JPH01148106A - Control device for position of ground working machine - Google Patents

Abstract

PURPOSE:To enable effective control even by simple switch operation, by combining connections between contact members separately arranged in the slant direction of an operation switch and slide members set at the tip of the switch. CONSTITUTION:When an operation switch 18 is inclined to a position A, a first contact member 30 is connected to a common contact member 33 by a sliding member 29 and the switch 18 is connected to the first contact member 30, a third contact member 32 and the common contact member 33 at the position B. The switch 18 is connected to a third contact member 32 and the common contact member 33 at the N position, to a second contact member 31, the third contact member 32 and the common contact member 33 at a position C and to the second contact member 31 and the common contact member 33 at a position D. Five operation areas are constituted by combination of the three contact members and a sliding member and control is advantageously carried out by simple switch operations.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a ground-based work machine (hereinafter simply referred to as a vehicle) such as a rotary tiller that is attached to the rear of a traveling vehicle such as a tractor (hereinafter simply referred to as a vehicle). It relates to a position control device for a ground work machine (referred to as a ground work machine), and in particular, a ground work machine position control system that allows easy operation of the operation switch that is operated when moving the work machine up and down between a work position and a non-work position. It is related to.

(Prior Art) Generally, in a traveling work vehicle in which a work equipment is attached to a vehicle such as a tractor, the work equipment can be moved up and down between a work position and a non-work position, and can also be tilted left and right. It is connected to the tractor side via a connecting mechanism.

When turning during tilling work using such a traveling work vehicle, when the work equipment is once lifted to a non-working position, turned, and then returned to the working position to perform tilling work,
Sometimes the operator forgets the original working position height.

To solve this problem, the following device has been proposed in Japanese Patent Publication No. 57-1966.

This device compares signals from a setting device that sets the work equipment position height and an actual value detector that detects the actual work equipment position height, raises and lowers the work equipment, and adjusts the work equipment height. In an automatic control device, when the work equipment is forcibly raised during the above-mentioned turning, an extreme value simulator is connected instead of the setting device or actual value detector, and the work equipment is returned to its original position. When returning, the extreme value simulator is configured to be disconnected. .

The above technology has two operating parts: a lever that is operated to make the work equipment perform normal lifting and lowering operations, and a switch that is used to switch the extreme value simulator. You have to use them properly.

As described above, in the above-mentioned conventional technology, there are cases in which the operator has to perform the lifting and lowering operations using the steering lever and the switch while steering the vehicle at the same time, which may cause operational inconvenience.

By the way, in a position control device for a ground-based work machine, in addition to the above-mentioned forced raising and lowering control, a function is required to adjust the height of the work machine by manually finely adjusting an operation switch. There are many cases.

Assuming such a case, forced rise and fall (
A control device has also been proposed in which control for large changes in the height position of a working machine and manual fine adjustment can be performed by operating a single lever (Japanese Patent Laid-Open No. 62-40).
Publication No. 205).

(Problems to be Solved by the Invention) However, the above-described conventional technology still has the following problems.

In the lifting device for the work equipment mentioned above, when lowering the work equipment, for example, after moving the height position of the work equipment largely to the initial setting value, fine adjustment is made by continuing to tilt the operating lever, for example, in the downward direction. It is necessary to adjust the position to the desired position by slowing down the descending speed, and requires a considerable degree of familiarity with the timing of operating the control lever.

As mentioned above, with this type of control device, while the operator is steering the vehicle, there are cases in which the operator must simultaneously and continuously perform the lifting and lowering operations using the operating lever. There was a desire for a ground-based work equipment position control device that could be operated according to procedures.

Furthermore, the structure for detecting the operating position of the operating lever in each of a number of operating areas has become complicated.

The present invention has been made to solve the above-mentioned problems.

(Means and Effects for Solving the Problems) In order to solve the above problems, the present invention provides a sensor for detecting the current position of a working machine, and one end of the movement range of an operation switch having a conductive sliding member. a first contact member disposed at the other end of the movement range, a second contact member disposed at the other end of the movement range, a third contact member located between the first and second contact members, and an operation switch. In response to the combination of connection states of the contact members obtained by sliding the conductive slide member on the contact member and the detection signal of the sensor, a single It is characterized in that it is equipped with a valve selection drive section that turns on and off the control valve of the hydraulic actuator so as to achieve a controlled state, and controls the working machine to a desired height position.

