operation control for operating the actuator based on the detection information of the position detection means so that the detected operation position of the operation target becomes the set target value is also executed.

In the manual operation control and the automatic operation control, the actuator is operated when the operation position of the actuator or the operation target is within a preset allowable range, but the operation position reaches the limit position of the allowable range. Then, by forcibly stopping the operation of the actuator, if the actuator continues to be excessively operated so as to operate beyond the above-mentioned limit position, it is possible to prevent trouble such as failure of the actuator and the operation target from occurring. ing.

[0005] The manual operation control and the automatic operation control are executed when the detection information of the operation state detecting means is normal, but when the operation state detecting means has some abnormality and the detection information is abnormal. In such a case, if the actuator is controlled based on such abnormality detection information, there is a possibility that the above-described trouble may occur. Therefore, the control means stops the execution of the manual operation control and the automatic operation control. .

[0006]

In the above conventional configuration, when the execution of the manual operation control or the automatic operation control by the control means is stopped because the detection information of the operation state detecting means is abnormal, the actuator is operated. It will not be able to operate and continue work. As a result, for example, in the above-mentioned combine, there were inconveniences such as interruption of the harvesting and harvesting work and occurrence of downtime until the abnormality was eliminated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has as its object to provide a method for controlling the operation of an actuator or the like when the execution of manual operation control is stopped due to abnormal detection information of the operation state detecting means. While avoiding the occurrence of troubles such as failure of the operation target and ensuring safety in operation,
It is an object of the present invention to provide a control device for a working machine that can continue an operation by operating an actuator.

[0008]

According to the present invention, when the control means determines that the detection information of the operation position detection means is abnormal, the control means stops execution of the manual operation control, and An emergency operation control for controlling the actuator in an emergency operation state different from the manual operation state in the manual operation control is performed based on the operation information by the information input means. .

That is, when the control means determines that the detection information of the operation position detection means for detecting the operation position of the work actuator or the operation position of the operation object moved by the actuator is abnormal, the control means manually operates the operation actuator. The execution of the manual operation control for controlling the actuator based on the operation information for manual operation input from the operation type information input means and the detection information of the operation position detecting means is stopped.
In the state where the execution of the manual operation control is stopped as described above, the operation for the manual operation in the manual operation control is performed based on the operation information for the manual operation input from the information input means of the manual operation type. The emergency operation for controlling the actuator is performed in an operation state for an emergency operation different from the state.

In the emergency operation control, the actuator is operated in an emergency in an operation state different from that in the case of the ordinary manual operation control. Operating at a slower speed than in the case of manual operation control, operating the actuator for a short time or in small increments,
Or, in other words, restricting the operable range of the actuator to a range narrower than that in the operation state for manual operation. In short, since it is an emergency operation, operational safety is lower than that in the normal operation state for manual operation. In consideration of this, the operation is performed such that no trouble occurs in the operation target or the actuator.

Therefore, in the emergency operation control, unlike the case of the ordinary manual operation control, when the control means operates the actuator based on the operation information from the manually operated information input means, the emergency operation control is performed. By operating the actuator in consideration of operational safety in an emergency operating state different from the manual operating state, operational safety can be ensured. As a result, when manual operation control is stopped due to abnormal detection information of the operation state detecting means, troubles such as a failure of the actuator and the operation target are prevented from occurring and operation safety is secured. However, there is provided a control device for a work machine that can operate an actuator to continue work.

According to a second aspect, in the first aspect, the information input means is configured to be capable of inputting an automatic operation command, and the control means is configured to input the automatic operation command by the information input means. Executing automatic operation control for controlling the actuator so that the movement position of the operation target detected by the operation position detection means becomes a set target position, and wherein the detection information of the operation position detection means is When it is determined that there is an abnormality, the execution of the automatic operation control is stopped.

That is, when an automatic operation command is inputted by the manually operated information input means, the control means sets the moving position of the operation target detected by the operation position detecting means to the set target position. When the automatic operation control for controlling the actuator is executed, when it is determined that the detection information of the operation position detecting means is abnormal, the execution of the automatic operation control is stopped.

Therefore, when the detected information of the operating position detecting means is normal, it is possible to automatically control the operation target to be moved to the set target position based on the detected information. When the detection information of the means is abnormal, the execution of the automatic operation control is stopped, but even in this case, the execution of the emergency operation control causes the actuator to operate in an operation state in consideration of operational safety. The operation can be continued, and a suitable means for implementing claim 1 is obtained.

