JP2013027336A - Lift controller for working implement of working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lift controller for a working implement of a working vehicle which surely avoids backward movement of a machine body while a working implement is lowered, and avoids the damage of a working implement.SOLUTION: A control portion 19 liftably controls the working implement 3 liftably coupled to the back part of the machine body. The control portion 19 includes: a position controller for liftably controlling the working implement 3 according to the operation position of a position control lever 17; a backup control unit for controlling the lifting of the working implement 3 to a predetermined lifted position according to the backward movement or backward movement operation of a traveling machine body 1; and a quick-up controller for controlling the lifting of the working implement 3 to a predetermined lifted position according to the lifting operation of a quick-up lever 9, and controlling the lowering of the working implement 3 to a predetermined lowered position according to the lowering operation of the quick-up lever 9. While the working implement 3 is lifted by the backup controller, the control of lowering the working implement 3 by the quick-up lever 9 is disabled, until the backward movement or backward movement operation of the traveling machine body 1 is released.

Description

  The present invention relates to a lifting control device for a work implement in a work vehicle such as a tractor.

  A work vehicle such as a tractor to which a work machine that can be moved up and down is connected to the rear part of the machine body is provided with a lift control device that controls the work machine to move up and down. For example, Patent Document 1 discloses position control means for controlling the working machine to move up and down according to the operation position of the position control lever, and backup control for controlling the working machine to rise to a predetermined ascending position according to reverse or reverse operation of the machine body. And a quick-up control means for controlling the raising of the working machine to a predetermined raising position according to the raising operation of the raising / lowering lever and controlling the lowering of the working machine to the prescribed lowering position according to the lowering operation of the raising / lowering lever. A controller is shown. According to such an elevating control device, not only can the work implement be moved up and down to an arbitrary elevating position by the position control lever, but the work implement can be automatically raised when the machine is moving backward to prevent damage to the work implement. In addition, it is possible to reduce the operator's operation effort by enabling simple lifting operation of the work machine by the lifting lever.

Japanese Patent No. 4326497

  However, in the conventional lift control device, there is a possibility that the work machine may be lowered due to an erroneous operation or the like even when the work machine is being lifted by the backup control means. was there. For example, when aligning the work implement at the shore at the start of work, the operator puts the forward / reverse gear shift lever in reverse and reverses, then depresses the clutch pedal to stop traveling, and then moves the work implement with the lift lever. After that, if you should start the work by switching the forward / reverse shift lever to forward, if you forget to switch the forward / reverse shift lever to forward and lift your foot away from the clutch pedal, it will descend There is a risk that a working machine hits the rear shore and damages it. Further, when the work implement is being lifted by the backup control means, the same problem may occur when the lift lever is lowered by mistake.

The present invention has been created in view of the above-described circumstances in order to solve these problems, and is a lifting control device that controls lifting of a work machine that is connected to the rear part of a work vehicle so as to be lifted and lowered. The elevating control device includes position control means for elevating the work implement according to the operation position of the position control lever, and a backup for elevating the work implement to a predetermined ascending position according to reverse or reverse operation of the machine body. Control means, and quick-up control means for controlling the working machine to be raised to a predetermined raising position in accordance with the raising operation of the lifting lever, and for controlling the working machine to be lowered to a predetermined lowering position in accordance with the lowering operation of the lifting lever. When the work implement is being lifted by the backup control means, unless the reverse or reverse operation of the machine is released, Characterized by disabling the descending control.
In addition, when the lowering control of the work machine by the lifting lever is invalidated, this is notified.
In addition, when the work machine is raised by the backup control means, the work machine lowering control by the lifting lever and the work machine lifting control by the position control lever are invalidated, and the work machine by the position control lever is invalidated. When the position control lever is lifted above the lift position of the work implement while the lift control of the work implement is disabled, thereafter, the lift control of the work implement by the position control lever is enabled. It is characterized by.

According to the first aspect of the present invention, when the work implement is raised by the backup control means, the lowering control of the work implement by the elevating lever is invalidated unless the reverse or reverse operation of the machine is released. It is possible to reliably avoid the backward movement of the machine while the machine is lowered, and to prevent the work machine from being damaged.
According to the second aspect of the present invention, when the lowering control of the work implement by the lifting lever is invalidated, this is notified, so that the operator recognizes that the lowering operation of the lifting lever is invalid. Not only can the misconception that the work implement is descending can be prevented.
According to the third aspect of the present invention, even when the work implement is lifted by the backup control means, the work implement can be moved up and down by a specific operation of the position control lever. The machine can be operated to any height.