In the present invention having the above configuration, a large number of operation modes can be obtained with one operation switch having a simple configuration,
In addition, since there is a single control state within the same operation area, the operation itself is simplified. For example, even when raising or lowering the work equipment by a large amount, there is no need to continuously operate the operation switch. By tilting the operation switch in the up or down direction, you can concentrate on steering the vehicle.

(Example) The present invention will be described in detail below with reference to the drawings.

FIG. 10 is a side view of the traveling working vehicle of the present invention, and FIG. 11 is a perspective view showing the main parts of the working machine and the coupling mechanism section connected to the rear part of the traveling working vehicle.

In the figure, a working machine 3 such as a tillage rotor is connected to a vehicle 1 via a connecting mechanism 2.

The work machine 3 is connected to the vehicle 1 via a three-point lifting link mechanism consisting of a top link 4 and a pair of left and right lower links 5 and 6. Further, a hydraulic cylinder 7 and a lift arm 8.9 driven by the cylinder 7 are attached to the vehicle 1 side.

Lower links 5.6 and lift rods 10.1 respectively
Since it is connected to lift arms 8 and 9 via 1,
The work machine 3 is raised and lowered by the expansion and contraction operations of the hydraulic cylinder 7.

A horizontal sensor 12 is provided on the vehicle 1, and a lift rod 1
1 is provided with a hydraulic cylinder 13 that extends and contracts the rod, and a stroke sensor 14 that detects the amount of extension and contraction of the lift rod 11.

Then, the stroke sensor 14 adjusts the amount of expansion and contraction according to the degree of inclination of the vehicle 1 detected by the horizontal sensor 12 so that the work equipment 3 is held horizontally with respect to the ground even if the vehicle 1 rolls. The hydraulic cylinder 13 can be driven and controlled while being monitored.

The lift arms 8 and 9 are equipped with a rotary potentiometer or a foot sensor 15 for detecting the lift angle, and the work equipment 3 is raised to a non-working position or moved to a working position according to the sensor output. It is possible to control the descent.

On the other hand, on the working machine 3 side, a pillar 16 is provided which traces the ground and whose opening degree θ changes depending on the depth of tillage when the working machine 3 is in the working position. The opening degree θ of the pillar 16 is detected via a rod 17 by a pillar sensor (angle sensor) 18 composed of a rotary potentiometer, and according to the sensor output, the hydraulic cylinder 7 is driven to adjust the depth of tillage. It is possible to control the plowing depth by keeping it at a set value.

The vehicle 1 is provided with an operator's seat 17, and an operation switch 18 for manually controlling the raising and lowering of the working machine 3 is provided next to the seat.

The operation of the working machine 3 according to the position of the operation switch 18 is
This will be explained with reference to FIG. FIG. 4(a) shows an example of the contact structure of the operation switch 18 and a control circuit connected to the contact, and FIG. 4(b) shows a plan view of the upper cover covering the operation switch 18.

In the figure, the contact portion 28 of the operation switch 18 is divided into three contact members 3 that are separated and arranged approximately concentrically.
0.31.32, a conductive sliding member 29 provided at the lower end of the operation switch 18 and sliding on the contact member, and a common contact always in contact with the sliding member 29 and connected to ground. It is constituted by a member 33.

The first contact member 30 and the second contact member 31 are respectively arranged at the tilting stroke ends of the operation switch 18 .

The third contact member 32 is located at the center of the tilting stroke of the operating switch 18, and is provided so that the arrangement angle in the tilting direction of the operating switch 18 partially overlaps with the first and second contact members 30, 31. It is being The common contact member 33 is provided over the entire length of the tilting stroke of the operation switch 18.

The operation switch 18 can be operated in the direction of an arrow 35 about a shaft 34, and is operated within a range between a lower position A and an upper position.

When the operation switch 18 is tilted to the A position, the first contact member 30 and the common contact member 33 are connected by the slide member 29. Similarly, when the operation switch 18 is in the B position, the first contact member 30, the third contact member 32, and the common contact member 33 are connected.