According to a third aspect of the present invention, in the first or second aspect, the control means sets the operation state for the emergency operation in the emergency operation control to be smaller than the operation state for the manual operation in the manual operation control. The actuator is controlled in an operation state in which the amount of operation per unit time is small.

That is, in the emergency operation control, the actuator is controlled in an operation state in which the operation amount per unit time is smaller than the operation state for manual operation in the manual operation control based on the operation information by the information input. Therefore, for example, when operated in a state where the amount of operation per unit time is large as in the case of normal manual operation control,
For example, if the operator cannot visually recognize the actuator or the operation position of the operation target, the actuator may be excessively activated, whereas the actuator is slowly activated with a small amount of operation per unit time. Such disadvantages are unlikely to occur and it is possible to secure operational safety, and a means suitable for implementing claim 1 or 2 is obtained.

According to a fourth aspect, in the first or second aspect, the information input means is configured to input, as the operation information for the manual operation, operation information for instructing operation and stop of the actuator. In the emergency operation control, the control unit sets the actuator to a set unit amount as operation information for instructing the operation of the actuator is input by the information input unit as the operation state for the emergency operation. The actuator is controlled in an operating state in which only the actuator is operated.

That is, in the emergency operation control, when operation information for commanding the operation of the actuator is input by the information input means, the actuator is controlled in an operation state of operating by the set unit amount. On the other hand, in the ordinary manual operation control, when operation information for commanding the operation of the actuator is input by the information input means, the actuator starts operating, and thereafter, the operation for instructing the operation stop of the actuator by the information input means is performed. When the information is input, the operation of the actuator is stopped. In such a configuration, for example, when the operation position of the actuator or the operation target is not visible to the operator, the actuator is excessively operated. In contrast to this, the actuator is actuated by the set unit amount every time the operation information for commanding the operation of the actuator is input by the information input means. , It is possible to ensure operational safety, and a means suitable for implementing claim 1 or 2 is It is.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A case where a control device for a work machine according to the present invention is applied to a combine as an example of a work machine will be described below with reference to the drawings. As shown in FIG. 1 to FIG. 3, planted grain culms such as rice and wheat are raised and cut in front of a traveling machine body 2 provided with a pair of right and left crawler traveling devices 1, and the cut grain culms are removed. The mowing unit 3 to be transported to the rear of the machine is mounted so that it can be moved up and down.
And a threshing device 5 for threshing while transporting the grain stalks conveyed from the reaper 3, the threshing device 5
The traveling body 2 is provided with a grain tank 6 for storing thresh grains from the vehicle, a grain discharge unloader 7 for discharging thresh grains stored in the Glen tank 6, and the like.

The cutting unit 3 includes a raising device 8 for causing the planted grain culm to fall, a clipper-type cutting blade 9 for cutting the root of the caused grain culm, and a gathering of the cut culm. Conveying device 45 for conveying the harvested culm from the auxiliary conveying device 45 in the upright position on the distal end side, and gradually changing it to the sideways-down position and transferring it to the threshing feed chain 10 of the threshing device 5. 11 and the like. The mowing unit 3 is swingably operated around the swing axis Z by the elevating hydraulic cylinder 12, so that the mowing unit 3 can be freely moved up and down over a mowing work position located on the lower side and a non-work evacuation position on the upper side. It is provided in.

The vertical conveying device 11 (in FIG. 2, there is a part that is partially different from FIG. 1 in order to explain the function of the vertical conveying device 11). It is composed of a stock feeder 11a for nipping and conveying, a head conveying device 11b for locking and conveying the front side of the grain culm, and a head guide plate 11c, and is swingable about the same axis as the swing axis Z of the cutting unit 3. It is supported and provided so as to be swingable by a handling depth motor M6, whereby the pinching point of the grain culm received from the auxiliary transport device 45 is changed in the culm length direction, and
It is configured so that the handling depth at the can be adjusted. In the conveying path of the harvested grain culm, it is juxtaposed at intervals in the culm length direction on the lower side in the conveying direction from the handling depth adjustment point by the handling depth motor M6, and swings when the grain culm contacts. Switch type pair of head sensors S8a, S
8b are provided. Then, the state in which the tip of the grain stem is located between the pair of ear sensors S8a and S8b (the state in which the stock sensor S8b is on and the ear sensor S8a is off) is set as an appropriate handling depth position. I have.

