JP2696439B2 - Lift control device for the tillage work unit in the ground work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lift control device for a tilling work section in a ground vehicle such as a tractor.

[0002]

2. Description of the Related Art In general,
In this type of ground work vehicle, the tilling work is started by lowering the cultivating work part in the operating state while the aircraft is traveling, but when the tilling work part is lowered at high speed, the tilling work part is moved from the field. The so-called dusting phenomenon, in which the traveling aircraft jumps out due to the reaction force received, and the disadvantage that the cultivated soil rises greatly, while the tilling work part is lowered at a low speed, the tilling work part is required to reach the ground. There is an inconvenience that the working efficiency is reduced over time. Therefore, conventionally, it has been proposed to solve the above-mentioned inconvenience by setting the descending speed of the tilling work section to be fast at the beginning of descending and slow at the end of descending. However, in the tilling work, for example, when tilling the shore, the tilling work part in the non-working state is lowered in the traveling stopped state, and the tilling work traveling is performed after the lowered tilling work part is stopped by grounding. might initiate, and in such a state, because the Datsushingu prevention control is not working, huh tilling unit will boost the rapidly descending to tilling soil Rika, tilling claws bite into the field engine There was a problem that a rotation drop or engine stall occurred, which was a problem.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and has as its object to provide a lifting and lowering control device for a tilling work section in a ground work vehicle capable of eliminating these drawbacks. der connexion, pre in ground working vehicle comprising comprising a lifting controller for controlling the vertical movement of the tilling unit and the lifting control device, the tilling unit is in a non-operating state
Position lower than the position set
Non-operating state descent determining means for determining that the vehicle has stopped at the first position for a predetermined time or more, and the non-operating state descent determination
In the above-mentioned determination state of the means, a descent delay control means for delaying the lowering of the tilling work unit based on the determination that the tilling work unit has started the tilling work from the lower position is provided. . According to the present invention, when starting the tilling work from the non-operation state, the present invention can prevent a problem that the swelling of the tilled soil and the occurrence of an engine stall occur.

[0004]

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 rotary tilling type working unit 3 is connected to a rear portion of the traveling body 1 via a lifting link mechanism 2 so as to be able to move up and down. The lifting and lowering of the lift arm 5 accompanying the expansion and contraction operation of the dynamic hydraulic cylinder 4 causes the lift to move up and down (the lowering is performed by its own weight), but these basic configurations are the same as those of the related art.

A rear cover 6 is connected to the rear end of the working unit 3 so as to be able to swing up and down. The rear cover 6 is provided with the working unit 3 based on a swing angle change of the rear cover 6 accompanying a change in plowing depth. A tillage depth detection sensor 7 for detecting the tillage depth is connected.

On the other hand, reference numeral 8 denotes a control unit provided on the traveling body 1 side. The control unit 8 is a control unit formed by using a so-called micro computer. Position sensor 1 for detecting the position (lever angle) of the part lifting / lowering operation lever 9
0, an arm angle sensor 11 for detecting the swing angle of the lift arm 5, a cultivation depth setting volume 12 for setting the cultivation depth in the cultivation depth automatic control, the cultivation depth detection sensor 7, a cultivation for turning on / off the cultivation depth automatic control. While signals are input from the deep automatic switch 13 and the like, an operation signal is output to the ascending solenoid 14, the descending solenoid 15 and the like for moving the hydraulic cylinder 4 up and down (expanding and contracting) based on the judgment based on these input signals. It is configured to do so. That is, the control unit 8 determines the target angle of the lift arm 5 based on the detection value of the position sensor 10, and expands and contracts the hydraulic cylinder 4 so that the target angle matches the detection value of the arm angle sensor 11. The target angle of the rear cover 6 is determined based on the manual elevating control to be performed and the set value of the tillage depth setting volume 12, and the hydraulic cylinder 4 is extended and contracted so that the target angle matches the detection angle of the tillage depth detection sensor 7. When the working part 3 is lowered at the beginning of work,
In order to lower the working unit 3 at a high speed at the beginning of the descent and at a low speed at the end of the descent, a dusting control for controlling a duty ratio (a ratio between an OFF signal output time and an ON signal output time) of the descent solenoid 15 is performed. Further, in this embodiment, work start control and low-speed lowering control described later are performed.

In the work start control, it is first determined whether or not the position lever 9 is at the upper limit. If the determination is YES, the position lever 9 is thereafter operated to the lower limit. Is determined. Thus, at the beginning of the operation, it is determined whether or not the working unit 3 has been lowered. If this determination is YES, it is further determined whether or not the lift arm 5 has exceeded the predetermined angle θ1, and if so, then. If it is determined that there is no such signal, the above-described dusting control as a subroutine is performed.
It is determined whether one or more stops. In other words, when the lift arm 5 stops for a predetermined time t1 or more in the descending range exceeding the predetermined angle θ1, it is determined that the working unit 3 has descended in a non-operating state and has come into contact with the ground, and has stopped. In this case, it is determined that the working unit 3 has been lowered in the operating state, and the dusting control is continued. Further, when it is determined that the working unit 3 has stopped, the two solenoids 14,
15 is turned off to close the hydraulic valve of the hydraulic cylinder 4, but in a state where the hydraulic cylinder 4 is stopped,
It is continuously determined whether or not the lift arm 5 has been lowered by the predetermined angle θ2 or more. And if this is YES,
It is determined that the working unit 3 has started operating, and the working unit 3 is operated at a low speed.
Is lowered, and when the detection value of the tillage depth detecting sensor 7 reaches the dead zone of the target value, the control is switched to the low-speed descent control or the plowing depth automatic control. That is, in the stop state of the working unit 3, although the hydraulic valve is closed to stop the hydraulic cylinder 4, since the pressure in the hydraulic cylinder 4 is 0, when the working unit 3 operates to start the tillage work. The working unit 3 is slightly lowered, and by detecting this descent, it is determined that the tillage is started from the state in which the ground contact is stopped, and the working unit 3 is lowered at a low speed.

