JP2546753Y2 - Work vehicle - Google Patents

Description

[Detailed description of the invention]

[0001]

The present invention relates to the operation of a manual tilt operating tool.
Those related to the working vehicle such as a tractor to be lateral inclination the working unit based on.

[0002]

2. Description of the Related Art
Some traveling vehicles of this type are capable of tilting various working machines mounted to be able to move up and down via a lifting link mechanism further left and right by hydraulic expansion and contraction operation of a lift rod cylinder. When a work machine such as a plow working machine that receives a large pushing force from the field is mounted, the hydraulic fluid in the lift rod cylinder leaks due to the pushing force, and thus the lift rod cylinder However, there is a problem that the work machine is inclined and rises in an inclined manner.

In order to prevent the leakage of hydraulic oil by increasing the number of check valves which are originally one which does not cause any trouble, or to maintain the lift rod cylinder in a non-operated state at a predetermined operating length, a rod length sensor is provided. It is proposed to extend and retract the lift rod cylinder based on the sensor value. However, when the number of check valves is increased, there is a problem of cost increase due to an increase in the number of parts. On the other hand, based on the sensor value of the rod length sensor,
In the case of providing only one which stretch the lift Rotsu de cylinder to maintain Hazuki at a predetermined working length will not be able to stop the lift Rotsu de cylinder sensor value fluctuates when the rod length sensor fails There was an inconvenience. In addition, the working machine that works in a large inclined posture is raised
When the operation to ascend to the position is performed, the inclination posture
When the posture control is performed until the working machine
There is also a problem that it takes time to control and the workability is inferior .

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has been devised for the purpose of providing a working vehicle capable of eliminating these disadvantages . A manual tilting operation tool, a lift rod cylinder for tilting the working section left and right by hydraulic expansion and contraction operation , and the lift
Rod length sensor to detect rod length of trod cylinder
And lift lift based on the operation of the manual tilt operating
In a working vehicle having a tilt control unit that controls to output a telescopic operation command of a toe cylinder , a manual tilt operating tool is operated to an OFF position by the tilt control unit .
The rod length sensor value at the time is stored, and
When the rod is at the FF position, the rod length is stored
Expansion and contraction of lift rod cylinder to maintain long sensor value
Output the motion command and raise the working unit to the highest position.
In the event of a malfunction, the working unit is within the preset safety tilt range.
Operation of the lift rod cylinder so that
First control mode to output command and lift rod syringe
The output of the expansion / contraction operation command is set to the OFF position of the manual tilt operating tool.
Operation not to be performed at the time of
When the work unit is in the horizontal return position
The second control mode that outputs the expansion / contraction command of the trot cylinder
The mode is characterized by being provided so that the mode can be selectively switched .

According to the present invention, the work accuracy can be improved without increasing the number of parts, and the work can be performed even when the rod length sensor fails.

[0006]

Next, an embodiment of the present invention will be described with reference to the drawings. In the drawing, reference numeral 1 denotes a traveling body of a tractor, and a working unit is provided at a rear portion of the traveling body 1 through a three-point lifting link mechanism 4 including a single top link 2 and a pair of left and right lower links 3. 5 is connected so as to be able to move up and down, and the working unit 3 is moved up and down by a vertical swing of a pair of left and right lift arms 7 accompanying expansion and contraction of a hydraulic cylinder 6, while a left and right lift rod connecting the lift arm 7 and the lower link 3. 8 is tilted left and right by expansion and contraction of a lift rod cylinder 9 which constitutes one of them, and all of these basic configurations are conventional.

Reference numeral 10 denotes a side panel provided on the side of the driver's seat 11. The side panel 10 has a shift lever 12 for performing forward / reverse switching and the like, and for performing an operation of lifting and lowering the working unit 5. Lifting and lowering operation lever 13 and raising and lowering operation switch 14, plowing depth setting volume 15 for performing plowing depth setting for automatic plowing depth control, automatic switching switch 16 for performing switching between automatic plowing depth control and automatic tilting control, working unit 5 Raise setting volume 17 for setting the upper limit of the inclination, and the inclination setting volume for setting the inclination of the working unit (the present invention)
Corresponds to the "manual tilt operation tool") 18, "rotary" the working mode of the control unit 19, "Hello", "Other",
A mode switching switch 20 for switching to "check" and "hydraulic extraction" respectively, sensitivity adjusting switches 21 and 22 for adjusting the sensitivity of the automatic control, and a cultivating claw shaft 5
a rear cover 2 that is rotatable along an arc having a substantially center at a
3, a rear cover manual switch 24 for manual operation of
Various operating tools such as a lift arm manual switch 25 for manually operating the lift arm 7 are provided.