As shown in FIG. 9, there is provided a control device H using a microcomputer for controlling the operation of the handling depth motor M6, and this control device H transmits the detection information of the tip sensors S8a and S8b. On the basis of this, it is configured to execute automatic handling depth control for controlling the handling depth motor M6 so as to be at the appropriate handling depth position. Further, the control device H controls the operation of the handling depth motor M6 based on a command operation of a manual operation unit provided in the operation unit 4. That is, the operation unit is provided with a deep-hand switch kf for changing the handling depth to the deep-hand side and a shallow-hand switch ka for changing the handling depth to the shallow-hand side. The state is input to the control device H as command information. When the deep handling switch kf is on, the control device H operates the handling depth motor M6 to the deep handling side,
When the shallow handle switch ka is turned on, it is configured to execute a handle depth manual adjustment control for controlling the handle motor M6 so as to operate the handle motor M6 to the shallow handle side. I have.

The automatic control of the handling depth is executed when the automatic switch SW1 is on, and when the automatic switch SW1 is off, the manual adjustment control of the handling depth is executed. Execute. A potentiometer type depth sensor S7 for detecting whether the operating position of the depth motor M6 is within an allowable range is provided. The control device H is provided with a depth sensor. When it is detected in S7 that the operating position of the handling depth motor M6 has reached the limit position of the allowable range, the handling depth motor M6 is stopped.

As shown in FIG. 4, the threshing device 5 is supplied from the reaping unit 3 by a rotating drum 14 which is rotatably driven in a handling chamber 13 while holding the stock side by a threshing feed chain 10. It is configured to handle and process the tip side of the harvested grain culm to be conveyed, and a receiving net 15 is provided at the lower part of the handling chamber 13 along the outer periphery of substantially the lower half of the handling drum 14,
The single-grained kernels among the processed products after threshing are configured to leak downward from the receiving net 15. Further, a sorting device 16 for sorting the processed material that has been handled and leaked is provided. The sorting device 16 is a swinging sorting plate 17 as a sorting unit that sorts and processes the leaked material from the handling chamber 13 toward the rear side of the machine, and a sorting wind is applied to the swinging sorting plate 17. Feeding toumi 18, rocking sorting plate 17
The first collection unit 19 that collects the grains selected in
A second collection unit 20 and the like for collecting the second product after the sorting process by the swing sorting plate 17 are provided.

The swing sorter plate 17 includes a grain pan 21 located above the tongue 18, a chaff sheave 22 located behind it, a grain sheave 23 located below it, and the like. The first port 19 and the second port 20 are each provided with a screw conveyor, and kernels leaking from the Glen Sheave 23 are collected at the first port 19 and transferred to the Glen tank 6 by a screw type first transfer device (not shown). Is done.
The mixture of the grain and the straw chips dropped from the rear end of the chaff sheave 22 or the rear end of the Glen sheave 23 is collected as a second product at the second port 20 and conveyed to the handling chamber 13 by the screw conveyor 25 or the like.

As shown in FIG. 5, a plurality of plate-like members 22a are arranged on the chaff sheave 22 at predetermined intervals in the processing object transfer direction (machine longitudinal direction). It is pivotally attached to the left and right side plates so as to be rotatable, and the lower end is pivotally connected by a link 26. Therefore, link 2
When the plate 6 is moved in the front-rear direction, the respective plate-like members 22a simultaneously rotate, and the adjacent distance t between the respective plate-like members 22a changes. This interval t corresponds to the leakage opening degree of the processed material on the swing sorting plate 17 (hereinafter referred to as the chaff opening degree). Each plate member 22a is closed and biased by a spring 24. The opening of the chaff is adjusted by rotating an electric motor (hereinafter referred to as a sheave motor) M1 for adjusting the opening in the forward and reverse directions against the urging force of the spring. The swing arm 28 and the wire 29 convert the link 26 back and forth, and as a result, the chaff opening is changed as described above. It should be noted that a potentiometer-type chaff opening sensor S1 for detecting the chaff opening from the rotation angle of the swing arm 28 is provided.

