JP2003070305A - Traveling implement vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling implement vehicle enabling the fine implement- lifting up and down operations easy with a implement-lifting up and down switch, and suppressing the lifting up and down movement of the implement within a very small range even if the implement-lifting up and down switch is operated by mistake. SOLUTION: This traveling machine body 1 is equipped with an implement- lifting up and down switch 19, a fine lifting up and down-controlling means for finely lifting up and down moving the implement 3 when the implement- lifting up and down switch 19 is operated for a short time, a fine lifting up and down control-switching means (controlled with a liquid crystal menu) for switching the on/off of the fine lifting up and down control, and a allowable operation time-setting means (controlled with a liquid crystal menu) for setting the allowable operation time of the implement-lifting up and down switch 19 in the fine lifting up and down control.

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 work vehicles such as tractors.

[0002]

2. Description of the Related Art Generally, some traveling vehicles of this type are equipped with a working machine that moves up and down according to an operation of a working machine lifting operation tool. For example, a tractor including a working machine such as a rotary includes a working machine lifting lever and a working machine lifting switch as working machine lifting operation tools. When the working machine lifting lever is operated, the lever operation position and the working machine height are associated with each other. While the work implement is raised and lowered based on the position control, when the work implement lift switch is operated, the work implement is raised and lowered to a preset height (for example, the highest position) based on the self-holding lift control. Lifting and lowering is performed.

[0003]

However, in the above-mentioned conventional work vehicle, when a fine lift of the working machine is required, the working machine lifting lever is used.
Due to the influence of the dead zone set for the position control, there is a disadvantage that the operation precision and operability are poor. Further, with the work implement lifting switch, it is possible to raise and lower the work implement to the set height by operating it for a short time, but on the other hand, there is a disadvantage that the work implement goes up and down to the set height even if an erroneous operation is performed for a short time. .

[0004]

SUMMARY OF THE INVENTION The present invention was made in view of the above circumstances and has been made for the purpose of solving these problems, and is a work vehicle equipped with a work machine that can be raised and lowered. A work machine elevating switch for elevating and lowering the work machine, a fine elevating control means for finely elevating the work machine when the work machine elevating switch is operated for a short time, It is characterized in that a minute lifting control switching means for switching ON / OFF of the lifting control and an allowable operation time setting means for setting an allowable operation time of the working machine lifting switch in the minute lifting control are provided. In other words, since the work implement can be finely moved up and down by operating the work implement lift switch for a short time, it is not possible to perform a delicate work implement lift operation as compared with the case where the work implement lift lever is used. The operability can be improved.
Further, even if the working machine lifting switch is erroneously operated, the lifting operation of the working machine can be suppressed to a minute range if the operation time is short. In addition, ON / O for minute lift control
Since the allowable operation time in the FF and the minute lift control can be arbitrarily changed, it is possible to realize an operation method that suits the working conditions and the operator's preference. Further, it is characterized in that a minute operation speed setting means for setting an ascending / descending operation speed of the working machine in the minute elevating control is further provided.
In this case, it is possible to further improve the operation accuracy and operability by setting the raising / lowering operation speed of the working machine in the fine raising / lowering control according to the working conditions and the preference of the operator. Further, when the working machine lifting switch is operated for a short time, the minute lifting control means causes the working machine to carry out a minute lifting operation for a switch operation time. In this case, since the switch operation time and the working machine lifting operation time match, operability can be improved.
Further, the minute lifting control means is characterized in that when the working machine lifting switch is operated for a short time, the working machine is moved up and down for a preset set time. In this case, the working machine can be moved by a certain amount irrespective of the switch operation time, so that the operation accuracy can be improved.

[0005]

BEST MODE FOR CARRYING OUT THE INVENTION Next, one of the embodiments of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of a tractor, and a working machine 3 such as a rotary is vertically movably connected to a rear portion of the traveling machine body 1 via an elevator link mechanism 2. The working machine 3 is held at a predetermined height by a lift arm 4 that suspends the lifting link mechanism 2, and is lifted and lowered according to a hydraulic expansion and contraction operation of a working machine lifting cylinder 5 that moves the lift arm 4 up and down.