It is the whole tractor side view. It is a front view of a front panel. It is a perspective view of a side panel. It is a block diagram which shows the input / output of a control part. It is a flowchart which shows the process sequence of raising / lowering control. It is a flowchart which shows the process sequence of mode switching control. It is a flowchart which shows the process sequence of a lift arm target value setting. It is a flowchart which shows the process sequence of backup control. It is a flowchart which shows the process sequence of turning-up control. It is a flowchart which shows the process sequence of quick up control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an overall side view of the tractor.
In FIG. 1, reference numeral 1 denotes a traveling machine body of a tractor, and a working machine 3 such as a rotary is connected to a rear portion of the traveling machine body 1 via an elevating link mechanism 2. The elevating link mechanism 2 is suspended by a lift arm (not shown) provided at the rear part of the machine body, and the lift arm rotates up and down in response to a hydraulic expansion / contraction operation of a lift cylinder (not shown). The work machine 3 is raised and lowered.

2 is a front view of the front panel, and FIG. 3 is a perspective view of the side panel.
As shown in FIG. 1, the traveling machine body 1 includes a driving unit 4 on which an operator gets on, and the driving unit 4 is provided with a driver's seat (not shown) and various operation tools. For example, as shown in FIGS. 2 and 3, in the traveling machine body 1 of the present embodiment, a steering handle 5, a front unit 6 and a panel unit 7 are provided in front of the driver's seat, and a side panel is provided on the right side of the driver's seat. 8 is provided.

  The front unit 6 includes a quick-up lever (elevating lever) 9 capable of simply raising and lowering the work implement 3 based on quick-up control described later, and a raising switch 9a for detecting the raising operation of the quick-up lever 9. , A lowering switch 9b for detecting the lowering operation of the quick up lever 9, a backup switch 10 for ON / OFF operation of backup control to be described later, a backup lamp 11 for displaying ON / OFF status of backup control, and turning on control to be described later A turn-up switch 12 for turning on / off, a turn-up lamp 13 for displaying the ON / OFF state of turn-up control, an automatic switch 14 for switching the mode, and the like are provided. The panel unit 7 displays engine rotation. Tachometer 15, predetermined control ( (Lift-up control, backup control, turning-up control) and the like, a lift-up lamp 16 that is turned on when the work machine 3 is lifted up is provided, and the side panel 8 is provided with a work machine based on position control described later. 3, a position control lever 17 that can be moved up and down, a position sensor 17 a that detects an operation position of the position control lever 17, and a raised position of the work machine 3 based on predetermined control (quick-up control, backup control, turning-up control). A raising height setting volume 18 to be set is provided.

FIG. 4 is a block diagram showing input / output of the control unit.
As shown in FIG. 4, the traveling machine body 1 is provided with a control unit (elevating control device) 19 configured using a microcomputer or the like. On the input side of the control unit 19, in addition to the raising switch 9a, the lowering switch 9b, the backup switch 10, the turning up switch 12, the auto switch 14, the position sensor 17a and the raising height setting volume 18, the lift arm is turned up and down. A lift arm sensor 20 that detects a moving position, a back switch 21 that detects a reverse or reverse operation of the traveling machine 1, and a right front wheel turning angle detection switch that detects that the right turning angle of the front wheel 1a exceeds a predetermined angle. 22, a front left wheel turning angle detection switch 23 for detecting that the turning angle in the left direction of the front wheel 1a exceeds a predetermined angle is connected. On the output side of the control unit 19, the backup lamp 11, In addition to the swivel up ramp 13 and lift up ramp 16, a proportional control valve (lift) 24 for lift cylinder, Toshirinda for proportional control valve (descending) 25, such as a buzzer 26 are connected.