The turtle 18 is for generating a sorting wind for blowing off the straw debris on the swinging sorting plate 17, and the wind power (toy wind) is adjusted by changing the rotation speed of the turtle 18. Will be As shown in FIG. 6, an input pulley 18a for rotating the torsion 18 is constituted by a split pulley, and the effective diameter of the input pulley 18a is changed by the forward / reverse rotation of an electric motor for torsion (hereinafter referred to as toumi motor) M2.
That is, when the torsion motor M2 is driven to rotate forward, the arm 33 is pulled through the gear-type linkage mechanism 30, the swing arm 31, and the wire 32, and the interval between the split pulleys 18a is increased by a cam mechanism (not shown). As a result, V belt 1
The effective diameter of the portion where 8b is in contact is reduced, the tom rotation speed is increased, and the tom wind force is increased. Toumi motor M2
In the case where is reversed, each part moves in the opposite direction to the above, and the wind power of the turtle is weakened. In addition, a potentiometer-type toy wind sensor S2 for detecting the tow wind power from the rotation speed of the tow 18 is provided.

As shown in FIG. 7, a layer thickness sensor S3 for detecting the amount of the processed material on the swing sorting plate 17 is attached to a rod provided on the upper side of the left and right side plates of the swing sorting plate 17. , Below the receiving network 15. The layer thickness sensor S3 includes plate members T1 and T2 rotatably hanging around a horizontal axis, and a potentiometer PM for converting a backward rotation angle of the plate members T1 and T2 into a resistance value. When the processed material on the swinging sorting plate 17 hits the plate-like members T1 and T2 as it is conveyed backward, the plate-like members T1 and T2
2 rotates backward as shown by the two-dot chain line. When the layer thickness of the processing object is small, the plate-shaped member T1 contacts the processing object and rotates rearward, and when the layer thickness increases, the plate-shaped member T2 contacts the processing object and rotates rearward. With this configuration, the rotation angle of the sensor bars T1 and T2 increases as the layer thickness of the object increases, so that the layer thickness of the object can be detected from the resistance value of the potentiometer PM.

Then, as shown in FIG. 9, the control device H corrects the reference target value set by the opening degree setting device 34 provided in the operation section according to the detection result of the layer thickness sensor S3. The system is configured to set a target value of the opening degree of chaff, and to execute a opening degree control of the sheave motor M1 so that the detection value of the opening degree sensor S1 becomes the target value of the opening degree. The reference air volume set by the air volume setting device 35 provided in the section 4 is used as the layer thickness sensor S3.
Is set according to the detection result, and the toumi target airflow is set, and the toumi target airflow is controlled so as to control the toumi motor M2 so that the detection value of the toumi wind sensor S2 becomes the target tomy target airflow. I have.

Next, the configuration of the grain discharge unloader 7 will be described. As shown in FIG. 1, a grain discharge unloader 7 includes a vertical auger 7 that vertically discharges grains transported by a bottom screw 6 a provided at the bottom of the Glen tank 6.
and a horizontal auger 7b connected to the upper end of the vertical auger 7a. The horizontal auger 7b is rotated by an electric motor for turning (hereinafter referred to as a turning motor) M3 with respect to the vertical auger 7a. The horizontal auger 7b is configured so as to be capable of turning around the vertical axis Y.
The lifting and lowering hydraulic cylinder (hereinafter referred to as a lifting and lowering cylinder) CY is configured to be connected so as to be able to vertically move and oscillate around a horizontal axis X. FIG.
Shows a state in which the horizontal auger 7b is moving to the storage position.

That is, as shown in FIG. 8, the vertical auger 7a
A connection case part 38 supporting the horizontal auger 7b is fitted to the upper end of the case part so as to be rotatable around the vertical axis Y, and attached to the rotation shaft of the turning motor M3 supported by the case part of the vertical auger 7a. Large-diameter gear 3 meshed with the small-diameter gear 36
7 is provided integrally with the connection case portion 38 and drives the turning motor M3 to move the horizontal auger 7b to the vertical axis Y
It turns around. Further, the horizontal auger 7b is supported on the connection case portion 38 so as to be able to freely move up and down around the horizontal axis X, and the up and down rocking operation is performed by an up and down cylinder CY. In the figure, S4
Is a potentiometer-type turning amount detection sensor for detecting whether the turning operation position of the unloader is within an allowable range. S5 detects whether the lifting operation position of the unloader is within the allowable range. This is a potentiometer type elevation amount detection sensor for performing