At the N position, the third contact member 32 and the common contact member 33 are connected, at the C position, the second contact member 31 and the third contact member and the common contact member 33 are connected, and at the D position, the second contact member 32 and the common contact member 33 are connected. 31 and the common contact member 33 are connected.

The common contact member 33 is connected to the ground terminal (A) of the control circuit 36, the third contact member 32 is connected to the terminal (B), the first contact member 30 is connected to the terminal (C), and the second contact member 31 is connected to the terminal (C). (d) are connected to each.

The level of the electrical signal input to the CPU 37 changes in response to the connection state of each of the contact members according to the operating position of the operating switch 18.

The CPU 37 executes a predetermined program in response to the change in the electric signal, and operates the ascending valve solenoid 38 and the descending valve solenoid 39.

As shown in FIG. 4(b), the operation switch 18
A crank-shaped groove 41 is provided in the upper cover 40 of. The rod 42 of the operation switch 18 is connected to the groove 41 by a spring (not shown) in the direction of the arrow 43.
is energized by

Therefore, when raising the work equipment 3, it is sufficient to move the operation switch 18 in one direction and set it to the C position or the D position, but when lowering the work equipment 3, move it in the opposite direction to the arrow 43. After pushing the rod 42, the rod 42 is set to the A position or the B position, and this is to prevent the working machine 3 from unexpectedly lowering due to an operator's erroneous operation.

Further, the operating switch 18 is configured as follows so that it returns to the N position when the user's hand is released from the operating switch 18 at each position A, B, C, or D.

A claw member 44 provided at the tip of the operation switch 18
and 45 are biased in the directions of arrows 48 and 49 by springs 46 and 47, respectively. The claw members 44 and 45 are in a resting state when they are located in the recesses of the tracing plate 50 provided at the bottom of the cover, that is, when the operation switch is in the N position.

Therefore, when the operation switch 18 is tilted in any direction from the N position, the springs 46 and 47 are compressed, and when the operator releases his/her hand, the repulsive force of the spring returns the switch to the rest state, that is, the N position. Works like going back.

Depending on the operating position of the operating switch 18, the position of the working machine 3 is controlled as described below.

That is, when the operation switch 18 is in the N position, the lifting and lowering of the working machine 3 is stopped, and in the A and B positions, the working machine 3 is lowered, and in the C and D positions, the working machine 3 is raised. No matter which position the operation switch 18 is moved to, when the operator releases the control switch 18, it returns to the N position.

However, after being moved to the A and D positions, the lifting and lowering of the work implement 3 does not stop even if the switch 18 returns to N.

That is, once the operating switch ll1i is operated to the A position, the work implement 3 descends to the lowest position, and at the D position, the work implement 3 rises to the highest position and stops.

Below, in response to both the control operation instruction signal from the operation switch 18 and the detection signal from the lift sensor 15, the on/off operation of the valve that gives commands to the hydraulic cylinder 7 and the on-operation time of the valve will be described. An example of a control device that performs appropriate control is shown below.

FIG. 1 shows a block diagram of such a control device.

The height position of the work equipment 3 is detected by a lift sensor 15,
The detection result is input to the current position detector 19 as the current position of the working machine.

・The data of the current position detector 19 and the ascending position setting device 2
The ascent limit position data of work equipment 3, which is set to 0, is
The data is input to the rise deviation calculation unit 21 and compared, and the deviation of both data is calculated.

Further, the data of the current position calculator 19 and the descending position data of the work equipment 3 set in the descending position setting device 22 are inputted to the descending deviation calculating section 23 and compared, and the deviation of both data is calculated. .

The on-time duty ratio storage section 24 includes information about the hydraulic cylinder 7.
On-time duty ratios (hereinafter simply referred to as on-time) of the lower valve 26 and the higher valve 27, which raise and lower the working machine 3 by giving an operation command to the lower valve 27, are stored.

Here, the on time will be explained with reference to FIG. 7. As shown in the figure, the lift valves 26 and 27 are turned on and off at preset intervals f, and if the on time is short, they operate intermittently, and the average lifting speed of the work equipment 3 is reduced. is slow, and if the ON time is long, the operation becomes continuous, and the lifting speed of the work implement 3 becomes maximum.