The control unit 19 includes a so-called microcomputer (CP)
U, ROM, RAM) and the like, which are arranged below the side panel 10, and which receives an operation signal from the operating tools and controls the lever angle of the elevation operation lever 13. Lever angle detection sensor 26 for detecting
An arm angle detection sensor 27 for detecting the swing angle of the lift arm 7, a rod length sensor 28 for detecting the rod length of the lift rod cylinder 9, an inclination sensor 29 for detecting the left and right inclination of the traveling body 1, and a swing of the rear cover 23. Detection signals are input from sensors such as a tillage depth detection sensor 30 for detecting an angle, and an actuation signal is sent to an actuator such as the hydraulic cylinder 6, the lift rod cylinder 9 or the like based on a judgment based on these input signals. Is output. That is, in the control unit 19, manual raising / lowering control for raising / lowering the working unit 5 based on the operation of the lifting / lowering operation lever 13 and the lifting / lowering operation switch 14, the set value of the tillage depth setting volume 15 and the detection value of the tillage depth detection sensor 28 are performed. Tilling depth automatic control for automatically raising and lowering the working unit 5 based on the inclination setting volume 1
8 Operation lateral inclination allowed Ru tilting swash controls the working unit 5 based on the various control of the tilt automatic control or the like for automatically tilting the working portion 5 on the basis of the detection value of the tilt sensor 29 is summer to take place.

[0009] In the prior Ki傾 oblique control, it is determined whether a first inclined automatic control state, the inclined automatic control to be separately defined rather than inclined manually control described later when a tilt automatic control state Will be performed, but that
Details are omitted here. And automatic inclination control is OFF
If, set the tilt position of the working unit manually
In this case, the control mode can be selectively switched between the first control mode and the second control mode based on whether or not the mode switching switch 20 is set to "other". It is like that.
In the first control mode, the inclination setting volume 18 is
OFF position (in the embodiment, the inclination setting bolt shown in FIG. 3)
The finger for operating the lift rod cylinder 9 to extend or retract based on the operation from the "horizontal" position of the arm 18 to an appropriate position.
While decree is output, the slope setting Helsingborg Yumu 18 the OF
When in the F position, the inclination setting volume 18 is
Store the rod length sensor value when operated to the F position,
In order to maintain the rod length of the stored sensor value, a command to extend and retract the lift rod cylinder 9 is output . In other words, even if the lift rod cylinder 9 expands and contracts during provisional work due to oil leakage, this is always corrected to improve work accuracy. In the first control mode, it is determined whether or not the lift rod cylinder 9 is out of a preset safe inclination range when the operation of raising the working unit 5 to the highest position is performed. When it is determined, the lift rod cylinder 9 is extended and retracted to a position within the safe inclination range, whereby interference between the raised working unit 5 and the traveling machine 1 and interference between links in the lifting link mechanism 4 are prevented. I'm trying to avoid it.

On the other hand, even when the second control mode is selected , the lift rod cylinder 9 is operated to extend and contract based on the operation of the tilt setting volume 18 from the OFF position. When the tilt setting volume 18 is in the OFF position, the output of the expansion / contraction operation command is stopped without performing the correction as in the first control mode. In other words, in the second control mode, the expansion / contraction operation control based on the rod length sensor value is not performed, so that even if the rod length sensor 28 breaks down, the work can be manually performed as necessary. Still further, in the second control mode,
When the operation of raising the working unit 5 to the highest position is performed, the lift rod cylinder 9 is operated to extend and retract to the horizontal return position, thereby preventing interference between the raised working unit 5 and the traveling machine body 1. The lifting link mechanism 4 avoids interference between links.

