JP3077225B2 - Work machine retraction control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a reversing control device for a ground working machine connected to a rear portion of a tractor.

[0002]

2. Description of the Related Art Conventionally, when a tractor is retracted,
It is known that the ground work machine is raised in conjunction with the reverse operation. The reason why the working machine is raised when the working machine is retracted together with the tractor is to prevent damage to the ground working machine. In particular, if the rotary tilling device in the descending state is retracted as it is, the rear cover may bend due to the resistance of the soil, and a retreat and upward control device for the working machine is required to solve such a problem. It is being done.

[0003]

By the way, in such a conventional apparatus, when the tractor is retracted after the engine is started, the working machine may rise at that moment, and the operator sets the raising position. If not adjusted in advance, there is a problem that the tractor and the working machine interfere with each other and damage the fender and the like of the tractor.

[0004]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above problems, and has taken the following technical measures. That is, the ground work machine 14 is connected to the rear part of the body of the traveling vehicle 1 via the lift arms 7 and 7 so as to be able to move up and down, and the lift arms 7 and 7 are turned to a position set by the operation lever 20 and stopped. In addition to the position control, when the traveling vehicle 1 is operated in reverse, the lift arms 7, 7 are lifted and rotated to a set position of a lifting position setting device 30 for setting the lifting height of the work machine 14. In a traveling vehicle having a reverse climb control device,
The operation of the retraction control device is characterized in that it does not operate until the adjustment of the set position by the raising position setting device 30 is detected after the start operation of the engine.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. First, a description will be given of the configuration. Reference numeral 1 denotes a tractor provided with front wheels 2 and 2 and rear wheels 3 and 3 at front and rear portions of the fuselage, respectively.
At the rear upper part of the transmission case 4 is a hydraulic cylinder case 5
Is fixedly provided. A single-acting hydraulic cylinder 6 is provided in the hydraulic cylinder case 5, and lift arms 7, 7 are rotatably supported on both left and right sides of the hydraulic cylinder case 5.

Here, the hydraulic cylinder 6 and the lift arms 7, 7 are collectively referred to as a hydraulic lift mechanism 8. At the rear end of a three-point link mechanism 12 composed of a top link 10 and lower links 11, 11, a rotary tillage device 14 as a ground work machine is connected to be able to move up and down freely, and lift arms 7, 7 and the lower -Lift rods 15, 15 are interposed between the links 11, 11. Reference numeral 20 denotes a hydraulic operating lever, and a ground height setting device 21 for setting the ground height of a ground working machine connected to the rear of the tractor 1 is attached to a turning base of the hydraulic operating lever 20. I have.

On the other hand, a ground height detector 23 for detecting the angle of rotation of the lift arm 7, that is, the height of the ground work machine, is also attached to the rotation base of the one-sided lift arm 7.
The lift arms 7, 7 are configured to rotate to the position set in the above and stop at that position, and a position control system is configured here. The structure of the rotary tilling device 14 will be briefly described.
The tilling part 34 and the main cover 35 which covers the upper part of the tilling part 34
And a rear cover 36 rotatably mounted at the rear of the main cover 35. The lower end of the rear cover 36 is slidably contacted with the ground to elastically press to level the plowed soil surface. The rear cover at the upper rear end of the main cover 35
A tillage depth detector 37 for detecting the rotation angle of the 36 is provided.

Next, a control system of the apparatus will be described with reference to a block diagram shown in FIG. A ground height setting device 21 for setting the height of the ground work machine 14, and actual lift arms 7, 7;
Is connected to a control device 27 having a CPU via an A / D converter. 28
Is a lift switch directly connected to the control device 27 without passing through an A / D converter. When this switch 28 is turned on, the ground work machine 14 is moved to a maximum raised position (a height set by a lift position setting device described later). ), And when it is turned OFF, it falls to the height determined by the hydraulic operation lever 20.

A dial-adjustable tillage depth setting device 40 provided near the cockpit 29 and a tillage depth detector 37 for detecting the tillage depth of the rotary tillage device 14 are controlled by an A / D converter. 27. Reference numeral 30 denotes a lifting position setting device provided independently of the ground height setting device 21, and sets the maximum lifting position of the work implement 14. Normally, the work implement 14 is raised and lowered by the hydraulic operation lever 20, but when the work implement 14 is raised and lowered by pressing the elevating switch 28, and when the work implement 14 is retracted, the set amount of the height at which the work implement is raised Is set by the raising position setting device 30. The raising position setting device 30 is also connected to the control device 27 via an A / D converter.

