JP2644390B2 - Working machine operating device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for a working machine having a plurality of control devices mounted thereon and provided with target value setting means for setting respective control target values of the plurality of control devices.

[0002]

2. Description of the Related Art A plurality of control devices (for example, a vehicle speed control device) are mounted on an operating device of a working machine such as an agricultural machine or a construction machine. Conventionally, target value setting means for setting respective control target values of the plurality of control devices have been arranged in a dotted manner in the control unit.

For example, in the case of a vehicle speed control device that automatically increases or decreases the vehicle speed in accordance with the load state of the engine, target value setting means for setting the maximum vehicle speed is provided near a shift lever for manual operation. Was. Similarly, for other control devices, the target value setting means is provided separately at a place related to the manual operation.

The control target value referred to here is a target value in closed loop control for maintaining a constant operation amount of the control device, a set value when manual control is selected, a maximum vehicle speed of the vehicle speed control device, and the like. It means all set values set by the target value setting means.

[0005]

When the target value setting means is scattered, it is difficult for an unskilled operator to change and set the control target value of each control device. That is, it is necessary to reach for each target value setting means for the change setting, but to make the change setting quickly, it is necessary to first learn the arrangement of each target value setting means. Further, in some cases, the target value setting means must be provided at a position where it is difficult to reach, making it difficult to perform a quick change setting operation.

Therefore, it is conceivable to install the target value setting means collectively in a place in front of the control section that is easy to see and operate. It is impossible on the surface. In addition, each target value setting means may be confusing, which may cause an erroneous operation.

The present invention has been made in view of such circumstances, and its object is to avoid an increase in installation space.
Reluctant, it is easy to set the control target value of each of the control devices work
An object of the present invention is to provide an operating device for an industrial machine .

[0008]

The operating device for a working machine according to the present invention is provided with a plurality of control devices and target value setting means for setting respective control target values of the plurality of control devices. and an operation apparatus of the working machine, the first characteristic configuration, the target value setting means, and selection means for selecting one of the plurality of control devices, selection by said selection means
Before to increase or decrease changes the control target value of the-option by the control device
A change unit that is also used for the plurality of control devices, a storage unit that stores a control target value of each of the plurality of control devices, and a control unit of the control device selected by the selection unit. and display means for selectively displaying the control target value, the control target value of the selected control unit by the selection means, changing by the changing means subject, displayed by the display means, and storage by the storage means Processing means for controlling the operation of each means, and the selecting means, the changing means, and the display means are centrally provided.

A second characteristic configuration is such that the storage means in the first characteristic configuration can store and hold the control target values even when the power supply for operating the target value setting means is cut off. On the point. According to a third characteristic configuration, in the second characteristic configuration, when the processing means is turned on, the control target values stored in the storage means are sequentially switched at predetermined time intervals. It is configured to display on the display means.

[0010]

According to the first characteristic configuration, the operator uses the target value setting means including the selection means, the change means, the storage means, the display means, and the processing means as follows to control the target value of each control device. Can be set. First, a control device for setting a control target value is selected by the selection means. Then, the processing unit controls the operations of the display unit, the change unit, and the storage unit so that the control target value of the selected control device is set as a display target, a change target, and a storage target.

Therefore, the current value of the control target value of the selected control device is read from the storage means, and the selected control device is controlled.
Appears the control target value of the device to a display means for selectively displaying, then the operator is also used for a plurality of control devices
When the control target value is increased or decreased by the changing means used ,
The display of the control target value changes accordingly, and the data of the control target value stored in the storage means is updated. That is, the operator first selects the control device for which the control target value is to be set by the selection means, and then performs the same operation by the common changing means while watching the control target value displayed on the common display means. Thus, the control target value of each control device can be set.

[0012] Also, a selection unit, since the common change unit and the display unit to the control device is centrally deployed, to set all of the control target value with little movement of the position of the line of sight and hand it can. Note that the storage unit and the processing unit may be provided at a location separated from the selection unit, the change unit, and the display unit.