The valve selection drive unit 25 selects the upward deviation calculated by the upward deviation calculation unit 21 or the downward deviation calculated by the downward deviation calculation unit 23, depending on the position of the operation switch 18, that is, according to the contact signal combination input to the CPU 37. Either the descending deviation is selected, and either the descending valve 26 or the ascending valve 27 is turned on so that the deviation is reduced, and the drive signal is applied to the descending valve 26 or the ascending valve 27 so that the hydraulic cylinder 7 is driven. Output to the rising valve 27.

The valve selection drive section 25 has the following functions depending on the magnitude of the deviation:
When the deviation is large, a large on-time is read from the on-time storage section 24, and when the deviation is small, a small on-time is read from the on-time storage section 24.

That is, when the deviation is large, the proportion of time during which the hydraulic cylinder 7 is driven is increased to increase the lifting speed of the work equipment 3, and when the deviation is small, the proportion of time during which the hydraulic cylinder 7 is driven is reduced. The lifting speed of the working machine 3 is slowed down.

Therefore, when the deviation becomes smaller and the position of the working machine 3 approaches the target position, the lifting speed of the working machine 3 becomes slower, thereby preventing impact and overrun when the working machine 3 stops.

To summarize the above, in this embodiment, the on-time ratio of the lower valve 26 or the higher valve 27 of the hydraulic cylinder 7 is controlled depending on the magnitude of the deviation between the current position of the work equipment 3 and the ascent limit position or the descent limit position. are doing. As a result, the lifting speed of the working machine 3 is automatically varied based on the magnitude of the deviation.

FIG. 8 shows a diagram of the relationship between the on-time and the deviation.

In the figure, the deviation is shown as a lift change amount. In the figure, the horizontal axis is the lift change amount, and the vertical axis is the on-time.

The relationship between on time and lift change is like curve S.
When the amount of lift change becomes larger than the dead zone P, the lift valve is turned on for an on-time period that is in the relationship of the curve S corresponding to the amount of lift change.

The ON time increases until the lift change amount reaches M, and until the lift change amount reaches M, the lift valve is intermittently turned on according to the ON time, but when the lift change amount exceeds M, the lift valve is turned on. The action is continuous.

Although the tables shown in FIG. 8 are prepared for ascending and descending and are stored in the storage unit 24, the same timetable may be used for both ascending and descending.

Next, the control flow of this embodiment will be explained in detail with reference to the flowchart of FIG.

In the flow described below, at any switch position A to D, the flow for when the switch 18 is in the neutral position N is first executed, and then the operation corresponding to each switch position is performed. It is being

The control power source is also interlocked so that it cannot be turned on unless the switch 18 is in the N position, or the control flow will not run until the switch 18 is operated to the N position. Note that each flag in the flowchart is reset to "θ" when the power is turned on.

First, the ascent limit value of the work equipment 3 to be set in the ascent position setting device 20 and the descent limit value to be set in the descent position setting device 22 are set as follows.
Convert to a value corresponding to the lift sensor 15 (step S
l). The difference between the lift limit value and the current lift value of the working machine 3 detected by the lift sensor 15 is calculated, and the absolute value of this calculation result is set as the rise deviation (step S2).
.

Similarly, in step S3, the difference between the lowering limit value and the current lift value of the working machine 3 is calculated, and the absolute value of this calculation result is set as the lowering deviation.

In step S4, it is determined whether the rise limit value is larger than the current lift value. If the determination in step S4 is affirmative, a rising position flag is set (step S5
), if the determination in step S4 is negative, the ascending position flag is reset (step S6).

In step S7, it is determined whether the lowering limit value is larger than the current lift value. If the judgment in step S7 is affirmative, a descending position flag is set (step S8).
, if the determination in step S7 is negative, the lowering position flag is reset (step S9).

In the above steps, the position of the work equipment 3 is set so that the flag is “1”.
” or “0”.

That is, when the work equipment 3 is positioned above the upper limit value, both the upper position flag and the lower position flag are "0".
When the work equipment 3 is located below the lowering limit value, both the rising position flag and the lowering position flag are "1°." , the ascending position flag is "1" and the descending position flag is "Om-".

Next, it will be explained how the control flow is executed depending on the position of the switch 18.

