JPH01300809A - Rise and fall control device of movable agricultural working machine - Google Patents

Abstract

PURPOSE:To control a rising amount or a dropping amount of a working machine based on a chassis in a set range, by equipping a rise and fall control device worked by on-off action of output pulse with a pulse control device to regulate ON time of output pulse. CONSTITUTION:A rise and fall control device is operated by on-off action of output pulse to control rise and fall of a working device 2 based on a chassis 1. To make a rising amount or dropping amount of the working device 2 in rising or dropping in a set range, ON time of output pulse to raise or drop the working device 2 is regulated long or short by a pulse control device.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a lifting control device for a mobile agricultural machine, and can be used to control lifting and lowering of a reaping section of a combine harvester, a tilling section of a tractor, etc.

In the case where a conventional technical work device is controlled to raise and lower with respect to the vehicle body using a hydraulic device or the like, the rise ON time and the lowering ON time of the output pulse of this lift control are such that the amount of rise and fall of the work device is an appropriate amount. They are each set to a fixed value so that

Problems to be Solved by the Invention However, 1. For example, in the reaping section of a combine harvester, an auxiliary pulling device for pulling up the fallen culm may be attached to the reaping section, and in the case of a tractor, a rotary or a plow is used for work. As equipment is attached, the weight of the work equipment changes. If the weight of the work equipment increases, the amount of descent during lifting control will increase, and the amount of rise will conversely decrease, making it difficult to perform lift control smoothly and causing the work equipment to plunge into the soil. Further, there were problems such as the working device moving up and down and hunting.

SUMMARY OF THE INVENTION An object of the present invention is to control the lifting amount or lowering amount of a working device relative to a vehicle body to be within a set range, thereby performing appropriate elevation control regardless of the weight of one working device.

Means for Solving the Problems This invention provides an elevation control device (3) that controls the elevation of a working device (2) relative to a vehicle body (1) by turning ON and OFF an output pulse. The elevation control device for a mobile agricultural machine is configured to include a pulse control device (4) that controls the ON time of the output pulse so that it falls within a set range.

The working device (2) of the invention is controlled to move up and down with respect to the vehicle body (1) by operating the lifting control device (3) by turning ON and OFF the output pulse. The amount of rise of the working device (2) at this time.

or the working device (2) so that the amount of descent falls within the set range.
The ON time of the output pulse that raises and lowers the pulse controller (
4) It is controlled to be long or short and raised and lowered.

Effects of the Invention In this way, when one working device (2) is raised and lowered relative to the vehicle body (11), the output pulse is turned on based on the amount of rise and fall at this time so that the amount of rise or fall falls within the set range.
Since the time is to be controlled, the weight of the working device (2) may increase due to attachment of accessory devices, or
Even when the weight of the work equipment (2) attached to a tractor differs greatly, such as a tilling device or a plow, the amount of rise or fall can be adjusted within the set range, making it easy to raise and lower. Control can be performed smoothly and appropriately.

The rotating example shows a combine harvester equipped with a lifting control device according to the present invention, in which a threshing device (6) is mounted on a vehicle body (1) having left and right traveling devices (5), and A working device W (2) for reaping the culms is provided so as to be able to be raised and lowered with respect to the vehicle body +1) by means of an elevating cylinder (7).

The lifting cylinder (7) is expanded and contracted by hydraulic pressure, and is provided with a rising solenoid valve (8) and a falling solenoid valve (9) for supplying and discharging pressure oil from a hydraulic pump to the lifting cylinder (7). These are electromagnetically switched configurations.

An elevating lever (1) is provided which switches the ascending solenoid valve (8) or the descending solenoid valve (9) and expands and contracts the elevating cylinder (7) to raise and lower the working device (2). A position sensor (1υ) is provided to detect the vertical position relative to the vehicle body (1) when the vehicle body (2) is raised or lowered.

FIG. 1 is a block diagram showing control, and shows the lifting/lowering control device (3) having a CPU and an input/output device.
-01 operation information and position sensor (Ill detection information) are input, and output to the ascending solenoid valve (8) or descending solenoid valve (9) according to each input. (4) is a pulse The control device adjusts the ON time of the output pulse output to the ascending solenoid valve (8) and descending solenoid valve (9) to be long or short based on the output signal from the elevation control device i! (31). It is configured to control.

When the lift lever (IG) is operated to the upward side, an output pulse is turned on from the lift control device (3) to the lift solenoid valve (8) based on this operation information, and the lift cylinder (7) extends and the working device (1) The position value of the position sensor 0υ when this rise output pulse is turned on and the working device [(
The position sensor (bosisimin value of 1υ) at the time when the ascent of No. 11 has stopped is input to the elevating control device (3), and the working device ( The amount of increase in 1) is calculated.

The ON time of the rise output pulse is increased or decreased by the pulse control device W (4) so that the amount of rise falls within the set range, and is output to the rise solenoid valve (8).

The descending amount is calculated in the same way as the ascending amount, and the O of the descending output pulse is adjusted so that the descending amount is within the set range.
The N time is incremented or decremented by the pulse control device (4) and output to the down solenoid valve (9).

Since the pulse control device (4) is provided to control the ON time of the output pulse so that the amount of rise or fall of the work device 11) is within the set range, the weight of the work device (1) can be controlled. Even if the weight changes, the ON time of the output pulse is controlled based on the actual amount of elevation regardless of the weight, so smooth and appropriate elevation control can be performed.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a block diagram showing control, Fig. 2 is a flowchart of lifting control, and Fig. 3 is a side view of the front part of the combine harvester. In the figure, reference numeral (1) indicates a vehicle body, (2) a working device, (3) an elevation control device, and (4) a pulse control device.

Claims (1)

[Claims] The lift control device (3) that controls the lift of the working device (2) relative to the vehicle body (1) by turning ON and OFF output pulses is configured to set the ON time of the output pulse so that the amount of rise or fall falls within the set range. A lifting control device for a mobile agricultural machine, which is provided with a pulse control device (4) for controlling.