JPH02308712A - Lifting-controller of working vehicle - Google Patents

Abstract

PURPOSE:To enable to stably maintain a working device at an objective ground height by constituting the lifting-controller of the working vehicle provided with both automatic type and manual type lifting means so as to stop an automatic lifting operation when ground height exceeds a set height continuously for a prescribed time or more. CONSTITUTION:A sensor for detecting the ground height of a working device 4 freely driver and lifted with respect to a frame V is provided. A lifting- controlling means for automatically lifting the working 4 upon the detection information of the sensor so as to maintain the ground height of the working device 4 at an objective ground height when the ground height of the working device 4 is below a set height is also disposed. A manual lifting operation means for lifting the working device 4 prior to the automatic lifting-controlling means is further disposed. The automatic lifting-controlling means is constituted so as to stop the automatic lifting operation of the working device 4 when the ground height of the working height 4 exceeds a set height continuously for a prescribed time or more, and the automatic lifting operation is stably continued even when the difference between the objective ground height and the set height is small.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a sensor for detecting the height above the ground of a working device which can be driven up and down with respect to a machine body, and a height above the ground of the working device. is below a set height, automatically raises and lowers the working device based on the detection information of the height above the ground detection sensor so as to maintain the height above the ground of the working device at the target height above the ground. The present invention relates to a lift control/device for a work vehicle, which is provided with a lift control means for lifting and lowering the working device, and a manual lifting operation means for lifting and lowering the working device with priority over the lift control means.

[Conventional technology]

The lifting control device for a work vehicle as described above is used, for example, to control the cutting height of a combine harvester.

In this case, the reaping pre-processing section corresponds to the working device. In other words, during reaping work with a combine harvester, in order to maintain a constant cutting height, the height of the pre-reaping processing unit above the ground is detected.
The height of the cutting section above the ground is automatically maintained at the target height. On the other hand, when mowing a field, the combine harvester must be rotated at the headland. At this time, even if the machine pitches or the ground is uneven, it is necessary to raise the combine harvester's pre-harvesting section so that it does not crash into the ground. Therefore, when the reaping preprocessing section is manually raised beyond a set height, the automatic lifting operation of the reaping preprocessing section is stopped.

Conventionally, as soon as it is detected that the height of the pre-reaping treatment section above the ground exceeds a set height, the automatic lifting operation of the pre-reaping treatment section is stopped.

[Problem to be solved by the invention]

In the above-mentioned conventional technology, the following problems may occur.

For example, when harvesting soybeans with a combine harvester, the target height above the ground is set high.

In other words, the difference between the set height and the target height above the ground becomes smaller. Therefore, during the reaping operation, the height of the pre-reaping treatment section from the ground may exceed the set height due to factors such as unevenness of the ground. In such a case, in the above-mentioned conventional technology, the automatic lifting operation is stopped, and as a result, there is a possibility that the cutting height cannot be maintained constant.

An object of the present invention is to eliminate the above-mentioned conventional drawbacks.

[Means to solve the problem]

In order to achieve this object, a first feature of the lifting control device for a work vehicle according to the present invention is that the lifting control means causes the height of the working device to exceed the set height for a predetermined period of time or more. Accordingly, the automatic lifting operation of the working device is stopped.

Further, a second characteristic configuration is that the height above the ground detection sensor is configured as a grounding type.

[For production]

If the target height above the ground is set high, the height above the ground of the working device may exceed the set height due to pitching of the machine body or the like. Especially when the sensor for detecting the height above the ground is a ground type as in the second characteristic configuration, the detection range of the sensor is relatively narrow, so the set height cannot be increased, so the above-mentioned tendency becomes more pronounced. .

However, if the height of the working device above the ground exceeds the set height but does not continue for a predetermined period of time or more, the automatic lifting/lowering operation of the working device is continued. If the automatic lifting operation continues for a predetermined period of time or more, the automatic lifting operation is stopped.

〔Effect of the invention〕

Therefore, even when the difference between the target height above the ground and the set height is small, the automatic lifting operation can be operated stably to maintain the height above the ground of the working device at the target height above the ground. This effect becomes more useful in a configuration in which it is difficult to increase the set height, such as when the sensor for detecting the height above the ground is of a ground type.

〔Example〕

EMBODIMENT OF THE INVENTION Hereinafter, an embodiment applied to a full-culm input type combine harvester of the present invention will be described based on the drawings.

5th vI! As shown in J, a crawler traveling device (1),
Aircraft (V) equipped with a control section (2) and a threshing device (3)
) is equipped with a reaping pre-processing section (4) as a working device.
A hydraulic cylinder (5) serving as a lifting actuator is provided around the horizontal axis (P) so as to be able to move up and down, thereby configuring a full-culm input type combine harvester.