First, when the switch 18 is in the neutral position N, the determination as to whether the switch 18 is in the position C (step 510) is negative, and the determination as to whether the switch 18 is in the position B is made (step 511). . The determination result at step Sll is also negative, and the process advances to step S12.

In step S12, it is determined whether or not the work implement 3 is in the ascending or descending operation. However, since the work implement 3 is not in the ascending or descending operation when the switch 18 is in the N position, the determination in step S12 is negative, and the stop flag is is reset (step 513).

In step S14, the value "0" is stored in the lift change amount, which is a variable for storing the above-mentioned upward deviation or downward deviation. Whether the upward flag indicating that the work equipment 3 is in the upward movement is "1" or 0'' (step 515) is 0'', and the process proceeds to the next step 816, where it is determined whether the switch 18 is in the N position.Since the switch 18 is in the N position, the determination in step 816 is 0''. Negative, step S
Proceed to step 17.

The lowering flag indicating that the work equipment 3 is in the lowering operation is “
The determination in step S17 as to whether the value is 1" or 0 is 0, and the process proceeds to step 818. The determination in step 318 as to whether the switch 18 is in position A is negative.

Thereafter, the ON time of the lift valve is calculated in step S19, but when the switch 18 is in the N position, the lift change amount is set to "0" in step S14, so from the table of FIG. , the valve-on time is calculated as 0, and the work implement 3 does not move up or down.

With the above, execution of one cycle of the program when the switch position is N is completed, and the program returns to the beginning. As explained above, when the switch position is N, the stop flag is reset and the lift change amount is set to 0, the lift valve is not turned on, and the work implement 3 is maintained at the current height.

However, even if the switch 18 is in the N position, if the switch position immediately before being switched to the N position is A or D and the lifting operation is continuing, the determination in step S12 will be affirmative and the process will proceed to step 828. Proceed to. Furthermore, the states of each flag are different, but the flow in this case will be described later.

When the switch 18 is switched from the N position to the A position, in the first cycle, steps SIO to S
The determination and operation of step 17 are performed in the same manner as when the switch 18 is in the N position, and in step 318, the switch 18 is
It is determined whether the position is A or not.

Since the position of the switch 18 is A, the determination in step 318 is affirmative, and the process advances to step S20. In step S20, the descending flag is set and the ascending flag is cleared.

In step S21, the descending deviation value is stored in the lift change amount used as data for calculating the on-time of the ascending/descending valve.

In step S22, in order to determine the position of the work machine 3,
The state of the descending position flag can be seen.

When the determination in step S22 is "1", step S23
The process proceeds to step S24, and sets a determination flag (hereinafter referred to as a rise valve flag) for calculating the on-time of either the rise valve or the fall valve to "1", and when the judgment in step S22 is "0", the process proceeds to step S24. Proceed and set the rising valve flag to "0".

That is, since the lowering flag position "1" indicates that the work equipment 3 is below the position indicated by the lowering limit value, the ascending valve flag is set to "1" to prepare for the ascending operation.
Since the descending flag position "0" indicates that the working machine 3 has not reached the position indicated by the descending limit value, the ascending valve flag is set to "O" to prepare for the descending operation.

In calculating the valve-on time in step S19, it is determined whether the rising valve flag is "1" or "O" according to the flowchart shown in FIG. 3 (step 5191). If the rising valve flag is "0", the falling ON time is calculated (step 5192), and the rising valve flag is "1".
”, the rising on time is calculated (step S1
93).

The on-time calculation is performed by making the lift change amount correspond to the table shown in FIG.

The lower ON time or the higher ON time is repeatedly read at a preset period f, and the lift valve is turned on for the ON time every period f.

The second cycle flow when the switch 18 is in the A position and the flow when the switch 18 is returned from the A position to the N position are executed in the same manner as described above up to step S12.

If the work implement 3 is still descending, the judgment in step S12 becomes affirmative, and the process proceeds to step 328, where the ascending flag,
Alternatively, it is determined whether the descending flag is set.

Since the descending flag remains set in step S20, the determination in step 828 is affirmative, and step S2
The process proceeds to step S19, where a stop flag is set, and the process then proceeds to step S19, similar to the flow description of the first cycle, and returns to the beginning of the program.

In this way, once the switch 18 is moved to the A position and then returned to the N position, the lowering operation of the work implement 3 does not stop until the lift change amount becomes 0 or enters the dead zone.

