JP2510032B2 - Lifting control device for work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a working depth detecting means for detecting a working depth to ground of a ground working device connected to a traveling machine body so as to be driven up and down, and this detecting means. And a control means for automatically raising and lowering the working device so that the detection result of the above coincides with a target setting depth by a manually operable setting device, and the working device is forced to a predetermined height position with respect to the machine body in preference to the control by the control means. A forced raising means for raising, a body level detecting means for detecting a body level value of the working apparatus at the time of the elevation control by the control means, a storage means for storing a detected value of the body level detecting means, The forced rising motion is released,
A lifting control device for a working machine, comprising level maintaining means for temporarily maintaining the level of the working device at the machine-to-body level held in the storage means when restored to the lifting control by the control means. .

[Conventional technology]

In the lifting control apparatus, conventionally, for example, as disclosed in Japanese Patent Application Laid-Open No. 2-57103, the level of the working machine held by the level maintaining means is set to the level of the working apparatus immediately before the start of the forced lifting operation. It was configured to be set to the level of the aircraft height.

[Problems to be Solved by the Invention]

The above-described conventional structure prevents the plunge work from entering more deeply than necessary when the plowing work is performed again after turning the headland, and prevents the engine from being overloaded.

However, in the above conventional structure, when the surface of the field is a flat surface that is horizontal over the entire area, no problem occurs, but in the actual work, there are many irregularities in the field scene, especially pillows. In places near the ridge, such as the ground, the ridge side is often located in an upward slope. In this way, in the tilted state, the aircraft is in the forward ascending posture immediately before the forcible ascending operation, but since the automatic lifting control is executed at that time as well, the working device is maintained at a predetermined ground working depth. ing. However, since the height of the machine body is stored in the storage means, the height of the working device is a predetermined height above ground with respect to the machine body in the forward ascending posture. In spite of this, the level maintaining means keeps the height of the work device immediately before the ascending operation, and the working depth of the work device to the ground is shallow.

The present invention has an object to provide a lifting control device for a working machine that can always maintain an appropriate working depth according to the actual situation.

[Means for solving the problem]

A characteristic configuration of the present invention is that, in the lifting control device for a working machine described at the beginning, before the forced lifting operation, during the lifting control operation, a detection value is taken in by the anti-body level detection means at predetermined intervals, The data averaging means for calculating the average value is provided, and the average value is stored in the storage means.

[Work]

During the work based on the raising / lowering control operation on the central side of the field where the ground of the field is relatively flat, the level of the working device against the body is detected multiple times, and the averaged data is stored in the storage means and the value is stored. Based on the above, the level maintaining means temporarily maintains the level of the work device after turning the headland.

〔The invention's effect〕

As a result, even if the field near the headland is tilted, without being affected by the aircraft attitude immediately before turning the headland,
The work depth at the time of resuming work after headland turning can be always maintained at an appropriate depth.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 3, a hydraulic cylinder (2) as an ascending / descending actuator is provided at the rear of the vehicle body (1) of the agricultural tractor.
A pair of left and right lift arms (3) that move up and down by the drive of the vehicle are provided, and a two-point link mechanism (5) supported in a suspended state by a lift rod (4) connected to the lift arms (3) A rotary tiller (6) is connected to the rear end of (1).

As shown in the figure, a control box (8) for raising and lowering the rotary tiller (6) is arranged on the right side of the driver's seat (7) arranged in the center of the motorcycle (1),
This control box (8) has a plowing depth setting dial (9) for automatic plowing depth control for setting the rotary plowing device (6) to an arbitrary plowing level, and a rotary plowing in preference to this automatic plowing depth control. A raising switch (10) for forcibly raising the device (6) to a predetermined level is externally mounted, and a microprocessor (not shown) as shown in FIG.
A control device (11) having the above and a memory (12) as a storage means are incorporated.

As shown in FIG. 1, the control device (11) includes a signal from a tilling depth setting device (13) as a setting means operated by the tilling depth setting dial (9) and the rotary tilling device. A signal from a tilling depth detector (4) as a detecting means for detecting the tilling depth of the rotary tiller (6) from the swinging posture of the rear cover (6a) which is swingably provided with respect to (6). , A signal from a vehicle body level detector (15) for detecting the vehicle body level of the rotary tiller (6) from the swing angle of the lift arm (3) and a signal from the lift switch (10) are input. In addition, the control device (11) is configured to output a control signal to the solenoid valve (16) for controlling the hydraulic cylinder (2). By the way, the memory (12) stores the level value with respect to the vehicle body of the rotary tiller (6) during the automatic tilling depth control with respect to the vehicle body level detector (15).
The level of the rotary tiller (6) held in the memory (12) at the stage of shifting from the forcible rising state to the automatic tilling depth control by operating the raising switch (10) while holding the level ( A signal is output in order to maintain the memory level).