Inside the vertical auger 7a, there is provided a vertical screw 39 for transporting the grains upward, and a horizontal auger 7a is provided.
A horizontal screw 40 for transporting the grain toward the front end side is provided inside b. The bottom screw 6a and the vertical screw 39 are linked and connected via a bevel gear mechanism (not shown) inside the transmission case, and the vertical screw 39 and the horizontal screw 40 are connected between the vertical auger 7a and the horizontal auger 7b. It is interlocked and connected via a bevel gear mechanism (not shown) inside the portion where the power is applied.

Then, as shown in FIG. 9, the control device H controls the operation of the operation unit provided in the operation unit 4 based on a command operation.
It is configured to control the operation of the electromagnetically operated hydraulic control valve V for the swing motor M3 and the lifting cylinder CY. The operation unit includes an ascent switch SU1 for instructing the auger to rise, a descending switch SD1 for instructing the auger to descend,
A left turn switch SL1 for commanding left turn, a right turn switch SR1 for commanding right turn, an unloader automatic switch SW2 for commanding automatic auger movement, and an unloader movement position volume for setting a target position for automatic auger movement. VR is provided, and these operation states are input to the control device H. In addition, as the above-mentioned target position,
Each position on the left side and the rear side of the aircraft can be selected and set.

Then, the control device H includes a lift switch SU
1 is operated, the hydraulic control valve V is operated only during the operation.
When the lowering switch SD1 is operated, the hydraulic control valve V is switched to the lowering position and the raising / lowering cylinder CY is lowered only while the lowering switch SD1 is operated. Execute. However, when it is detected by the lifting / lowering amount detection sensor S5 that the upper limit of the allowable lifting range has been reached, the further lifting operation is stopped,
When it is detected that the lower limit of the allowable lifting range has been reached, further lowering operation is stopped.

Similarly, when the left turning switch SL1 is operated, the turning motor M3 is rotated in the left turning direction only while the left turning switch SL1 is operated, and when the right turning switch SR1 is operated, the turning motor M3 is operated. During this time, the manual turning control for rotating the turning motor M3 in the right turning direction is executed. However,
When the turning amount detection sensor S4 detects that the left and right turning limits of the allowable vertical range have been reached, the turning operation is stopped.

When the unloader automatic switch SW2 is operated when the horizontal auger 7b is located at the storage position, the control device H operates the swing motor M3 and the lifting / lowering cylinder CY respectively to control the horizontal auger. 7b is automatically moved from the storage position to the target position set by the unloader movement position volume VR.
When the unloader automatic switch SW2 is operated when b is at a position other than the storage position, an automatic movement control for automatically moving the horizontal auger 7b to the storage position is executed. However, if the unloader automatic switch SW2 is operated during this automatic movement, the movement operation of the lateral auger 7b is forcibly stopped.

Accordingly, the above-mentioned various electric motors and hydraulic cylinders constitute a working actuator AC, and the above-mentioned various sensors provide the operating position of the actuator AC or the actuator A.
An operation state detecting means SS for detecting an operation position of the operation target SB which is moved and operated at C is configured. The above-mentioned various manual switches constitute a manually operated information input means J for inputting operation information for manual operation, and the information input means J is used as the manual operation information as the operation information. It is configured to input operation information for instructing operation and stop of the actuator AC.

The control device H constitutes control means for controlling the actuator AC, and based on operation information for manual operation by the information input means J and detection information of the operation state detection means SS. And a manual operation control for controlling the actuator AC. As the manual operation control, specifically, each of the above-described manual adjustment control of the handling depth, the manual lifting / lowering control of the unloader, and the manual turning control of the unloader is executed.

In the manual depth control, the vertical motor M6 corresponds to the actuator AC, and the vertical transport device 11 corresponds to the operation target SB to be moved by the vertical motor M6. The handling depth position sensor S7 which detects the operating position of the handling depth motor M6, and the operating position of the vertical transport device 11, that is, the ear sensors 8a and 8b which detect the ear position of the transported grain culm, are operating state detecting means. SS, the deep-hand switch kf and the shallow-hand switch k
a corresponds to the information input means J. Then, when the deep handling switch kf is on, an operation to the deep handling side is instructed, and when the deep handling switch kf is turned off, an operation stop to the deep handling side is instructed. Similarly, when the shallow-hand switch ka is on, an operation to the shallow-hand side is instructed, and when the shallow-hand switch kf is off, an operation stop to the shallow-hand side is instructed.