According to the second characteristic configuration, since the storage means is configured to be able to store and hold each control target value even when the power supply for operation of the target value setting means is cut off, the power supply for operation is turned on. It is not necessary to set all the control target values again when it is performed, and the previous control target value can be made valid as it is. Further, the previous control target value can be displayed on the display means.

According to the third characteristic configuration, when the power for operation is turned on, the control target values stored in the storage means are displayed on the display means while being sequentially switched, so that the operator can operate the control target values. First, the previous control target value is checked by the display, and only the control target value to be changed may be changed by the above-described operation.

[0015]

According to the first characteristic configuration, each control device has
The means for changing the target value and the display means for
Because it is provided as a stage, for example, multiple
Compared to a simple collection of
In all, the equipment is compact and space saving is realized.
And the common change means and display means
Since the operation can be standardized, even an unskilled operator can easily and quickly set a control target value of each control device.

According to the second and third characteristic configurations, it is possible to more easily and quickly perform a preparatory operation for setting the control target value of each control device by turning on the operating power at the start of the work.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a combine will be described below with reference to the drawings. The combine as a working machine includes a pair of left and right crawler traveling devices 11 as shown in FIG. A cutting section 12 is provided at the front of the machine body V. A control section 13 is provided behind the cutting section 12, a threshing section 14 for threshing and sorting the cut culm, and a grain supplied from the threshing section 14 is stored. Glen tank 15 is mounted.

The cutting section 12 includes a weeding tool 16 attached to the tip, a raising device 17 for raising the cereal culm in the field, a cutting blade 18 for cutting the root of the cultivated culm, and a reaped culm. Transport device 19 for transporting to the threshing unit 14
It has. Also provided are an ultrasonic sensor S1 for detecting the height of the cutting unit 14 from the ground, and a stock sensor S2 for detecting that the cutting operation is being performed because the cutting unit 14 is turned on when the grain stem touches.

The height information from the ground by the ultrasonic sensor S1 is used for controlling the cutting height of the culm (cutting height control). Further, the detection information indicating that the harvesting operation is being performed, which is obtained from the stock sensor S2, is used as one of the conditions for activating the vehicle speed control, which will be described later.

In addition, a plurality of weeding tools 1 according to the number of cutting strips
6 are arranged side by side at the tip of the cutting unit 12, but a direction sensor S3 for detecting whether or not the plurality of weeding tools 16 are appropriately positioned between the strips of the planted grain culm. (Not shown) is provided. The detection information of the direction sensor S3 is
It is used for steering (direction control) of the body V. In particular,
If the sensor bars protruding to the left and right of the direction sensor S3 do not touch the planted grain culm, go straight. If any of the sensor bars touch the planted grain culm, the left and right crawler traveling devices 11 are steered to the opposite side. To control the drive of.

The right and left crawler traveling devices 11 are configured to be individually driven to move up and down with respect to the machine body V. Thus, control for keeping the body V horizontal or at a set angle regardless of the inclination of the ground (rolling control)
Is possible. For this purpose, an inclination sensor S4 for detecting the inclination of the body V with respect to the horizontal is provided.

The threshing unit 14, as shown in FIG.
1, a feed chain 22 for transporting grain culms supplied from the reaping unit 14, a sorting device B composed of tows 23 and a swing sorting plate 24, a first port 2 for grain collection.
5, and a second port 26 for collecting a mixture of grain and straw waste.

Of the processed products threshed in the handling room A, the single-grained products are leaked to the sorting device B from the receiving net 27 provided at the lower part of the handling room A, and the other processed products are received by the receiving net. 27 falls into the sorting device B from the rear end.