In the embodiment of the present invention constructed as described above, when a work machine which receives a large thrust from the field, such as a plow work machine, is mounted, the mode switching switch 20 is set to the "other" position. Set the first control mode
Perform tasks controlled by the code. In this state, even if the provisional lift rod cylinder 9 expands and contracts due to the thrust-up force, this is always corrected and the tilt setting vol.
Maintain the tilt position when the arm 18 is operated to the OFF position
As a result, accurate work can be performed. If the rod length sensor 28 has failed, the mode switching switch 20 is set to a position other than "others" and the operation controlled by the second control mode is performed. In this state, since the correction control based on the detection value of the rod length sensor 28 is not performed , the inclination setting volume 18
Is kept at the OFF position, the lift rod cylinder 9 is kept stopped , and work can be performed in this state . Therefore, by increasing the number of check valves to two, it is possible to perform accurate work without preventing leakage of hydraulic oil, so that it is possible to avoid a cost increase due to an increase in the number of parts. Thus, the inconvenience that the work cannot be continued can be solved.

In the first control mode, the highest
When the ascent operation is performed, the work unit
5 is set in advance instead of returning to the parallel posture
It is controlled to be in a tilt position within the safe tilt range.
Workability is improved. In other words, the safety tilt range
Equipped with a work machine that performs work in a large inclined posture outside the enclosure
When working with a large tilting posture
Between the tilt position within the safe tilt range
Enabling faster well as go-between attitude control in the attitude change, when lowering the working unit 5 in order to resume work, large working section 5 of the original
There is no inconvenience that the working accuracy is reduced because it is not possible to return to the proper inclined posture in time.

[0013]

[Effects] In summary, the present invention is constructed as described above. Therefore, when working with a working unit that receives a large pushing force from a field such as a plow working machine, If the first control mode is selected, manual tilt operation
Even if the tool is in the OFF position, the lift rod cylinder
Rod length when the manual tilt operating tool is operated to the OFF position
Will be maintained and controlled, so that
Even if the lift rod cylinder expands and contracts due to the thrusting force, this will always be corrected and accurate work can be performed. In the first control mode, the highest position
If the increase in operations to have been made, work unit, in a parallel posture
But not in a pre-set safety tilt range
Controlled, so that the working posture of the working unit is out of the safe tilt range.
The posture changes quickly when tilted. on the other hand,
In the case where the rod length sensor has failed, the second control mode may be selected, and as a result, the manual tilt operating tool can be used.
If the lift rod cylinder is set to the OFF position, no output of the expansion / contraction operation to the lift rod cylinder is made, and the lift rod cylinder is maintained in the stopped state and can be operated. Therefore, it is possible to avoid the cost increase due to the increase in the number of parts by performing accurate work without increasing the number of check valves to two in order to prevent oil leakage as in the prior art. It is also possible to solve such a problem that the work becomes inoperable due to the failure and the work efficiency is reduced.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a rear view of the same.

FIG. 3 is a plan view of a side panel.

FIG. 4 is a block diagram schematically showing a control mechanism.

FIG. 5 is a flowchart showing manual tilt control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling machine body 5 Working part 9 Lift rod cylinder 18 Inclination setting volume 19 Control part 20 Mode switching switch 28 Rod length sensor

Claims (1)

(57) [Scope of request for utility model registration] 1. A manual tilting operation tool for a working unit, and a lift rod cylinder for tilting the working unit left and right by hydraulic expansion and contraction operation.
And a rod for detecting the rod length of the lift rod cylinder.
The length sensor and the manual tilt operating
Output the expansion / contraction command of the lift rod cylinder.
In working vehicle comprising a tilt control unit for controlling, in the tilt control section, a manual tilt operating member is in the OFF position
Store the rod length sensor value when operated, and
The rod length is stored when the operating tool is in the OFF position.
Lift rod syringe to maintain the measured rod length sensor value.
Command to extend and retract the working part
The operation unit is set in advance when an operation is performed.
Lift rod cylinder so that it is tilted within the tilt range
The first control mode that outputs the telescopic operation command of the
The output of the extension / retraction operation command of the cylinder
Not performed when in the OFF position, and the working unit is at the highest position
The working unit will be in a parallel posture when the
The second is to output the extension command of the lift rod cylinder
A traveling vehicle for use, characterized in that the vehicle can be selectively switched between a control mode and a control mode .