The traveling machine body 1 includes a working machine lifting hydraulic circuit 6 for hydraulically expanding and contracting the working machine lifting cylinder (double-acting cylinder) 5. The working machine lifting hydraulic circuit 6 includes a control valve 9 including a rising electromagnetic valve 7 and a lowering electromagnetic valve 8 and a single / double switching electromagnetic valve that switches the operation mode of the working machine lifting cylinder 5 between a single-action mode and a double-action mode. A valve 10, a variable throttle valve 11 that controls the descending speed of the working machine 3, and a check valve 12 that bypasses the throttle passage when rising are configured. When the single / double switching electromagnetic valve 10 is in the single-acting position, the extension port of the working machine lifting cylinder 5 is connected to the control valve 9, while the reduction port is connected to the hydraulic oil tank T.
When the raising electromagnetic valve 7 is opened in this state, hydraulic oil is pumped to the extension port, and the working machine lifting cylinder 5 extends (raises), while the lowering electromagnetic valve 8 opens.
Hydraulic fluid flows out from the extension port due to the weight of the working machine 3, and the working machine lifting cylinder 5 contracts in the single-action mode (lowering operation).
To do. When the single / double switching electromagnetic valve 10 is in the double-acting position, the contraction port of the working machine lifting cylinder 5 is connected to the control valve 9, while the extension port is connected to the hydraulic oil tank T. In this state, the solenoid valve for raising 7
When is opened, hydraulic oil is pressure-fed to the reduction port, and the working machine lifting cylinder 5 performs a reduction operation (lowering operation) in the double-action mode.
Further, when the raising electromagnetic valve 7 is closed in this state, the working oil flows out from the extension port due to the weight of the working machine 3, and the working machine lifting cylinder 5 continues the reducing operation (lowering operation) in the single-action mode.

A driver's seat 13 on which an operator sits is provided on the traveling machine body 1. On the right side of the driver's seat 13, a position lever 14 for raising and lowering the work implement 3 and a main gear shift lever 15 for shifting the traveling speed are arranged, while the driver's seat 1
A PTO gear shift lever 16 for shifting the power of the work machine is arranged on the left side of 3, and further in front of the driver's seat 13,
A steering wheel 17 for steering the airframe and a meter panel 18 incorporating various meters are arranged. A work implement lift switch 19 is provided on the grip portion 15 a of the main speed change lever 15, and the work implement lift switch 1 is provided.
According to the selective operation of 9, one of the ascending switch contact and the descending switch contact is turned on. A liquid crystal display panel 20 and a liquid crystal display operation panel 21 are provided at the lower right of the meter panel 18. The liquid crystal display panel 20 is
This is for displaying various setting screens and various statuses, and the display contents can be switched according to the switch operation of the liquid crystal display operation panel 21. The liquid crystal display operation panel 21 is
A menu switch 22 for switching the menu screen,
A determination switch 23 for registering the selected setting and a pair of selection switches 24, 25 for increasing / decreasing the set value are provided.

A control unit 26 having a microcomputer (including CPU, ROM, RAM, etc.) is mounted on the traveling machine body 1. At the input part of the control device 26, the work implement lifting switch 19, the menu switch 22,
In addition to the decision switch 23 and the selection switches 24 and 25, a position sensor 27 that detects the lever angle of the position lever 14, a lift arm sensor 28 that detects the arm angle of the lift arm 4, and the like are connected via a predetermined input interface circuit. On the other hand, the output part of the control device 26 is connected to the above-described ascending electromagnetic valve 7, descending electromagnetic valve 8, single / double switching electromagnetic valve 10, liquid crystal display panel 20, etc. via a predetermined output interface circuit. .