As shown in FIG. 5, a weeding tool (6) that can swing up and down around the horizontal axis (a2) is provided at each of the left and right image tips of the pre-reaping processing section (4), and the weeding tool (6) is movable up and down around the horizontal axis (a2). Planted stem culm <V)
A reel (7) for raking to the rear side of the leather is provided at an upper position between the left and right leather dividing tools (6). Then, the clipper-shaped cutting blade (8) for cutting the base of the stalk culm that has been raked in is located on the rear side of the weeding tool (6), and the pre-cutting treatment section ( 4)
It is provided at the lower end side of the reaping pre-processing section (4) in a length extending substantially over the entire width of the reaping section (4).

The reaping pre-processing section (4) also includes an auger (9) that receives and stops the reaped stalk culms, collects them at the center in the width direction of the machine, and sends them out to the rear of the machine; It is equipped with a conveyor (10) for conveying to.

Further, a ground-type height-above-the-ground detection sensor (S+) for detecting the height of the pre-reaping processing section (4) from the ground is provided.

To further explain the height above the ground sensor (S1), as shown in FIG. (Q
1) The grounding body (11) and the potentiometer (R1) are pivotally connected to each other by a link mechanism (12).

In other words, when the height of the pre-reaping treatment section (4) relative to the ground changes due to unevenness of the ground or pitching of the machine body (V), the ground contact body (11) will swing up and down according to the unevenness. , the amount of vertical swing is set as the height of the pre-reaping treatment section (4) above the ground by the potentiometer (R1).
It is detected by

As shown in FIG. 1, a control device (It) using a microcomputer is provided, and the control device (H) is used to control the reaping pre-processing section (4) based on the detection information of the sensor (S1). A lifting control means (100) for lifting and lowering is configured.

In FIG. 1, (RO) is a target height setting potentiometer that sets the target height of the reaping pre-processing section (4);
(SWo) is an automatic mode in which elevation control is performed based on information detected by the height above the ground detection sensor (S1) so as to maintain the height above the ground of the pre-reaping processing unit (4) at the target height. Yes, or OFF to stop the elevation control
This is an operation mode selection switch that switches between modes. Further, (R2) is a potentiometer (R1) and (SW
I) is a lowering switch that lowers the reaping pre-processing section (4), which is at a height higher than the set height in the non-working state, and is also used as a start switch for lift control. or,(
26) is a state in which the operation mode selection switch selects an automatic mode in which elevation is controlled based on information detected by the sensor (S,);
When the height above the ground detected by S, ) is within a set height range that is less than or equal to the upper limit of the target height range that can be set by the target height setting potentiometer (RO), the automatic mode is in the control activation state. Automatic for displaying that? il[It is a lamp.

To explain the relationship between the height above the ground of the reaping pre-processing section (4), that is, the cutting height, and the detected height above the ground, as shown in FIG. 4, the potentiometer (RO) for setting the target height in the automatic mode The target height range that can be set is limited to a range narrower than the range of the height above the ground detected by the sensor (sl>.The setting range of the set height is provided near the upper limit of the height above the ground detection range. It's been done.

There is.

If the height above the ground detected by the sensor (S1) exceeds the set height for a predetermined period of time or more, it is determined that a manual lifting operation has been performed for turning, etc., and the automatic In addition to stopping the control operation in the mode,
The automatic confirmation lamp (26) is turned off to indicate that the control operation is in a stopped state.

However, when the start switch (Stli) is turned on to restart the automatic elevation control, the automatic confirmation lamp (26) is turned on to indicate that the automatic elevation control is in operation. Become.

By the way, the reaping pre-processing section (4) is configured to control the control device (
It is configured so that it can be manually operated even when the elevator is automatically controlled to raise and lower by H).

That is, as shown in FIG. 1, the reaping pre-processing section (4)
The hydraulic cylinder (5) that raises and lowers the
A control valve (19) and a second control valve (21) operated by a lift lever (20) as a manual lift operation means attached to the control section (2) are provided, valve(
19) and a second control valve (21) are connected to the hydraulic cylinder (5).
) are connected in parallel.

However, the first control valve (19) and the second control valve (21)
Two hydraulic pumps (22) supply pressure oil to each
, (23) are configured to be performed separately. The supply amount per unit time of the hydraulic pump (23) to the second control valve (21) is larger than that of the hydraulic pump (22) to the first control valve (19). In order to sometimes perform accurate positioning, the lifting and lowering speed is suppressed from becoming excessive, while allowing quick lifting and lowering during manual operation.