The swinging sorting plate 24 of the sorting device B includes
3 includes a Glen pan 28 located above, a chaff sheave 29 located behind and a Glen sheave 30 located below. In the chaff sheave 29, the interval between adjacent strip-shaped members (hereinafter referred to as a “chaff opening”) is changed by simultaneously changing the angle of a plurality of strip-shaped members arranged in the processing object transfer direction around the horizontal axis. It is configured to be.

The torsion 23 is for blowing off the straw chips on the swinging sorting plate 24, and the wind is generated by changing the opening of the fan case cover 23a as shown in FIG. That is, as the opening degree increases, the amount of air that escapes from the opening increases, and the wind force applied to the processed material on the swing sorting plate 24 (hereinafter referred to as toumi wind force) decreases.

With respect to the sorting apparatus B, the control (sorting control) for adjusting the opening degree of the chaff and the wind power of the turtle according to the conditions such as the amount, type, and humidity of the processed material is performed as described above.
The grains leaking from the grain sieve 30 are oscillated on the sorting plate 2
The mixture of the grain and the straw waste collected from the first port 25 provided below and stored in the Glen tank 15 and dropped from the rear end of the chaff sheave 29 or the rear end of the Glen sheave 30 is discharged from the second port 26. It is collected and returned to the swing sorting plate 24.

Next, a power transmission system is shown in FIG. The output of the engine E mounted on the machine body V is transmitted to the threshing unit 14 via the threshing clutch 31 and the traveling clutch 32
The transmission is transmitted to the transmission section 34 of the crawler traveling device 11 via the continuously variable transmission 33. Part of the output transmitted to the transmission section 34 is transmitted to the reaping section 12 via the reaping clutch 35. A threshing switch SW1 for detecting the on / off state of the threshing clutch 35 is provided.

A continuously variable transmission 33 for increasing or decreasing the vehicle speed
Is manually operated by a shift lever and automatically operated by an electric motor. That is, control (vehicle speed control) for automatically increasing or decreasing the traveling speed by automatically operating the continuously variable transmission 33 when the engine speed changes is performed. The engine speed is detected by a speed sensor S5 comprising an electromagnetic pickup that applies a magnetic field to the flywheel ring gear of the engine E and obtains a sine wave having a frequency corresponding to the number of teeth per unit time. Hereinafter, the vehicle speed control will be described.

The engine speed decreases as the engine load increases. Therefore, when the engine speed is optimal, the vehicle travels at a constant speed. However, when the load increases and the engine speed decreases, the vehicle speed is reduced to reduce the cutting amount, that is, the threshing process amount, and reduce the load. Conversely, the load decreases,
If the engine speed is higher than the optimum speed, the vehicle speed is increased to increase the amount of cutting, that is, the amount of threshing. However, it does not become faster than the maximum vehicle speed previously set on the operation panel (described later). The vehicle speed is detected by a vehicle speed sensor S6 provided in the mission section.

In addition to the above-described controls (cutting height control, direction control, rolling control, sorting control, vehicle speed control), there is a handling depth control and the like, but the description is omitted. These controls are controlled by a control means H as shown in FIG. Control means H
Is composed mainly of a microcomputer, and realizes each control by its program. In the following description, for the sake of convenience, it is assumed that a control device for performing each control is separately incorporated in the control means H.

As shown in FIG. 2, the sensors S1
To S6, SW1 are input to the control means H, and each control device incorporated in the control means H controls the corresponding actuator (such as a hydraulically controlled solenoid valve or the like) based on each detection information and each set value. ) It is configured to control the driving of the electric motors M1 to M3 and the electric motors M4 to M6.

An operation device for instructing the start and stop of each control device and setting parameters (hereinafter, referred to as control target values) such as a maximum vehicle speed in the vehicle speed control and a cutting height in the cutting height control is a control unit 13. The operation panel unit C and the control means H are provided at a position where the operator can easily see and operate.

As shown in FIG. 2, the operation panel unit C includes display units 1, 2, key input units 3, 4, 5, and an MPU.
A (microcomputer) unit 6 exchanges data with the control unit H by serial communication.