In the manual lifting control of the unloader, the lifting cylinder CY corresponds to the actuator AC, the horizontal auger 7b corresponds to the operation target SB to be moved by the lifting cylinder CY, and the operation of the horizontal auger 7b is performed. The elevation amount detection sensor S5 for detecting the position, that is, the elevation position, corresponds to the operating state detection means SS, and the elevation switch SU1 and the depression switch SD1 correspond to the information input means J. Then, the ascent operation is commanded when the ascent switch SU1 is turned on, and the stop of the ascent operation is commanded when the ascent switch SU1 is turned off. Similarly, a lowering operation is commanded when the lowering switch SD1 is on,
When the lowering switch SD1 is turned off, a command to stop the lowering operation is issued.

In the manual turning control of the unloader, the turning motor M3 corresponds to the actuator AC,
The lateral auger 7b corresponds to an operation target SB to be moved and operated by the rotation motor M3, and the turning amount detection sensor S4 for detecting the operating position of the horizontal auger 7b, that is, the turning position, corresponds to operating state detecting means SS. , The left turn switch S
L1 and the right turn switch SR1 correspond to the information input means J. When the left turning switch SL1 is turned on, a left turning operation is commanded, and when the left turning switch SL1 is turned off, a command to stop the left turning operation is issued. Similarly, a right turn operation is commanded when the right turn switch SR1 is turned on, and a stop of the right turn operation is commanded when the right turn switch SR1 is turned off.

The information input means J is configured to be capable of inputting an automatic operation command. When the automatic input command is input by the information input means J, the control device H controls the operation state detecting means SS. The operation target SB detected by
The automatic operation control for controlling the actuator AC is executed so that the moving position of the actuator becomes the set target position. As the automatic operation control, specifically,
The above-described automatic control of the handling depth and the automatic movement control of the unloader are executed.

In the automatic depth control control, the automatic depth switch SW1 corresponds to the information input means J for inputting an automatic depth command operation command. When input, the control device H controls the handling depth motor M6 such that the tip position detected by the tip sensors 8a and 8b is the appropriate handling depth position that is a set target position.

In the automatic unloader movement control, the unloader automatic switch SW2 corresponds to information input means J for inputting an unloader automatic movement command, and the unloader automatic switch SW2 is turned on to input an unloader automatic movement command. The control device H sets the turning position and the raising / lowering position of the lateral auger 7b detected by the turning amount detection sensor S4 and the lifting / lowering amount detection sensor S5 to a set target position set by the unloader movement position volume VR. The swing motor M3 and the lifting / lowering cylinder CY are controlled so as to reach the (target movement position).

The control device H executes the manual operation control and the automatic operation control while the above-mentioned operation state detecting means SS is operating normally. Operating state detecting means SS
When it is determined that the detection information is abnormal, the execution of the manual operation control and the automatic operation control corresponding to the operation state detection means SS determined to be abnormal among the manual operation control and the automatic operation control is stopped. It is configured.

For example, in the handling depth adjustment control, if any one of the handling depth position sensor S7 and the tip sensors 8a and 8b is abnormal, the handling depth manual adjustment control and the handling depth automatic adjustment control are performed. Stop. In the control of the unloader, if the elevation sensor S5 is abnormal, the manual elevation control is stopped, and if the elevation sensor S4 is abnormal, the manual pivot control is stopped. Then, as shown in FIG. 10, the fact that the control is stopped is displayed on a display unit F provided in the operation unit 4 so that the operator can confirm the fact. The display unit F is provided with a dot matrix type liquid crystal display so that various types of control information by the control device H can be displayed as message information in characters. FIG. 19 shows that the handling depth adjustment control is stopped.

The combine is configured so that the actuator AC (electric motor or hydraulic cylinder) corresponding to the manual operation control in which the operation state detecting means SS becomes abnormal and is stopped can be operated urgently. ing. However, when the emergency operation is performed, the actuator AC includes, for example, a lifting cylinder CY for lifting and lowering the unloader and a turning motor M for turning.
The operator can visually check the operating state of the unloader 3 and operate the unloader while checking the operating state. However, the handling depth motor M6 is housed inside the reaper 3. Therefore, the operator cannot visually confirm the operation state and cannot confirm the operation state.