When the switch 18 is in position D, the same steps as in the case where the switch 18 is in A are executed up to step S15, and the judgment in step 316 is affirmative, and the process proceeds to step S30, where a rise flag is set. The falling flag is cleared.

In step S31, the amount of change in lift is changed to the amount of change in lift in step S2.
The rise deviation calculated in is stored.

In step S32, the state of the lift position flag for determining the position of the work equipment 3 is checked, and if the flag is "1", the rise valve flag is set to "1" (step 533), and conversely, the flag is set to "0". If so, the descending valve flag is set to "0" (step 534).

Since the descending flag was cleared in the previous step S30, the determination in step S17 is 01. Step S
Since the switch 18 is in the D position, the determination in step S18 is negative, and the process proceeds to step S19, where the valve-on time is calculated.

Then, according to the calculation result of the valve-on time, the lifting valve 27 is turned on, and the working machine 3 is lifted.

When the position of the switch 18 is returned from D to N, the explanation is omitted because it is the same as when the position of the switch 18 is returned from A to N.

Next, if the switch 18 is in position B, the determination in step Sll is affirmative, and the process proceeds to step S35, where the rise flag is cleared.

As mentioned above, since it is assumed that the switch 18 is always switched to other positions via the N position, the stop flag is reset in step S13.
“0”, and the process starts from step 836 to step S3.
Proceed to step 7.

In the next step S37, the descending deviation calculated in step S3 is stored as a lift change amount. In step 83B, in order to determine the position of the working machine 3, it is checked whether the lowering position flag is "1" or "0".

- If the lowering position flag is "1°," the rising valve flag force is set to "1" (step 539), and if the lowering position flag is "0°," the rising valve flag is set to "0". (Step 540).

The initial value of the rise flag is “0”, and step S
Since the rise flag is cleared at 35, step S
The determination of No. 15 is “0”. Since the switch 18 is in the position B, the determination in step 316 is negative, and in step S
Proceed to step 17.

The initial value of the descending flag is “O” as well as the ascending flag,
Proceed to the next step 818. Since the switch 18 is in the position B, the determination in step 818 is negative, and step S
19, the valve-on time is calculated based on the lift change amount for which the downward deviation was stored in step S37, and the program returns to the beginning.

If the switch 18 is in position C, step SIO
The determination is affirmative, and the falling flag is cleared (step 541).

The stop flag is cleared in step S13 as in the case where the switch 18 is set to B, so the stop flag is cleared in step S42.
The determination is "0" and the process advances to step S43.

In the step S43, the lift change amount is adjusted to the step S2.
The rise deviation value calculated in is stored. In step S44, in order to determine the position of the work equipment 3, the ascending position flag is set to “
It can be seen whether it is 1” or 0°.

If the rising position flag is "1 degree", the rising valve flag is set to "1" (step 545), and if the falling position flag is "0", the rising valve flag is set to '0#' (step 545). 846).

Thereafter, as in the case where the switch is B, step S19
Processed up to

In addition, if you want to forcibly stop the work equipment 3 while it is lowering with switch A position or raising it with switch D position, it will stop when the switch is changed from A position to C position and from D position to B position. can.

For example, if the switch is lowered at position A and switched to position C, the judgment at step SIO will be affirmative, so
Proceeding to step S41, the descending flag is cleared. Since the stop flag is set in step S29 before switching the switch 18 from A to C position, the stop flag is determined to be "1" in step S42, and the process proceeds to step S14, where it is determined that the lift change amount is 0. Stored.

After step 314, the falling flag in step S17 has already been cleared in step S41, so step 3
The process advances to step S18, and since the switch 18 has been switched to the C position, the result of step 318 is also negative, and the process advances to step S19, where the valve-on time is calculated.

However, since the lift change amount of 1 to 0 is stored in step S14, the valve-on time becomes 0, and the lifting and lowering of the working machine 3 is stopped.

Similarly, the work machine 3 can be stopped by switching the switch 18 to B while the switch 18 is in the D position and rising.