As shown in FIG. 1, the display section is divided into a main display section 1 for displaying the remaining fuel amount, the engine speed, and the like, and an auxiliary display section 2 used for multiple purposes. The main display unit 1 is a liquid crystal display having a dedicated segment for each display, and also functions as a display unit for displaying the start / stop of each control device. The auxiliary display unit 2 is a liquid crystal graphic display composed of 96 × 32 dots, and mainly functions as a display unit for displaying a control target value of each control device.

The key input section includes a start / stop key 3, a selection key 4, and a change key 5. Start / stop key 3
This corresponds to instruction means for instructing each control device such as the above-described vehicle speed control device to start and stop. The selection key 4 and the change key 5 are used when setting a control target value of each control device. The selection key 4 corresponds to a selection unit for selecting one of the plurality of control devices, and the change key 5 is used. Select key 4
To increase or decrease changes the control target value of the selected control device
This corresponds to a changing unit that is also used for a plurality of control devices . Then, the auxiliary display unit 2 is
Display the control target value of the selected control device
It corresponds to display means.

Display units 1 and 2, and key input units 3, 4, and 5
Is integrated with a liquid crystal display module and a membrane keyboard. In other words,
Instruction means, selection means, change means, and display means are centrally provided. On the back side of the operation panel unit C, an MPU unit 6 for controlling the operations of the display units 1 and 2 and the key input units 3, 4 and 5 is provided.

The MPU unit 6 also performs serial communication with the control unit H of the main body, transmits key input data to the control unit H, and receives display data from the control unit H. The control means H starts / stops each control device and changes the control target value based on the key input data.

The change of the control target value is performed by rewriting the control target value stored in the built-in memory 7 as the storage means, and at the same time, the display data is changed and transmitted to the MPU unit 6. Therefore, the MPU unit 6 and the control unit H
Corresponds to a processing unit that controls the operation of the selection unit 4, the change unit 5, the display unit 2, and the storage unit 7.
The change unit 5, the display unit 2, the storage unit 7, and the processing unit (6, H) correspond to a target value setting unit that sets a control target value.

The start / stop key 3 has a plurality of keys corresponding to each control device as shown in FIG. 1, and each key is also used for starting and stopping. That is, when the key corresponding to the operating control device is pressed, the control device is stopped,
When the key corresponding to the stopped control device is pressed, the control device is activated. The operating state (start or stop) of each control device is stored in the memory 7 of the control means H, and turns on or off each segment in the lower portion 1a of the main display unit 1. As shown in FIG. 1, each segment corresponds to each control device and is arranged in a horizontal line in the same arrangement as the start / stop key 3.

Like the start / stop key 3, the selection key 4 also has a plurality of keys corresponding to each control device. The control device corresponding to the pressed key is selected as a display target by the auxiliary display unit 2, a change target by the change key 5, and a storage target by the memory 7. When the up key 5a of the change keys 5 is pressed, the control target value is increased, and when the down key 5b is pressed, the control target value is decreased.

A description will be given by taking as an example a change setting of the maximum vehicle speed (control target value) of the vehicle speed control device. First, select key 4
When the key (ASC) corresponding to the vehicle speed controller is pressed, a display as shown in FIG. Next, when the up key 5a is pressed, the bar graph indicating the maximum vehicle speed increases by one level. If the key is kept pressed, the level of the bar graph display continues to rise, and if the finger is released from the up key 5a, the rise stops. When the down key 5b is pressed, the level displayed in the bar graph is similarly lowered.

After a lapse of a predetermined time (about 5 seconds), the level displayed in the bar graph is determined as a new maximum vehicle speed, and the data stored in the memory 7 is updated. At the same time, the display on the auxiliary display unit 2 returns to the normal display before the selection key 4 is pressed. As this normal display, as shown in FIG.
The above-described state display of the sorting device B, that is, bar graph display of the chaff opening degree and the wind power of the windmill is performed. However, other status indications such as the vehicle speed and the inclination of the body with respect to the horizontal can also be performed.