In the embodiment of the present invention configured as described above, when the working unit 3 is lowered in a non-operating state, the working unit 3 is lowered.
Is stopped for a predetermined period of time, and then the grounding stop or the halfway stop is determined. When the tillage work is started from this stopped state, the work unit 3 is determined by determining this based on a slight drop of the lift arm 5. It will be lowered at a low speed. Therefore, even if the tilling work is started from a state in which the working unit 3 is in a non-operating state and is located at a lower position, a problem that the cultivated soil is violently scraped up and a large swelling is prevented is prevented. Accuracy can be greatly improved. In addition, it is possible to prevent the inconvenience that the working part 3 is suddenly lowered and the tilling nails bite into the field, so that the engine rotation is reduced due to a large engine load as in the related art. Running while preventing inconvenience
Performance can be improved . Moreover, in the embodiment, since the may be made without adding components such as especially the sensor the control, it is possible that such ku Tokyo if complicating the structure.

The present invention is not limited to the above embodiment. For example, unlike the second embodiment shown in FIGS. 5 and 6, the working unit does not judge the start of plowing from the downward stop state. A low-speed descending signal may be output. In other words, since the reduction operation of the hydraulic cylinder follows the self-weight drop of the working unit, even if the hydraulic valve is opened during the temporary stop, a large amount of hydraulic oil does not escape from the hydraulic cylinder. As a result, the working unit automatically lowers at a low speed. On the other hand, as in the third embodiment shown in FIG. 7, after the stop of the working unit is determined, the hydraulic valve may be closed after outputting the low speed lowering signal for a predetermined time. In other words, in this device, by lowering the working part at the start of tillage by draining a predetermined amount of pressure oil from the hydraulic cylinder in a state of being stopped by grounding, the low-speed lowering control based on the working part lowering is thereby performed. This is to ensure that this is done. Further, as in the fourth embodiment shown in FIGS. 8 to 10, it is determined that the working unit has descended in the non-operation state based on the intermittent operation of the clutch (the working unit clutch or the traveling clutch used also as the working unit clutch). At the same time, in this case, the lowering of the working unit may be delayed by making the target plowing value smaller than the set value of the plowing depth setting volume. In this case, it is possible to determine whether the clutch is on or off by using a safety switch provided to allow the engine to be started only when the traveling clutch is disconnected, so that there is no need to add any components. Further, as a means for determining that the working unit has descended in the non-stop state, a reverse detection switch for detecting whether or not the traveling body has been operated for plowing can be used. In other words, most of the cases where tilling starts when the working part is in contact with the ground are stopped when tilling the shore (corner). The above determination can be made. And in this case,
There is an advantage that the reverse detection switch provided for performing the so-called backup control for automatically raising the working unit based on the reverse movement of the machine can be used as it is. Further, the control for delaying the lowering of the working unit is not limited to the case where the working unit is stopped due to grounding, and the case where the working unit is intentionally stopped at the work preparation position near the grounding stop position by operating the position lever. Is also something that can be done.

[0010]

In summary, since the present invention is constructed as described above, when the tilling work unit is not operated and has been stopped at a lower position for a preset time or more , the tilling work unit is not in contact with the ground. When it is determined that the tilling work unit is stopped and the tilling work unit starts the tilling work from this state , the tilling work unit is subjected to a gentle lowering control. Therefore, the tilling work part is located at the lower position in the non-operation state.
When starting tillage work from a state where it has stopped ,
It is possible to prevent inconvenience that the tilling work part suddenly descends and raise the cultivated soil as in the past, or prevent inconvenience that the tilling claw of the tilling work part cuts into the field and lowers engine rotation or causes engine stall As a result, it is possible to improve the tilling work accuracy and to improve the traveling performance.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a block diagram schematically showing a control mechanism.

FIG. 3 is a flowchart showing work start control.

FIG. 4 is a timing chart showing an operation.

FIG. 5 is a flowchart showing a second embodiment.

FIG. 6 is a timing chart of the above.

FIG. 7 is a timing chart showing a third embodiment.

FIG. 8 is a block diagram showing a fourth embodiment.

FIG. 9 is a flow chart showing work state determination control;

FIG. 10 is a flowchart illustrating the second dusting control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling body 3 Working part 5 Hydraulic cylinder 8 Control part

Claims (1)

(57) [Claims] 1. A ground work vehicle comprising a lifting control device for controlling lifting and lowering of a tilling work unit, wherein the lifting control device is provided with a tilling work unit in a non-operating state from a preset position.
Located in a lower lower position and preset in the lower position.
And a non-operating state falling determination means for the determination of the stops that time or more, the determination condition of the non-operating state falling determination means
In, of the tilling unit in the ground working vehicle, characterized in that the tilling unit is provided with a slow live down delay control means the lowering of the tilling unit based on the determination of that began tilling the above lower position Lift control device.