Further, inside the control device (11), automatic tilling depth control means (A) for performing automatic tilling depth control, and level maintaining means for performing control for keeping the rotary tiller device (6) at a memory level as described above ( B), forcible raising means (C) for forcibly raising the tilling device (6) to a predetermined height against the aircraft, and before the forcible raising operation, during the lifting control operation, the above-mentioned aircraft level detecting means (at every predetermined time) ( Data averaging means (D) that takes in the detected value by 15) and calculates the average value
Each is contained in the form of a program.

The operation of the control device (11) is represented as shown in the flowchart of FIG. 2, and its operation is as follows.

In other words, when the control is started, signals from the tilling depth setting device (13) and the tilling depth detector (14) are input to perform field back type automatic tilling depth control (# 1, # 2, (Step # 3), the level of the rotary tiller (6) with respect to the vehicle body at the time of this automatic tilling depth control is input based on the signal from the vehicle body level detector (15). Then, the signal from the vehicle body level detector (15) is input a predetermined number of times (N) every predetermined time by the timer count (# 4, # 5, # 6, # 7 steps). Next, the average value of the N pieces of detection signal data thus detected is calculated (# 8 step) and held in the memory (12) (# 9 step).

Next, the state of the raising switch (10) is discriminated, and if it is in the OFF state, the automatic tilling depth control is continued, and when it is turned ON, the rotary tiller (6) is raised to a preset level. , The rising switch (10) is OF
Hold until F is operated (# 10, # 11, # 12, step).

Next, when the raising switch (10) is turned off, the rotary tiller (6) is lowered (# 13 step), and in the middle of this lowering, based on the signal from the vehicle body level detector (15). It is determined whether the rotary tiller (6) has reached the memory level, and if it has reached the memory level, the descent is stopped (# 14, # 15,
# 16, step).

Next, a timer (not shown) starts counting, and after the counting by this timer is completed, a transition to automatic tilling depth control is performed (# 17, # 18 steps).

In this flowchart, step # 3 is called automatic tilling depth control means (A), and steps # 14, # 15 and # 16 are combined and called level maintenance means (B), and steps # 4 to # 8 are averaged. The step 11 is referred to as the commutation means (D), and the # 11 step is referred to as the compulsory rising means (C).

It should be noted that although numbers are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

1 is a control block diagram, FIG. 2 is a control flow chart, and FIG. 3 is a side view of a rear part of an agricultural tractor. (6) …… Working device, (12) …… Storage means, (13) ……
Setting means, (14) ... detecting means, (15) ... body level detecting means, (A) ... controlling means, (B) ... level maintaining means, (C) ... forced raising means, (D) ) …… A data averaging method.

Claims (1)

(57) [Claims] 1. A working depth detecting means (14) for detecting a working depth to ground of a ground working device (6) connected to a traveling machine body so as to be movable up and down, and a detection result of the detecting means (14). A control means (A) for automatically raising and lowering the working device (6) so as to match the target depth set by the manually operable setting means (13), and the working device (priority to the control by the control means (A) ( 6) The forcible raising means (C) for forcibly raising it to a predetermined height position for the machine body, and the machine body level detection for detecting the machine body level value of the working device (6) during the elevation control by the control means (A). Means (15) and storage means (1) for storing detection values of the aircraft body level detection means (15).
2) and, when the forcible ascending operation is released, and when the ascending / descending control is restored by the control means (A), the working device (6) is brought to the level against the machine held in the storage means (12).
And a level maintaining means (B) for temporarily maintaining the level of the working machine, wherein the lifting control device for a working machine is provided with the pair at predetermined intervals during the lifting control operation before the forced lifting operation. Data averaging means (D) for taking in the detected value by the machine body level detecting means (15) and calculating the average value thereof is provided, and the average value is stored in the storage means (1
2) Lifting control device for working equipment configured to be stored in.