JP2508811Y2 - Automatic control device for work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to an automatic control device for a work vehicle such as a tractor and a combine.

[Problems to be Solved by Prior Art and Invention] Today, some working vehicles that perform this kind of automatic control are controlled at the time of the previous work so that the same automatic control as at the time of the previous work is performed when the work is restarted. Some have a memory function of storing a state. However, in the past, with this thing, when the work is restarted after adjusting the sensors and setters,
Since the automatic control will be performed based on the input values that are significantly different from the previous work, each actuator may suddenly operate when the work is restarted, that is, at the same time as the engine starts, which is a safety issue.

[Means for Solving the Problems] The present invention was devised with the object of providing an automatic control device for a work vehicle capable of eliminating these drawbacks in view of the above-mentioned circumstances. In a traveling vehicle for work configured such that a working unit attached to the traveling vehicle is moved up and down by vertical movement control of a lift arm and tilted left and right by extension and contraction movement control of a lift rod, the lift arm and the lift rod are It is assumed that the control unit that operates by receiving pressure oil from the hydraulic pump driven by rotation and that outputs the control command for each control described above has a lift rod when outputting the vertical movement control command of the lift arm. When the lift rod is expanding and contracting, increase the ratio of pressure oil supply to the lift arm. It is characterized in that a correction means for correcting the above is provided.

According to the present invention, the lift arm can be smoothly moved up and down even when the lift rod expands and contracts.

[Embodiment] Next, an embodiment 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, to the rear portion of the traveling machine body 1, a rotor-cultivating working unit 3 is connected via a lifting link mechanism 2, and the working unit 3
Is lifted up and down by the swing of the lift arm 5 accompanying the expansion and contraction of the hydraulic cylinder 4, and is tilted left and right by the expansion and contraction of the lift rod 6, all of which are conventional.

On the other hand, 7 is a rear cover provided on the rear part of the working section 3 so as to be vertically swingable, and a plowing depth sensor 8 for detecting a swing angle is connected to the rear cover 7. Also, 9
Is an inclination sensor provided on the machine body 1 side, and the inclination sensor 9 is connected to the control unit 10 described later together with the working depth sensor 7.

The control unit 10 is composed of a microcomputer (CPU, RAM, ROM) or the like, and this unit has a rod length sensor 11 for detecting the expansion / contraction length of the plowing depth sensor 7, the tilt sensor 9, and the lift rod 6. , Plowing depth setting device 12, inclination setting device 13,
Signals are input from the plowing depth automatic switch 14, the tilt automatic switch 15, etc., and based on these input signals, the lift arm raising solenoid 16, the lowering solenoid 17, the lift rod extending solenoid 18, and the reducing solenoid 19, An operation command signal is output to the automatic plowing depth ramp 20, the automatic tilt ramp 21 and the like. In other words, in the control unit 10, the working depth is automatically controlled so that the working unit 3 is moved up and down so that the detection value of the working depth sensor 7 matches the setting value of the working depth setting unit 12, and the working unit 3 is set by the tilt setting unit 12. The automatic control such as the automatic tilt control for tilting the working unit 3 is performed based on the detection value of the tilt sensor 9 so as to maintain the tilted angle. However, in addition to these normal controls, the inputs of the switches and sensors are performed. Special control such as input check control for checking signals is also performed.

Next, the main control of the control unit 10 will be described based on the flow chart shown in FIG. The control is started by turning on the main switch 22, and a predetermined initial setting is first performed. Then, it is determined whether or not the normal control mode (switched by a mode switching switch not shown). If YES is determined here, it is next determined whether or not the automatic control switches such as the automatic plowing depth switch 14 and the automatic tilting switch 15 are ON. If this is YES, various automatic controls will be performed as they are, but if the automatic control switch is OFF, then the control state stored at the end of the previous work, that is, when the main switch is OFF is determined. .
Here, if it is determined that no automatic control was performed at the end of the previous work, the automatic control is avoided, but if it is determined that any automatic control was performed, each automatic control is performed. The current values of the setters and sensors used in the above are compared with the values stored at the end of the previous work. Then, if it is determined that they match (a predetermined allowable range is set in the match determination), the same automatic control as that at the time of the previous work is performed, but if they do not match, It is designed to avoid automatic control. On the other hand, the set value and the sensor value are sequentially updated at the time of normal control, but they are erased when it is judged to be ON in the judgment as to whether or not the mode is the normal control mode. Automatic control is avoided regardless of the control state.