Further, the first control valve (19) and the hydraulic pressure are adjusted so that, regardless of which of the first control valve (19) and the second control valve (21) is in operation, priority is given to the upward operation. Cylinder (5
) between the second control valve (21) and the second control valve (21).
A throttle valve (25) that provides resistance to hydraulic oil discharge is integrally formed in the flow path toward the descending side.

That is, with the first control valve (19) operating in the downward direction, the elevator lever (20) is operated to control the second control valve.
When the control valve (21) is switched to the ascending side, priority is given to operation to the ascending side, and the hydraulic cylinder (5) is operated to the ascending side, and the second control valve (
21) is operated on the downward side and the first control valve (19) is switched to the upward side, the operation on the upward side is prioritized.

Therefore, even if the automatic lifting control by the control device (H) and the manual lifting operation by the lifting lever (20) result in lifting operations in opposite directions, the reaping pre-processing section (4) will not be erroneously operated. It is configured to operate toward the safe side to prevent the vehicle from colliding with the ground.

Next, the operation of the control device (H) will be explained.

That is, the control mode is configured to be automatically switched based on the operating state of the operation mode selection switch (SI#o).

That is, when the operation mode selection switch (SWo) is in the automatic mode, the height detected by the sensor (S) is determined by the target height setting potentiometer (S).
The first control valve (19) is operated to automatically raise and lower the reaping pre-processing section (4) so that it is maintained within the set dead zone with respect to the target height determined by RO.

Then, the operation mode selection switch (SWo) is turned OFF.
When the vehicle is in the F mode, the operation of the first control valve (19) is stopped, and automatic lifting and lowering operations are stopped.

Further, in the automatic mode, the sensor (S1) detects that the height above the ground of the reaping pre-processing section (4) exceeds a preset height for a predetermined period of time or more due to turning or the like.
If detected, the elevation control is stopped. Then, the lowering switch (SW, ) is 0N
As the pre-reaping treatment section (4) is lowered from the set height, the lifting control is released from the stopped state.
Elevation control is automatically restarted.

Hereinafter, the operation of the control device (H) in automatic mode will be explained based on the flowchart shown in FIG.

As the automatic mode is selected and the elevation control is started, the height above the ground detected by the sensor (S) is compared with the target height above the ground set by the target height setting potentiometer (RO), Both heights are made to match so that the height above the ground of the reaping pre-processing section (4) is maintained at the set target height regardless of the vertical movement of the machine body (V) or the unevenness of the ground. The process of operating the first control valve (19) is repeated until another operating mode is selected.

However, as the height above the ground detected by the sensor (S1) continues to exceed the set height for a predetermined period of time or more, it is determined that a manual lifting operation has been performed for turning, etc. The automatic confirmation lamp (26) is turned off and the lifting operation is stopped, thereby maintaining the interrupted state of lifting control.

In addition, when the lowering switch (Sill) is operated in the interrupted state of the lifting/lowering control, the automatic confirmation lamp (26) is turned on and the reaping pre-processing section (4) is operated to lower. The lift control will automatically restart.

[Another example]

In the above embodiment, a ground type sensor (S+) is used as the height above ground sensor, but the specific configuration of the height above ground sensor may be changed in various ways, such as using an ultrasonic sensor.

In the above embodiment, the present invention is applied to a full-culm input type combine harvester, but it can also be applied to various agricultural vehicles such as a tractor equipped with a mowing device as a working device that can be raised and lowered.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the lift control device for a working vehicle according to the present invention, FIG. 1 is a block diagram showing the control configuration, FIG. 2 is a flowchart of the control operation, and FIG. 3 is the configuration of the sensor for detecting height above the ground. FIG. 4 is an explanatory diagram of the relationship between the target height and the set height, and FIG. 5 is a schematic side view of the combine harvester. (4)... Working device, (S+)... Sensor for detecting height above ground, (20)... Lifting operation means, (100)... Elevation control means.

Claims (1)

[Claims] 1. Working device (4) that can be driven up and down with respect to the machine body (V)
Ground height detection sensor (S_1) that detects the ground height of
and the height above the ground detection sensor so as to maintain the height above the ground of the working device (4) at the target height above the ground when the height above the ground of the working device (4) is below a set height. (S_
Lifting control means (100) that automatically lifts and lowers the working device (4) based on the detection information of 1), and lifts and lowers the working device (4) in priority to the lifting control means (100). A lifting control device for a work vehicle is provided with a manual lifting operation means (20), and the lifting control means (100) is configured to maintain the height of the working device (4) above the ground for a predetermined period of time or more. A lifting control device for a working vehicle configured to stop automatic lifting operation of the working device (4) when the set height is exceeded. 2. The lifting control device for a working vehicle according to claim 1, wherein the sensor (S_1) for detecting the height above the ground is configured as a grounding type.