The control device 26 is provided with control programs such as position control, self-holding lifting control, minute lifting control, single-action / double-action mode switching control, and liquid crystal menu control. The position control is to raise and lower the work implement 3 in response to the operation of the position lever 14, and to lift the lift arm 4 so that the target value calculated based on the position sensor value and the detection value of the lift arm sensor 28 match. Elevation control is performed automatically. The self-holding lifting control is the work machine lifting switch 1
The work machine 3 is raised and lowered according to the operation of 9, and the lift arm 4 is raised and lowered to a preset position in a self-holding manner. The fine lift control raises and lowers the work implement 3 in response to the operation of the work implement lift switch 19. When the work implement lift switch 19 is operated for a short time, the lift arm 4 is moved up and down slightly. The single-action / double-action mode switching control switches the operation mode of the working machine lifting cylinder 5 in accordance with the operation of the working machine lifting switch 19, and the cylinder operation mode is single-acted based on the switching of the single / double switching electromagnetic valve 10. Switch between mode and double acting mode. LCD menu control,
The display of the liquid crystal display panel 20 is switched according to the operation of the menu switch 22, the decision switch 23, and the selection switches 24 and 25, and various setting screens and various status display screens are displayed on the liquid crystal display panel 20.

As described above, the control device 26 has a plurality of working machine lifting modes. The plurality of working machine lifting modes are switched according to the operation pattern of the working machine lifting switch 19, and more specifically, the operating time T of the working machine lifting switch 19.
It is switched based on. That is, as shown in FIG.
The raising operation time T of the work implement lifting switch 19 is the set time T
If it is within 1, the work machine 3 is operated based on the fine lift control.
Is raised and the raising operation time T exceeds the set time T1, the working machine 3 is raised based on the self-holding raising / lowering control. On the other hand, when the lowering operation time T of the working machine lifting switch 19 is within the set time T2, the working machine 3 is lowered based on the minute lifting control, and the lowering operation time T is set to the set time T2.
If it exceeds the limit, the work machine 3 is
Is lowered, and when the lowering operation time T exceeds the set time T3, the operation mode switching of the working machine lifting cylinder 5 is performed based on the single-action / double-action mode switching control. Hereinafter, each lifting control (working machine lifting mode) will be described in detail. However, position control and self-holding elevation control are
Since it is almost the same as the conventional one, detailed description thereof will be omitted.

The fine lift control has two control modes. In the first control mode, when the operating time T of the working machine lifting switch 19 is within the set time T1 (T2), the working machine 3 is operated for a time corresponding to the switch operating time T.
Is moved up and down at a predetermined speed Su (Sd). On the other hand, in the second control mode, when the operating time T of the work implement lifting switch 19 is within the set time T1 (T2), the preset operating time T is set regardless of the switch operating time T.
The work implement 3 is moved up and down by a predetermined speed Su (Sd) by u (Td). Further, the fine lift control is performed by executing ON / OFF (ON / OFF) of the fine lift control, control mode, and mode switching setting time (operation allowable time) T1, T
2, minute lifting operation speeds Su, Sd, minute operation time Tu,
Refer to parameters such as Td (second control mode only). These parameters can be changed by a setting operation, and the setting operation is performed on the liquid crystal display operation panel 21 while looking at the liquid crystal display panel 20.

The single-action / double-action mode switching control has two control modes. In the first control mode, when the lowering operation time T of the working machine lifting switch 19 exceeds the set time T3, the lowering operation mode of the working machine lifting cylinder 5 is switched from the single-acting mode to the double-acting mode, and thereafter, When the work implement lifting switch 19 is turned off, the lowering operation is continued in the single action mode. On the other hand, in the second control mode, the lowering operation time T of the work implement lifting switch 19 is set to the set time T3.
When the working machine lifting / lowering switch 19 is turned off, the lowering operation in the double-acting mode is continued even if the working machine lifting / lowering switch 19 is turned off. Further, the single-action / double-action mode switching control refers to parameters such as ON / OFF (on / off) of the single-action / double-action mode switching control, control mode, and mode switching set time T3 when executing the control. . These parameters can be changed by a setting operation, and the setting operation is performed on the liquid crystal display operation panel 21 while looking at the liquid crystal display panel 20. The control procedure of the single-action / double-action mode switching control (first control mode) will be described below with reference to the flowchart shown in FIG.

