JP3161205B2 - Tractor lifting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tractor working machine elevating device, which facilitates the operation of lifting and lowering the working machine when turning on a ridge.

[0002]

2. Description of the Related Art In order to facilitate a turning operation, a turning operation, for example, an angle of a steering wheel or a turning angle of a front wheel becomes larger than a predetermined value, or an operation speed of the steering wheel. There has been known a technology in which a lift arm is automatically raised by detecting a state where the value of a certain value becomes equal to or more than a predetermined value, and is automatically lowered when the vehicle goes straight from turning. (JP-A-1-141505
However, in the technique of raising and lowering the working machine in conjunction with such a turning operation, it is particularly difficult to take the timing at the time of lowering, and often the headland becomes wider or the field is roughened. The present invention solves such a defect.

[0003]

In order to solve the above-mentioned problems, the present invention provides a tractor working machine elevating device as follows. That is, the lift arm is operated by the operator's switch operation.
3 is the setting position corresponding to the working position of the control lever 4.
Setting of the lift arm 3 arbitrarily set separately from the setting
A work equipment elevating device that automatically rotates up and down to the position
A tractor equipped, the tractor is the raised set position the lift arm 3 to detect a vehicle turning operation or
And the subsequent lowering output is not linked to the turning operation, but is performed by the switch operation or the manual operation by the control lever 4 to provide a work implement lifting / lowering device for a tractor.

[0004]

When the tractor is turned from the straight working state to the turning state, the lift arm 3 is raised,
The working machine is in the non-working position. When the turning is completed, the operation proceeds to the straight-ahead operation state. Even when the turning operation is completed, the lift arm 3 is not lowered, and the lift arm 3 is lowered by a manual lifting operation, that is, the switch operation or the operation of the control lever 4. Perform

As described above, the lift arm 3 can be automatically raised by the turning operation of the vehicle body during the turning stroke. However, this raising position is set to the same position as the position where the working machine is raised by the switch operation. Since the position is changed to the same position even when the position is changed, the operational feeling when lowering the work implement is constant, and the work start position and the end position are easily aligned. In addition, even if the turning operation is mistakenly performed while the working machine is stopped, such as when checking the working machine, the safety of the working machine connected to the lift arm 3 is prevented without unexpectedly lowering.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A tractor body 11 has a bonnet 12 at the front.
The vehicle is equipped with a lower engine, has front wheels 13 steered by the steering wheel 1, has rear wheels 14 at the rear, and is driven by the engine to drive four wheels. On the rear transmission case 15, a cockpit 17 is provided between the left and right fenders 16, the lift arm 3 is turned up and down by hydraulic pressure from a hydraulic cylinder, and a power take-out shaft PTO is provided on the rear side. .

[0007] A rotary tilling work machine 20 is connected to a rear portion of the vehicle body 11 by a pair of left and right lower links 18 and a top link 19 so as to be liftable, and lifts between the lift arm 3 and the left and right lower links 18. The work implement 20 can be moved up and down as a three-point link mechanism by connecting the rod 21 with the rod 21 and vertically rotating the lift arm 3. 22 is a tilling claw, 23 is a flat plate, and has a function of a tillage depth sensor.

An operating mechanism is provided on one side of the cockpit 17. The operating mechanism includes a control lever 4 for raising and lowering the lift arm 3, and a raising position dial for setting the raising position of the lift arm 3 as a target value. 8, an auto-lift switch 5 for selecting a mode in which the rotary tilling work machine 20 automatically ascends to the height set by the raising position setting dial 8 at the time of turning, and a switch for manually operating the lift arm 3 regardless of other operations. It has a finger-up lever 7 for raising and lowering by switching.

A potentiometer for setting a position is provided at a base rotating portion of the control lever 4.
While comparing the set value set by the potentiometer with the detected value of the lift arm sensor 6 of the lift arm 3, the lift arm 3 controls the controller CPU having the microcomputer 4 so that the controller CPU has the microcomputer 4 so as to match the operation position of the control lever 4. Then, the ascending or descending solenoid valves 9 and 10 are output to move up and down.

The lifting position dial 8 is used to set a lifting limit position of the lift arm 3, and indicates a lifting stop position of the lifting arm 3 when the lifting arm 3 is controlled to be raised. . The steering sensor 2 is composed of a potentiometer or the like for detecting the steering angle of the steering 1, and can detect the respective angle positions θ1 to θ3 as shown in FIG. 4 and input them to the controller CPU.

An example will be described in which the auto-lift switch 5 is turned on, and the rotary tilling work machine 20 performs work while traveling on a field in a reciprocating stroke. As shown in FIG. 2, when the turning operation by the steering handle 1 is detected when the auto lift switch 5 is ON,
Immediately after this, the lifting mode is set, and the lifting mode is raised to a position where the set value by the control lever 4 and the lift arm angle by the lift arm sensor 6 match. At this time, if there is an input signal from the finger-up lever 7 while the lift arm angle does not match the value set by the control lever 4, the signal is followed.