As described above, in this embodiment, the position of the work equipment 3 with respect to the above-mentioned upward limit value and downward limit value is determined by comparing the current lift value with the upward limit value and the comparison between the current lift value and the downward limit value. and the deviation are detected, and the ascending and descending direction of the working machine 3 is determined from the selected position of the switch 18 and the detected position. Further, based on the deviation, the ON time of the lifting valve of the working machine 3 is calculated, and the lifting speed of the working machine 3 is controlled.

The deviation is updated every execution cycle of the program and set as the amount of change in lift.

Note that the valve-on time calculation (step 519) is not limited to the timing shown in the flowchart of this embodiment, but can also be processed by interrupting at any period.

The above explanation has been made regarding the control operation based on the operation of the operation switch in the contact configuration shown in FIG. It can be achieved.

FIG. 5 is a diagram showing another contact configuration, and FIG. 6(a)
is a front view of the conductive slide member, and FIG. 6(b) is a side view of the same.

In the figure, the operation switches 18 are indicated by dashed lines 18a, 18b, 18c, 18
d.

It is operated to the 18n position. And the operation switch 18
The contact portion 28 includes three contact members 30., which are electrically insulated and separated. 31. 32, and an arrow 51 provided at the lower end of the operation switch 18, pointing over the contact member.
A conductive slide member 29 that slides linearly in the direction of
and a common contact member 33 that is always in contact with the stud portion 29a of the slide member 29.

The conductive slide member 29 is provided on an electrically insulating slide block 52, and has a conductive stud portion 29a exposed on the surface of the slide block 52.
+ 29 b + 29 c, and wires 29 d and 29 e embedded in the slide member and electrically connecting the stud portion.

The slide block 52 is configured such that the protrusion 53 of the operation switch 18 is engaged with a concave portion on the back surface thereof, and when the operation switch 18 is tilted around the support 34, it is guided by a guide member (not shown) and moves in the direction of the arrow. Slide linearly in the direction of 51.

The portion indicated by a dogleg shape in the lower part of FIG. 5 represents the position of the slide member 29 corresponding to the operating position of the operating switch 18. That is, when the operation switch 18 is tilted to the A position, the first contact member 30 and the common contact member 33 are connected by the slide member 29. When the operation switch 18 is in the B position, the first contact member 30, the third contact member 32, and the common contact member 33 are connected.

When the operation switch 18 is in the N position, the third contact member 32 and the common contact member 33 are connected, in the C position, the second contact member 31 and the third contact member and the common contact member 33 are connected, and in the D position, Second contact member 31 and common contact member 33
are connected.

Each contact member of the operation switch 18 and the control circuit 36
are connected in the same way as the contact members of the operating switch shown in FIG. 4, and can achieve the same control function as the operating switch shown in FIG. 4.

According to this embodiment, by the combination of the three contact members arranged separately in the tilting direction of the operation switch and the slide member provided at the tip of the operation switch,
Since the contact structure of the operation switch is made up of five operation areas, the above-mentioned effective control can be performed by simple switch operation.

According to this embodiment, the combination of the three contact members arranged separately in the tilting direction of the operation switch and the slide member provided at the tip of the operation switch allows five
Since the contact structure of the operation switch is made up of two operation areas, the above-mentioned effective control can be performed by a simple switch operation.

In this embodiment, an example of a program was shown that takes measures to alleviate shock caused by changes in oil pressure in a hydraulic cylinder and measures against overrun. It can also be applied to control devices in cases.

(Effects of the Invention) As is clear from the above description, according to the present invention, the following effects can be achieved.

(1) Since the operation switch has a single control state within the same operation area, the operation itself is simplified and the operability is improved. For this reason, by setting a simple operation mode, for example, by configuring the operation switch so that once the operation switch is tilted greatly, it will be raised or lowered to a predetermined position even if the operation switch is released. It is possible to obtain a position control device that can easily perform operations such as forcibly raising the vehicle and subsequently returning it to its original position, so that it is easy to concentrate on steering the vehicle.