FIG. 5 is a flowchart showing the processing procedure of the elevation control.
As shown in FIG. 5, after executing the predetermined initial setting (S11), the control unit 19 performs the mode (work mode and travel mode) according to the operation of the mode switching operation tool (in this embodiment, the auto switch 14). ) Mode switching control (S 12) for switching, position control (S 13) for controlling raising / lowering of the work implement 3 according to the operation position of the position control lever 17, and work implement 3 according to the raising operation of the quick up lever 9. Is controlled to be raised to a predetermined ascent position, and the quick up control (S14) is performed to control the work machine 3 to be lowered to a predetermined descending position according to the descending operation of the quick up lever 9, and according to the reverse or reverse operation of the traveling machine body. Backup control (S15) for raising the work implement to a predetermined ascent position, and the work implement 3 as a predetermined ascent position according to the turning or turning operation of the traveling machine body 1. The turn-up control (S16) for raising control at the same time, the lift arm target value setting (S17) for resetting the lift arm target value in accordance with the set / reset of the rise flag, and the lift arm target value and the lift arm sensor value match. The lift arm control (S18) for controlling the lift arm is repeatedly executed.

  According to such up-and-down control, the work machine 3 can be moved up and down to an arbitrary up-and-down position by the position control lever 17, and the work machine 3 is automatically raised when the machine is moving backward to prevent the work machine 3 from being damaged. In addition, it is possible to reduce the operator's operation labor by automatically raising the work machine 3 when the machine turns, or by allowing the quick up lever 9 to perform a simple lifting operation of the work machine 3. Hereinafter, processing procedures of mode switching control, lift arm target value setting, backup control, turning-up control, and quick-up control will be sequentially described with reference to FIGS. The position control and lift arm control use well-known processing procedures, so the illustration and description of the flowchart are omitted.

FIG. 6 is a flowchart showing a processing procedure for mode switching control.
As shown in FIG. 6, in the mode switching control, first, the operation of the auto switch 14 that is a mode switching switch is determined (S21). If the determination result is YES, it is determined whether or not the current mode is the travel mode (S22). If it is determined that the current mode is the travel mode, the mode is switched to the work mode (S23). A control permission request is made (S24). On the other hand, when it is determined that the current mode is the work mode, the mode is switched to the travel mode (S25) and a prohibition request for each control is made (S26).

FIG. 7 is a flowchart showing a processing procedure for setting a lift arm target value.
As shown in FIG. 7, in the lift arm target value setting, first, the state of the rising flag is determined (S31). The lift flag is a flag that is set when the work implement 3 is lifted in backup control, turning-up control, and quick-up control. When it is determined that the lift flag is in the set state, the lift-up lamp 16 is turned on. At the same time (S32), the height setting value is set to the lift arm target value (S33). This makes it possible to raise the work machine 3 to a predetermined height regardless of the operation position of the position control lever 17. If it is determined that the rising flag is in the reset state, the lift-up lamp 16 is turned off (S34), and the position sensor value is set to the lift arm target value (S35).

FIG. 8 is a flowchart showing a processing procedure for backup control.
As shown in FIG. 8, in the backup control, first, the operation of the backup switch 10 is determined (S41). If it is determined that the backup switch 10 is operated, it is determined whether the backup control is permitted (ON) (S42). If the determination result is the prohibited state, the backup control is not performed. While making a permission request (S43), if it is in a permitted state, a request for prohibiting backup control is made (S44).

  Next, it is determined whether or not the backup control is permitted (S45). If the determination result is the permitted state, it is determined that the back switch 21 is rising (S46). If the determination result is YES, it is determined that the traveling machine body 1 is in reverse or reverse operation, and an ascent flag is set (S47).

FIG. 9 is a flowchart showing a processing procedure for turning-up control.
As shown in FIG. 9, in the turn-up control, first, the operation of the turn-up switch 12 is determined (S51). If it is determined that the turn-up switch 12 is operated, it is determined whether or not the turn-up control is permitted (ON) (S52). While an up control permission request is made (S53), if it is in a permitted state, a turn up control inhibition request is made (S54).

  Next, it is determined whether or not the turning-up control is permitted (S55). If the determination result is permitted, the rising of the left and right front wheel turning angle detection switches 22 and 23 is determined (S56). . If the result of this determination is YES, it is determined that the traveling body 1 is turning or turning operation, and the rising flag is set (S57).

FIG. 10 is a flowchart showing a processing procedure of quick-up control.
As shown in FIG. 10, in the quick-up control, first, it is determined whether or not the quick-up control is in a permitted state (ON) (S61). If the determination result is YES, it is determined whether the quick up lever 9 is raised, that is, whether the raising switch 9a is on or off (S62). If the determination result is ON, a rise flag is set (S63).