In the single-action / double-action mode switching control, first, it is determined whether or not the position control is being performed, and if the result of the determination is NO, the process returns to the upper routine. On the other hand, if it is determined that the position control is being performed, it is determined whether or not the initial setting completion flag is OFF, and if the determination result is YES, a predetermined initial setting is executed.
Next, the ON / OFF operation of the work implement lifting switch 19 and the ON state of the double-action control flag are determined. If NO is determined here, the single / double switching electromagnetic valve 10 is turned OFF.
And the mode switching timer (T3) is set. On the other hand, when it is determined that the work implement lifting switch 19 is ON, the double-action control flag is set after the end of the mode switching timer (= 0), and the single / double switching electromagnetic valve 10 is turned ON. In addition, work equipment lifting switch 1
During the ON operation of 9, it is determined whether or not the lift arm sensor value is larger than the target value for position control (including the dead zone α). If the result of the determination is YES, the single / double switching electromagnetic valve 10 is turned on. While maintaining the ON state, the double-action operation signal is output to lower the work implement lifting cylinder 5 in the double-action mode. However, if the above determination result is NO, the double-action control flag is reset and the single-double switching is performed. The electromagnetic valve 10 is turned off. As a result, it is not possible to prevent the working machine 3 from descending beyond the target value of the position control, and the lifting operation of the working machine 3 by the position lever 14 is allowed. When the double-acting control flag is set and the work implement lifting switch 19 is turned off, it is determined whether the work implement 3 is stopped or raised, and when the determination is NO,
The lowering operation in the single acting mode is continued without turning off the single / double switching electromagnetic valve 10. That is, the single / double switching electromagnetic valve 10 is switched on to the single-action mode by closing the rising electromagnetic valve 7 while the single / double switching electromagnetic valve 10 is on, and thereafter, the single / double switching electromagnetic valve 10 is determined when it is determined whether the working machine 3 is stopped or lifted. Is turned off and the double-action control flag is reset. As a result, it is possible to suppress the occurrence of shocks due to valve switching.

FIG. 9 is a flowchart showing the liquid crystal menu control. As shown in this figure, in the LCD menu control, LCD data initialization, LCD and LCD data update (when LCD dedicated control unit is provided), LCD operation switch input check, switch operation processing control, screen selection control , A screen data set control, a liquid crystal display control, a data update of this machine (when a liquid crystal dedicated control unit is provided), etc. are executed. In the screen selection control, as shown in FIG. 10, the work implement lifting switch 19 and the double-action control flag are set to 0.
In the N state, the liquid crystal display panel 20 displays a state such as "double action down". As a result, the operator operates the work machine 3
It is possible to easily recognize that the is moving downward in the double-action mode. The switch operation processing control performs various setting processing according to the switch operation of the liquid crystal display operation panel 21. For example, in the minute elevation control speed setting process shown in FIG. 11, the setting data is decreased (≧ 0) in accordance with the operation of the lower selection switch 25, while the upper selection switch 2
The setting data is increased (≦ MAX value) according to the operation of 4. By performing such processing for each setting data, it is possible to change various setting data. Less than,
The setting operation procedure in the liquid crystal display panel 20 and the liquid crystal display operation panel 21 will be described by taking the parameter setting of the fine lift control as an example.

FIG. 12 is a flow chart showing the setting operation procedure. As shown in this figure, the liquid crystal display panel 20
When the menu switch 22 is pressed while the normal display screen is displayed on, the setting screen is displayed. After a lapse of a predetermined time, other setting screens are automatically displayed, and when the menu switch 22 is pressed again, the setting screen for turning on / off the minute elevating control (picking up) and the allowable operation time is displayed. When the selection switches 24 and 25 are pressed in this state, a screen with different setting contents is displayed and desired setting contents are selected. After that, when the menu switch 22 is pressed, the ascending operation speed setting screen and the descending operation speed setting screen for the minute elevating control are displayed.
To select the desired speed. When the decision switch 23 is pressed after performing the above operation, the setting change is registered in the memory.