(2) Since it is possible to provide a one-way operating switch that provides a large number of operating areas with a simple configuration using only a few parts, complex work equipment operations can be performed in simple steps.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a control device showing an embodiment of the present invention, Figs. 2 and 3 are flow charts showing the operation of the control device of Fig. 1, and Fig. 4 is a contact configuration diagram of an operation switch and control. A circuit diagram, FIG. 5 is a diagram showing the configuration of other contacts of the operation switch, FIG. 6(a) is a front view of the conductive slide member, and FIG.
Figure (b) is a side view of Figure 6 (a), Figure 7 is a time chart of on time, Figure 8 is a relationship between on time and lift change amount, and Figure 9 is a relationship between counter value and upward deviation. Figure, 10th
11 is a side view of the traveling work vehicle, and FIG. 11 is a perspective view of a working machine and a connecting portion connected to the rear of the traveling work vehicle. DESCRIPTION OF SYMBOLS 1... Traveling vehicle, 2... Connection mechanism part, 3... Ground work equipment, 7.13... Hydraulic cylinder, 8, 9... Lift arm, 10.11... Lift rod, 12...
・Horizontal sensor, 14...Stroke sensor, 15...
・Lift sensor, 18... Operation switch, 19...
Current position detector, 20... Ascent position setting device, 21...
・Ascent deviation calculation unit, 22...Descent position setter, 23.
...Descent deviation calculation unit, 24...On time duty ratio storage unit, 25...Valve selection drive unit, 26...Descent valve, 27...Rise valve, 28...Contact part,
29...Slide member, 30...First contact member, 3
1... Second contact member, 32... Third contact member, 33
...Common contact member, 42...Rod, 44°45.
...Claw component agent Patent attorney Michito Hiraki and 1 other person Figure 1 Figure 2 (Part 1) Figure 3 Figure 9 Increased deviation value Figure 2 (Part 3) / Y'in Figure 7 Figure 8 Figure 10 Figure 11

Claims (7)

[Claims] (1) In a ground work equipment position control device that controls the elevation of a ground work equipment connected to a traveling vehicle to a desired height position in accordance with the tilt operation position of an operation switch, the current position of the ground work equipment is detected. An operation switch having a sensor, a rising position setting device for setting a rising target position of a ground-based work equipment, a lowering position setting device for setting a falling target position of a ground-based working equipment, and a movable conductive slide member, a first contact member disposed at one end of the moving range; a second contact member disposed at the other end of the moving range and electrically insulated from the first contact member; located between the contact members, electrically insulated from the first and second contact members, and located partially on at least one of the first and second contact members in the moving direction of the conductive sliding member; an operation switch including third contact members arranged in an overlapping manner, the conductive slide member being provided to slide on the first to third contact members; and a slide position of the conductive slide member. The combination of the electrical continuity states between the contact members is determined according to the deviation of the detection signal of the sensor with respect to the upward target position or the downward target position. A ground work machine characterized by comprising a valve selection drive unit that selects and operates either an ascending valve or a descending valve of the ground work machine so that a single control state is achieved in the same state. Position control device. (2) The contact member of the operating switch having the conductive sliding member is arranged on a concentric arc centered on the tilting central axis of the operating switch. Ground work equipment position control device. (3) Ground work machine position control according to claim 1, characterized in that the first contact member and the second contact member of the operation switch having the conductive slide member are arranged in parallel. Device. (4) When the operation switch is tilted from the neutral position to the rising side to a first planned angle, the valve selection drive unit selects the rising valve for the duration of the tilting operation, and selects the rising valve at the first planned angle. When the operating switch is tilted to a second larger predetermined angle, the ascending valve is selected continuously, and when the operating switch is tilted to the descending side to a third predetermined angle, the descending valve is selected for the duration of the tilting operation. and, when tilted to a fourth predetermined angle larger than the third predetermined angle, the lowering valve is continuously selected. Work equipment position control device. (5) Once the operation switch is tilted to a second predetermined angle, the valve selection drive unit selects the ascending valve until the ascending set value is reached or until the operating switch is tilted to a third or fourth predetermined angle. Once tilted to the fourth predetermined angle, the lowering valve is selected until the lowering set value is reached or until the lowering valve is tilted to the first or second predetermined angle. The ground work machine position control device according to any one of items 1 to 3. (6) The operation switch is configured such that it can be freely tilted to the ascending side with one operation, and cannot be tilted to the descending side by one step operation.
The ground work machine position control device according to any one of items 1 to 3. (7) The operation switch is characterized in that when the external force is removed from the tilted position, the operation switch automatically returns from the tilted position to the neutral position.
The ground work equipment position control device according to any one of paragraphs.