In order to switch the status display, the display switch key 5c is operated by the up key 5a and the down key 5b of the change key 5.
It is provided between. Each time the display switching key 5c is pressed once, the status display switches in a predetermined order. When the up key 5a and the display switching key 5c are pressed at the same time, the status display switches in the reverse order. The data for displaying these states is also stored in the memory 7, and the control means H
The predetermined state display data is read from the memory 7 based on the key input data transmitted from the MPU 6 and transmitted to the MPU 6.

The memory 7 is backed up by a battery, and retains its stored data for a long time even when the power is turned off. When the power is turned on, the auxiliary display unit 2
(B) is displayed. Thus, the operator confirms the current values of the chaff opening degree and the wind power before starting the harvesting operation, and changes and sets the values if necessary.

In FIG. 1, the start / stop display segments of the respective control devices arranged in a horizontal line in the lower portion 1a of the main display portion 1 have been described above, and the respective upper display portions will be described. Reference numerals 1b, 1c, and 1d denote vertical stacked bar graphs displaying the remaining fuel amount, the cooling water temperature, and the grain amount, respectively. The grain amount is displayed in five levels based on the detection information of four grain sensors (not shown) provided in the Glen tank 15.

Reference numeral 1e denotes the numerical value of the engine speed in units of 10 rpm. 1f is a bar graph display of the load state, and the rightward bar becomes longer as the engine speed decreases, that is, as the engine load increases. Then, the MIN value of the bar graph and the MA value are set so that when the length of the bar is half of the maximum value, the engine speed corresponds to the appropriate load.
The X value is determined so that the right and left sides of the appropriate load can be identified at a glance by printing on a decorative panel.

[Other Embodiments] With respect to the use of the display units 1 and 2 provided in the operating device of the present invention, various options are conceivable in addition to the above embodiment. First, the main display unit 1
Another example of the method of displaying the load by the bar graph display section 1f is listed below.

Instead of displaying the engine load state in a bar graph, only the segment corresponding to the tip of the bar graph is turned on. It can also be used as an indicator when the engine speed is set to an appropriate speed before the mowing operation is started. For example, a segment corresponding to the first stage of the bar graph is turned on when the number of rotations reaches an appropriate value. Of course, a dedicated indicator lamp may be separately provided.

If a rice / wheat switching key is provided using an empty key or the like of the start / stop key 3 and the appropriate rotation speed is switched between when the object to be harvested is rice and wheat, the object to be harvested is different. Also, the setting operation of the appropriate rotational speed and the load state display can be made common. Normally, the rightward bar becomes longer as the engine speed increases, and the bar is displayed as a bar graph. When the stock sensor S2 and the threshing switch SW1 are turned on, the engine load state is displayed as described in the above embodiment. May be.

Next, another embodiment of the use of the auxiliary display unit 2 will be described below. Instead of fixing the display of the auxiliary display unit 2 at the time of turning on the power to a specific display as in the embodiment, a resume display that reproduces the display when the power was last turned off may be used. Alternatively, the control target values stored in the built-in memory 7 may be displayed on the auxiliary display unit 2 while being switched at regular intervals (about 2 seconds). Thus, the operator can check each control target value after turning on the power and know what needs to be changed and set.

The method of retaining the data stored in the memory 7 even when the main power supply is shut off is not limited to battery backup, and a nonvolatile memory (EEPROM or the like) may be used. When a clogged state of the processed material occurs in the sorting device B or the like, or when the engine E overheats, the alarm E can be used for an alarm display for notifying an operator of the abnormal state. That is, the control means H
Sends an abnormal alarm code to the MPU unit 6 when detecting an abnormal state based on information from each sensor,
Reads out the message display data corresponding to the abnormality alarm code from several types of message display data that has been patterned in advance and causes the auxiliary display unit 2 to display the message with priority.