  On the other hand, when the raising switch 9a is OFF, the state of the rising flag is determined (S64). If the determination result is reset, the subsequent processing is skipped and the process returns to the upper routine. However, if it is determined that the ascending flag is set, whether the position sensor value is larger than the lift arm sensor value or not. Is determined (S65). If the determination result is YES, the rising flag is reset (S66). That is, when the work implement 3 is lifted by the backup control, the lift arm target value is rewritten to the height setting value in the lift arm target value setting, and therefore the lifting / lowering operation of the work implement 3 by the position control lever 17 is performed. Although it is invalid, the lift flag is reset when the position control lever 17 is lifted to a position higher than the lift position of the work implement 3. Becomes effective.

  If the determination in step S65 is NO, it is determined whether backup control is permitted (S67). If it is determined that backup control is permitted, the back switch 21 is turned on. / OFF is determined (S68). When the backup control is permitted and the back switch 21 is ON, the lowering operation of the work implement 3 by the quick up lever 9 is invalidated by not determining whether the lower switch 9b is ON. At the same time, the buzzer 26 is operated intermittently to notify this (S69).

  If it is determined in step S67 that the backup control is in a prohibited state, or if it is determined in step S68 that the back switch 21 is OFF, the normal operation of lowering the work implement 3 by the quick up lever 9 is performed. In order to allow it, the rising flag is reset in response to the ON of the lowering switch 9b (S70) (S66).

  According to the present embodiment configured as described above, the control unit 19 controls the raising and lowering of the work machine 3 that is connected to the rear part of the machine body so that the work machine 3 can be raised and lowered, and the control unit 19 is located at the operation position of the position control lever 17. In response, position control means for raising and lowering the work implement 3, backup control means for raising and lowering the work implement 3 to a predetermined ascent position in response to a reverse or reverse operation of the traveling machine body 1, and an operation for raising the quick up lever 9. In response, the work implement 3 is controlled to be raised to a predetermined ascent position, and is provided with quick-up control means for controlling the work equipment 3 to be lowered to a predetermined descend position in response to the lowering operation of the quick up lever 9. When the machine 3 is raised, the lowering control of the work machine 3 by the quick up lever 9 is performed unless the reverse or reverse operation of the traveling machine body 1 is released. Since invalid, reliably avoiding aircraft backward in a state in which lowers the work implement 3, it is possible to prevent damage to the working machine 3.

  Further, when the lowering control of the work implement 3 by the quick up lever 9 is invalidated, this is notified, so that the operator can recognize that the lowering operation of the quick up lever 9 is invalid, Misunderstanding that the work machine 3 is lowered can also be prevented.

  When the work implement 3 is raised by the backup control means, the lowering control of the work implement 3 by the quick up lever 9 and the elevation control of the work implement 3 by the position control lever 17 are invalidated, and the position control lever 17 When the position control lever 17 is lifted to a position higher than the lift position of the work machine 3 while the lift control of the work machine 3 is disabled, the position control lever 17 subsequently raises and lowers the work machine 3. Since the control is enabled, the work implement 3 can be operated to an arbitrary height when positioning at the start of the work.

DESCRIPTION OF SYMBOLS 1 Traveling machine body 3 Working machine 4 Operation part 9 Quick up lever (elevating lever)
17 Position control lever 19 Control unit 21 Back switch 26 Buzzer

Claims (3)

A lifting control device for controlling the lifting and lowering of a working machine connected to the rear part of the body of the work vehicle so as to be lifted and lowered.
The lifting control device
Position control means for raising and lowering the work implement according to the operation position of the position control lever;
Backup control means for raising and lowering the work machine to a predetermined ascending position in accordance with reverse or reverse operation of the machine body;
Quick up control means for controlling the work machine to be raised to a predetermined raised position according to the raising operation of the lifting lever, and for controlling the work machine to be lowered to a predetermined lowered position according to the lowering operation of the lifting lever;
When the work implement is raised by the backup control means, the work implement lowering control by the elevating lever is invalidated unless the reverse or reverse operation of the machine is released. Lift control device.   2. The lifting control device for a working machine in a work vehicle according to claim 1, wherein when the lowering control of the working machine by the lifting lever is disabled, this is notified. When the work implement is raised by the backup control means, the lowering control of the work implement by the lift lever and the lift control of the work implement by the position control lever are invalidated,
When the lift control of the work implement by the position control lever is disabled, if the position control lever is lifted above the lift position of the work implement, then the work implement by the position control lever is The lifting control device for a work machine in a work vehicle according to claim 1 or 2, wherein the lifting control is made effective.

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