As for the position control, a lift target value set by the raising position dial 8 and a detection value detected by the lift arm sensor 6 as shown in FIG. The valves 9 and 10 are output. At this time, if the position set value by the control lever 4 is at a position higher than the set value by the raising position dial 8, the lift target value of the lift arm 3 is set to the setting value by the raising position dial 8, and conversely, When the position set value by the lever 4 is lower than the set value by the raising position dial 8, the control lever value is set as the target value of the lift arm 3.

[0013] The timing of raising the rotary work machine at the time of turning needs to be quickly performed by entering the turning operation. Therefore, when the rotary work machine is raised only by the detection of the steering angle, the rotary work machine may be lifted by turning a corner that is not a turn due to erroneous detection in an irregularly shaped field, Further, in a configuration in which only the steering operation angle is detected and the vehicle is turned, a problem arises in that the operation cannot be detected when the vehicle is running at a slow speed and the tractor is almost stopped every time it comes to the working end.

As shown in FIGS. 1 and 2, when the steering operation angle is equal to or greater than a predetermined value or the steering operation speed is equal to or greater than a predetermined value, it is determined that a turning operation has been performed.
By adopting a configuration in which a zone for detecting and judging these operation speeds and a zone for judging only from the turning angle are set and judged, the above-mentioned problem is eliminated, and the tilling work and the slow turning at the corners are eliminated. Etc. can be performed.

As shown in FIG. 4, a steering angle θ1, θ2, θ3 from the neutral position N of the steering wheel 1 in the left-right direction is defined as a straight traveling zone A between the steering angles N-θ1. A turning operation speed zone B for setting a flag indicating that a turning operation is performed when the operation speed V of the steering wheel 1 is equal to or more than a specified value is set between θ2, and a turning operation flag is set for the turning angle θ2 to θ3. Set as the maximum turning angle zone C.

As shown in FIG. 5, when the steering angle of the steering wheel 1 is in the maximum turning angle zone C, a turning operation flag is set, but when the turning angle does not reach the maximum turning angle zone C, the turning angle sensor is set. Is in the operation speed zone B and the turning operation flag is set only when the turning speed V is higher than a specified speed. Therefore, even if the turning angle is in the operation speed zone B, if the speed V is slow, the turning operation is not performed, and the tilling machine is not lifted.
Continue tilling. When the turning operation is set in this manner, the automatic ascent of the rotary working machine is enabled only immediately after the detection of the turning operation, and returns to the straight traveling state by detecting the turning angle of the straight traveling zone A for a predetermined time. The flag indicating that the turning operation is performed is cleared, and the turning and the lifting of the work machine are released. Therefore, even when the turning operation is almost completed and the state of the steering wheel 1 near the lowering timing of the rotary work machine is unstable, the lowering of the rotary work machine is performed again without being erroneously detected as having the turning operation. The occurrence of such a problem can be prevented. And the tilling work machine 2 automatically raised in conjunction with the steering operation
0 is the working machine 20 again in conjunction with this steering operation.
Can be lowered by the manual lifting operation of the control lever 4 and the finger-up lever 7 without being lowered. When the control lever 4 descends, the operator can arbitrarily issue a lowering command because the lever angle and the set angle of the lift arm after the elevation once substantially coincide with each other. When lowering by the finger-up lever 7, the switch provided at the base of the lever 4 is turned on to lower the working position before the raising. As described above, the work implement 20 connected to the lift arm 3 is raised in conjunction with the turning operation of the tractor 11, but this raised position is also the same as that of the finger gap lever 7.
The same height as the arbitrary position that is raised by the switch operation, the operation feeling when lowering the work machine 20 following this is constant, the timing at the ridge is easy to take, the work start position and the end position are Easy to align. Moreover, the working machine 2
When checking zero or the like, the steering operation is erroneously performed while the vehicle is stopped, and the safety is improved without the working machine 20 being unexpectedly lowered.

[Brief description of the drawings]

FIG. 1 is a block diagram of work machine elevating control.

FIG. 2 is a flowchart of automatic ascent control;

FIG. 3 is a flowchart of position control.

FIG. 4 is an operation diagram showing a steering angle.

FIG. 5 is a flowchart of a turning operation control.

FIG. 6 is a side view of the tractor.

[Explanation of symbols]

 Reference Signs List 1 steering 2 steering sensor 3 lift arm 4 control lever

Claims (1)

(57) [Claims] (1) A lifter is operated by an operator's switch operation.
Arm 3 corresponding to the working position of the control lever 4.
Raising the lift arm 3 arbitrarily set separately from the fixed position
Work equipment lifting equipment that automatically rotates up and down to the set position
A tractor having a location, the tractor is the raised set position of the lift arm 3 to detect the vehicle body handed <br/> times Operation
The tractor working machine lifting / lowering device, which is configured to rotate upward to the position and to perform subsequent descending output by the switch operation or the manual operation by the control lever 4 without interlocking with the turning operation.