When an alarm sound by a buzzer or a speaker is issued together with the alarm display, for example, instead of pressing the display switching key 5c, the alarm sound can be stopped,
The alarm display may be configured to blink.

As shown in FIG. 3C, the cutting section 12
If the relative position between the crawler traveling device 11 and the crawler traveling device 11 is graphically displayed, it is determined whether the current setting position of the mowing unit 12 is standard, displaced to the left with respect to the crawler traveling device 11, or displaced to the right. Since it is possible to intuitively judge by the display close to the positional relationship of, the erroneous operation is reduced and it is convenient. As a specific display, as shown in FIG. 3 (c), three possible states are displayed side by side, and the current state of the three states may be highlighted or only the current state may be enlarged.

It may be used as an operation guide for a self-diagnosis program of the entire combine control system or as a display of a diagnosis result. Conventionally, even if a self-diagnosis program is incorporated in the control means, it is difficult to display operation guidance and a diagnosis result. However, if the auxiliary display unit 2 having a graphic display function of 96 × 32 dots is used, such a method is used. The display is easy.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a plan view of an operating device of a working machine according to an embodiment of the present invention.

FIG. 2 is a block diagram of the operating device and each control device.

FIG. 3 is a diagram showing a display example of an auxiliary display unit of the operation device.

FIG. 4 is a side view of the combine.

FIG. 5 is a power transmission diagram of the combine.

FIG. 6 is a side perspective view of the threshing unit of the combine.

[Explanation of symbols]

 2 display means 4 selection means 5 changing means 6, H processing means 7 storage means

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kazuhiro Takahara 64 Ishizukitamachi, Sakai City, Osaka Prefecture Inside Kubota Sakai Works, Ltd. Office (72) Inventor Muneyuki Kawase 64 Ishizukita-cho, Sakai City, Osaka Prefecture Inside Kubota Sakai Factory Co., Ltd. (72) Inventor Takao Mizoguchi 64 Ishizukitamachi, Sakai City, Osaka Prefecture Co., Ltd. Sumio Tanabe 64, Ishizukita-cho, Sakai City, Osaka Prefecture (72) Inside the Kubota Sakai Works, Ltd. (72) Inventor Chuki 64, Ishizukitamachi, Sakai City, Osaka Prefecture, inside Kubota Sakai Plant Co., Ltd. 64 Ishizu-Kitacho, Sakai City Inside Kubota Sakai Works, Ltd. (56) References JP-A-62-48305 (JP, A) JP-A-2-305678 (JP, A) JP-A-62-228201 (JP, A)

Claims (3)

(57) [Claims] 1. An operating device for a working machine, comprising: a plurality of control devices mounted thereon; and target value setting means for setting respective control target values of the plurality of control devices. Means for selecting one of the plurality of control devices; and selecting means for selecting one of the plurality of control devices .
To increase or decrease changes the control target value of the selected control device
Change means (5) used for the plurality of control devices, storage means (7) for storing control target values of the plurality of control devices, and selection means (4).
And display means for selectively displaying the control target value of the-option by the control unit (2), the control target value of the selected control unit by said selection means (4), changes by the change unit (5) Each means (4, 4) is set as an object, a display object by the display means (2), and a storage object by the storage means (7).
5,2,7), and processing means (6, H) for controlling the operation of the selecting means (4), the changing means (5), and the display means (2). Is
Operating device of work machine . Wherein said storage means (7) is, working the target value setting means actuating power according to claim 1, wherein is configured to also store holding the respective control target values are blocked
Machine operating device. 3. The processing means (6, H) sequentially switches the control target values stored in the storage means (7) at predetermined time intervals when the operating power is turned on. The operating device for a working machine according to claim 2 , wherein the operating device is configured to display the information on the display means (2).