Therefore, in the above-mentioned control stopped state, the control device H operates on the basis of the operation information by the information input means J and operates in an emergency operation state different from the manual operation state in the manual operation control. To execute emergency operation control for controlling the actuator AC. Specifically, in the emergency operation control, in the emergency operation control, as the operation information for commanding the operation of the actuator AC is input by the information input unit J as the operation state for the emergency operation, The actuator AC is controlled in an operation state in which the actuator AC is operated by a set unit amount.

For example, the adjustment of the handling depth will be described.
When the deep handling switch kf is turned on, the handling depth motor M6 is operated to the deep handling side by the set unit amount, and even when the on operation of the deep handling switch kf is continued, the operation beyond the set unit amount is not performed. However, once the deep handling switch kf is once turned off and then turned on again, the switch is operated to the deep handling side by the set unit amount. That is, every time the deep handling switch kf is turned on, the handling depth motor M6 is operated to the deep handling side by the set unit amount. Similarly, every time the shallow handle switch ka is turned on, the handle depth motor M6 is operated to the shallow handle side by a set unit amount.

The control of the unloader will be described. Each time the lift switch SU1 is turned on, the lift cylinder CY is moved upward by a set unit amount, and each time the lower switch SD1 is turned on, the lift cylinder CY is turned on. Each time the left turning switch SL1 is turned on by the set unit amount, the turning motor M3 is turned left by the set unit amount, and every time the right turning switch SR1 is turned on, The turning motor M3 is operated to the right turning side by the set unit amount.

Next, the cutting and threshing control and the unloader control by the control device H will be described with reference to FIGS.
A description will be given based on the flowchart of FIG. In the mowing threshing control, first, it is determined whether a control condition is satisfied.
In addition, when a harvested culm is detected by a stock sensor (not shown) provided in the reaping unit 3 and the threshing clutch is turned on to supply power to the reaping unit 3 and the threshing device 5. It is assumed that the above control condition is satisfied.

When the above control condition is satisfied, a detection sensor for adjusting the handling depth (the handling depth position sensor S7,
Check whether there is any abnormality in the tip sensors 8a, 8b),
If there is an abnormality, the emergency operation control of the handling depth is executed. When there is no abnormality in the detection sensor for adjusting the handling depth, if the automatic operation of the handling depth is instructed by the automatic handling depth switch SW1, the automatic handling depth control is executed, If the automatic operation of the handling depth has not been commanded, the above-described manual adjustment control of the handling depth is executed. Further, the chaff opening degree control and the turtle air volume control are executed.

In the unloader control, it is checked whether or not the unloader detection sensors (the turning amount detection sensor S4 and the lifting / lowering amount detection sensor 85) are abnormal. Execute When there is no abnormality in the unloader detection sensor, if the unloader automatic operation is commanded by the unloader automatic switch SW2, the automatic movement control is executed, and if the unloader automatic operation is not commanded, The manual lifting control and the manual turning control are executed.

[Another Embodiment] Another embodiment will be described below. In the above embodiment, in the emergency operation control, as the emergency operation state different from the manual operation state in the manual operation control, the operation information for instructing the operation of the actuator AC by the manually operated information input means J is provided. The configuration in which the actuator AC is controlled in an operation state in which the actuator AC is operated by the set unit amount in accordance with the input has been described as an example. However, the configuration is not limited to such a configuration, and may be configured as follows.

That is, the actuator AC may be controlled in an operation state in which the amount of operation per unit time is smaller than the operation state for manual operation in the manual operation control as the operation state for emergency operation. . For example, in the emergency operation control for changing and adjusting the handling depth, when the deep handling switch kf is on, the handling depth motor M6 is operated during the on operation of the deep handling switch kf. Operate to the deep handling side at a very low speed condition that is slower than
When the shallow handle switch ka is turned on, during the ON operation, the handle depth motor M6 is operated to the shallow handle side at an extremely low speed, which is slower than in the case of the handle depth manual adjustment control. This is a configuration for controlling the handling depth motor M6.