Further, the automatic plowing depth control will be described in detail. In the control, first, it is determined whether or not the automatic plowing depth control is ON, and then the plowing depth sensor value A and the plowing depth set value B are compared. Then, based on this comparison result, the calculated duty ratio is used to vertically swing and stop the lift arm 5 (when the lift arm lifting solenoids 16 and 17 are turned on during operation).
The expansion / contraction control of the hydraulic cylinder 4 is carried out by this, but in this embodiment, the duty ratio is corrected based on the operation of the lift rod 6. That is, if the lift rod 6 is activated when the lift arm 5 is activated, the operating speed of the lift arm 5 is reduced because the pump pressure is constant. At this time, the duty ratio is corrected so that the lift arm 5 is required. It is designed to ensure operating speed.

In the embodiment of the present invention configured as described above, when the main switch is turned on, the control unit starts up in the control state at the end of the previous work. That is, if any automatic control was performed at the end of the previous work, the work can be resumed in that automatic control state, but at this time, the current values of the setter and sensor used for that automatic control However, if the value does not match the value stored at the end of the previous work, the automatic control is avoided. Therefore, when the current value and the value at the end of the previous work are greatly different, such as when the main switch is turned on after adjusting the sensors and setting devices, the work unit 3 suddenly operates at the same time as the work is restarted. As a result, the safety of the tractor having the memory function can be improved.

In addition, when pressure oil is supplied to the lift arm 5 to move the working unit 3 up and down, the duty ratio is corrected so that the ratio of pressure oil supply to the lift arm 5 is increased when the lift rod 6 is expanding and contracting. Will be. As a result, even if the amount of hydraulic pressure supplied from the hydraulic pump is constant and parallel to the expansion and contraction of the lift rod 6, the operating speed of the lift arm 5 is increased due to the increase in the ratio of the amount of pressure oil supplied. Since the reduction can be corrected, the required operating speed of the lift arm 5 can be secured and the work unit 3 can be reliably moved up and down.

[Effects] In summary, since the present invention is configured as described above, when pressure oil is supplied to the lift arm in order to raise and lower the working unit, when the lift rod is expanding and contracting, the lift arm Will be corrected to increase the ratio of the pressure oil supply to.

As a result, assuming that the amount of hydraulic pressure supplied from the hydraulic pump is constant and the expansion and contraction operation of the lift rod occurs in parallel, the increase in the ratio of the amount of pressure oil supplied corrects the decrease in the operating speed of the lift arm. As a result, the required operating speed of the lift arm can be ensured.

[Brief description of drawings]

1 is a side view of a tractor, FIG. 2 is a front view of a front panel, and FIG. 3 is a front view of a front panel of a work vehicle according to an embodiment of the present invention. Fig. 4 is a plan view of the side panel, Fig. 4 is a block diagram of the control mechanism, Fig. 5 is a flow chart diagram of main control, and Fig. 6 is a flow chart diagram of automatic plowing depth control. In the figure, 1 is a traveling body, 3 is a working unit, 5 is a lift arm,
6 is a lift rod, 8 is a deep plowing sensor, 9 is an inclination sensor,
Reference numeral 10 is a control unit, 12 is a deep plowing setting device, and 13 is an inclination setting device.

Claims (1)

(57) [Scope of utility model registration request] 1. A working traveling vehicle comprising a working vehicle mounted on a working traveling vehicle, wherein the working unit is vertically moved by vertical movement control of a lift arm and tilted left and right by extension movement control of a lift rod. The arm and the lift rod are operated by receiving the pressure oil from the hydraulic pump driven by the rotation of the engine, and the control unit that outputs the control command for performing each of the above-mentioned control is provided with the lift arm vertical movement control command. When outputting, it is determined whether or not the lift rod is expanding and contracting, and when the lift rod is expanding and contracting, correction means is provided to correct so as to increase the ratio of pressure oil supply to the lift arm. Automatic control device for work vehicle.