In the construction as described above, the traveling machine body 1 includes a working machine lifting switch 19 for lifting and lowering the working machine 3, and a small working machine 3 when the working machine lifting switch 19 is operated for a short time. Micro-elevation control means for elevating and lowering, micro-elevation control switching means (liquid crystal menu control) for switching ON / OFF of the micro-elevation control, and permissible operation for setting permissible operation time of the working machine elevating switch 19 in the micro-elevation control. Time setting means (liquid crystal menu control). That is, since the work implement 3 can be slightly moved up and down by operating the work implement lift switch 19 for a short time, it is possible to perform a delicate work implement lifting operation as compared with the case where the work lever 3 is moved up and down. , Its operability can be improved. In addition, the work machine lifting switch 19
Even if the erroneous operation is performed, if the operation time is short, the raising / lowering operation of the work implement 3 can be suppressed within a minute range. Moreover, since the fine lift control can be turned ON / OFF and the allowable operation time in the fine lift control can be arbitrarily changed,
It is possible to realize an operation method suitable for work conditions and operator's preference.

In addition, the working machine 3 in the minute lift control.
Since it is possible to arbitrarily set the ascending / descending operation speed of the work implement 3, the ascending / descending operation speed of the work implement 3 in the minute ascending / descending control is set according to the working conditions and the preference of the operator, thereby further improving the operation accuracy and operability. It will be possible.

Further, since the minute lifting control means has a first control mode in which the working machine 3 is moved up and down for the switch operating time when the working machine lifting switch 19 is operated for a short time, the switch operating time and It is possible to improve the operability by matching the working machine lifting operation time.

Further, the minute lifting control means has a second control mode for slightly moving the working machine up and down for a preset time when the working machine lifting switch 19 is operated for a short time. The work machine 3 can be moved by a fixed amount regardless of time, and the operation accuracy can be improved.

[Brief description of drawings]

FIG. 1 is a side view of a tractor.

[Fig. 2] Hydraulic circuit for lifting work equipment

FIG. 3 is a plan view of a main part of the machine body.

FIG. 4 is a side view showing a main shift lever.

FIG. 5 is a front view of a meter panel.

FIG. 6 is a block diagram showing input / output of a control device.

FIG. 7 is a diagram showing switching conditions for a working machine lifting mode.

FIG. 8 is a flowchart of single-action / double-action mode switching control.

FIG. 9 is a flowchart of liquid crystal menu control.

FIG. 10 is a flowchart of screen selection control.

FIG. 11 is a flowchart of switch operation processing control.

FIG. 12 is a flowchart showing a setting operation procedure.

[Explanation of symbols]

1 traveling aircraft 3 working machines 4 lift arms 5 Working machine lifting cylinder 7 Ascending solenoid valve 8 descending solenoid valve 9 control valve 10 Single / double switching solenoid valve 14 Position lever 15 Main shift lever 18 meter panel 19 Working machine lift switch 20 LCD display panel 21 Liquid crystal display operation panel 26 Control device

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Toyoharu Endo             Shimane Prefecture Yatsuka-gun Higashi Izumo-cho Ojiyacho 667             1 Within Mitsubishi Agricultural Machinery Co., Ltd. (72) Inventor Masato Nakajima             Shimane Prefecture Yatsuka-gun Higashi Izumo-cho Ojiyacho 667             1 Within Mitsubishi Agricultural Machinery Co., Ltd. F term (reference) 2B304 KA08 KA13 LA06 LB05 LB15                       MA03 MB02 MC02 MC08 MC11                       MD08 PA08 PA11 QB13 QB28                       RA30

Claims (4)

[Claims] 1. A work vehicle equipped with a work machine that can be lifted and lowered, wherein a work machine lifting switch for lifting and lowering the work machine and a work machine lifting switch are operated for a short time on the work running vehicle. At this time, a fine lifting control means for moving the working machine up and down, a fine lifting control switching means for switching ON / OFF of the fine lifting control, and a permission for setting an allowable operating time of the working machine lifting switch in the fine lifting control. A working vehicle equipped with an operation time setting means. 2. The working vehicle according to claim 1, further comprising a minute operation speed setting means for setting an ascending / descending operation speed of the work machine in the minute elevating control. 3. The work according to claim 1, wherein the minute lifting control means causes the working machine to move up and down for a switch operation time when the working machine lifting switch is operated for a short time. Traveling vehicle. 4. The micro-elevation control means according to claim 1 or 2, wherein the micro-elevation control means causes the work machine to perform a micro-elevation operation for a preset time when the work-machine elevation switch is operated for a short time. A working vehicle that does.