The operating range for the emergency operation is set so that the operable area becomes narrower than the operating range of the actuator AC when the operating state for manual operation in the manual operation control is executed. The actuator AC may be operated in a regulated state, or the operation target SB may be operated when a command is issued from the information input means J.
The actuator AC may be actuated to adjust the position to a preset position corresponding to a standard operation, and then stopped at that position. By doing so, standard work can be continued.

In the above embodiment, the manual operation control includes a manual adjustment control of a handling depth, a manual lifting / lowering control of an unloader,
The manual turning control of the unloader is exemplified, and as the automatic operation control, the handling depth automatic adjustment control and the automatic movement control of the unloader are illustrated. However, the manual operation control and the automatic operation control are not limited to these controls. Any one of these controls may be used, or a combination of a plurality of these controls may be used. As described above, controls other than these controls may be targeted for emergency operation.

In the above embodiment, the combine machine is exemplified as the work machine. However, the present invention is not limited to the combine machine, but may be a farm machine such as a tractor or a seedling transplanter, or a work machine other than a farm machine such as a construction machine. The target is not limited.

[Brief description of the drawings]

FIG. 1 is an overall side view of a combine.

FIG. 2 is a front side view of the combine.

FIG. 3 is an overall plan view of the combine.

FIG. 4 is a schematic configuration diagram of a threshing apparatus.

FIG. 5 is a diagram showing a configuration for adjusting a chaff opening degree;

FIG. 6 is a diagram showing a configuration for adjusting the air volume of a turtle.

FIG. 7 shows a layer thickness sensor.

FIG. 8 is a diagram showing an operation configuration of an unloader.

FIG. 9 is a control block diagram.

FIG. 10 is a diagram showing a display state of a display unit.

FIG. 11 is a flowchart of a control operation.

FIG. 12 is a flowchart of a control operation.

[Explanation of symbols]

 AC actuator H control means J information input means SB operation target SS operating position detection means

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Tetsuya Nakajima 64 Ishizukitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Works (72) Inventor Kazuya Takasaki 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Co., Ltd. Inside the factory (72) Inventor Toshio Tominaga 64 Ishizukitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Factory (72) Inventor Makoto Oshiya 64, Ishizukitamachi, Sakai City, Osaka Prefecture F-term in Kubota Sakai Factory (Reference) 2B076 AA03 CA04 EA01 EC23 ED25 ED30 2B084 AA01 CC03 CE04 CG05 CJ15 DD07 DD10 DJ03 DN03 2B396 JA04 JC06 KC05 KC13 KE03 KE04 LA03 LC07 LE18 LR02 LR08 LR13 MC07 PE06 PE10 QE25 RA10

Claims (4)

[Claims] 1. A control means for controlling a work actuator, a manually operated information input means for inputting operation information for manual operation, and an operation position of the actuator or an operation object moved by the actuator Operating position detecting means for detecting the operating position of the actuator, the control means performs manual operation control for controlling the actuator based on the operation information by the information input means and the detection information of the operating position detecting means. A control device for a work machine configured to execute, when the control unit determines that the detection information of the operation position detection unit is abnormal, stops the execution of the manual operation control, and An emergency operation state different from the manual operation state in the manual operation control based on the operation information by the information input means. Working machine controller configured to perform an emergency operation control for controlling the actuator in a work state. 2. The information input means is configured to be capable of inputting an automatic operation command, and the control means detects the automatic operation command by the information input means by the operating position detecting means. The automatic operation control for controlling the actuator is executed so that the movement position of the operation target to be set becomes the set target position, and when it is determined that the detection information of the operation position detecting means is abnormal, the automatic operation control is performed. The control device for a work machine according to claim 1, wherein execution of the operation control is stopped. 3. The emergency operation control according to claim 2, wherein, in the emergency operation control, the operation state for the emergency operation is an operation state in which the operation amount per unit time is smaller than the operation state for the manual operation in the manual operation control. The control device for a work machine according to claim 1, wherein the control device is configured to control an actuator. 4. The information input unit is configured to input, as the operation information for manual operation, operation information for instructing operation and stop of the actuator, and wherein the control unit is configured to control the emergency operation control. As the operation state for the emergency operation, the actuator is controlled in an operation state in which the actuator is operated by a set unit amount in accordance with input of operation information for commanding operation of the actuator by the information input means. The control device for a work machine according to claim 1 or 2, wherein