Reference numeral 41 denotes a switch for detecting a reverse operation of the fuselage. When the change lever 42 is operated in the reverse direction in the change guide 43, the switch 41 is turned on and sends a signal to the control device 27. Reference numeral 44 denotes a mode switch for determining whether or not the work machine 14 is raised when the body is retreated, and the work machine retreat ascending mode switch 44 provided near the cockpit 29 is used to start work. If turned on in advance, the work implement 14 rises to the set height when the tractor-1 retreats. If the work implement 14 is turned off, the work implement 14 will not rise even if the aircraft is retracted. . (Also, in the storage unit of the control device 27, there is provided an EEPROM capable of storing the height of the raising position setting device 30 and rewriting the height.) Is connected to an ascending proportional control valve 46 and a descending proportional control valve 47 for controlling the hydraulic elevating mechanism 8.

Next, the operation of this embodiment will be described with reference to the flowcharts of FIGS. FIG. 4 shows the overall control flow. In FIG. 5, the work implement retreat upward mode switch 44 is set to ON (step S1). At this time, if the adjustment by the raising position setter 30 has not been performed once after the power is turned on (after the engine start operation), the raising is performed. The value set by the position setting device 30 is converted into half (steps S3 and S3).
4) The danger of the work machine being raised to a high position due to the retreat of the machine body is prevented.

On the other hand, if the setting operation by the raising position setting device 30 is performed immediately after the engine start operation, the operated flag is set (step S5), and this state is maintained. When the change lever 42 is operated to retreat the body, the reverse detection switch 41 is turned on (step S6), and the ascending mode is set (step S6).
7). FIG. 6 shows a flow chart of the ascending mode.
The feature of the control described in this flowchart is that the power supply O
After N, of the height set by the hydraulic operation lever 20, that is, the height set by the position control and the height set by the raising position setting device 30, the lower setting side always has priority. Thus, even if the body is retracted immediately after the engine is started, the working machine is raised only to a low set height. Once the ascent mode is turned on, the height by the elevation position setting device 30 and the lift
The heights of the lift arms 7, 7 are compared, and when the heights of the lift arms 7, 7 are lower than the set value, the lift arms 7, 7 are raised to the set height,
Otherwise, the output is turned off.

[0013]

As described above, the present invention provides:
A ground work machine 14 is connected to the rear part of the body of the traveling vehicle 1 via lift arms 7, 7 so as to be able to move up and down.
7 is configured to rotate and stop at a position set by the operation lever 20, and when the traveling vehicle 1 is operated in reverse, the lift arms 7, 7 are set to the lifting height of the work implement 14. Lift position setting device 30
In a traveling vehicle having a reversing / uplifting control device for a working machine that raises and rotates to a set position, the operation of the reversing / uplifting control device is performed after the start operation of the engine.
Since it is configured not to operate until the adjustment of the set position by 0 is detected, even if the body is retracted immediately after the engine start operation, the work machine does not rise, and this effect may damage the body. Is less.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor and a rotary tillage device.

FIG. 2 is a plan view of a change guide portion.

FIG. 3 is a block diagram showing a control system.

FIG. 4 is an overall flowchart.

FIG. 5 is a flowchart of a work machine retreat ascending mode.

FIG. 6 is a flowchart of an ascending mode.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Tractor 2 Front wheel 3 Rear wheel 8 Hydraulic raising / lowering mechanism 14 Ground work equipment (rotary tilling device) 27 Control device 30 Lifting position setting device 41 Reverse detection switch 42 Change lever 44 Work implement retreat up mode switch 46 Up Proportional control valve 47 Lowering proportional control valve

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Kunihiko Ieki 1-Yachikura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Co., Ltd. (58) Fields investigated (Int. Cl. ⁷ , DB name) A01B 63/00-63/12

Claims (1)

(57) [Claims] 1. A ground work machine 14 is provided at the rear of the body of a traveling vehicle 1.
The lift arm is connected via a lift arm 7 so as to be able to move up and down.
Turn the arm 7, 7 to the position set by the operation lever 20.
Configure position control to move and stop
When the traveling vehicle 1 is operated in reverse, the lift
Lifting position for setting the lifting height of the working machine 14
After the working machine that rotates upward to the setting position of the setting / setting device 30
In a traveling vehicle having a retreat control device,
The operation of the lift control device is performed after the start operation of the engine.
A reversing / lifting control device for a working machine, wherein the device does not operate until an adjustment of a set position by the position setting device 30 is detected .