JPH0239805A - Lifting control mechanism in ground working unit - Google Patents

Abstract

PURPOSE:To provide the title mechanism so designed actuate a forced lifting control means is actuated when the difference between a detected value from a sensor and the second specified height is below a specified value, while in case said difference is above this specified value, a position control means is actuated, thereby preventing working devices from accidental falling. CONSTITUTION:When the main electric source is charged, a specified value (the second specified height) by a lifting setting equipment 17 is stored into a B register. Thence, in order to detect the relative height of a working unit to the machine body, the detected value by a potentiometer 7 to detect the rocking level of a lift arm 5 is stored into a C register, and the absolute value of the difference between both the values is operated in a A register. If the resultant value (difference) is smaller than the above small specified value, the working unit is assumed to be lifted by a forced lifting and a forced lifting means is actuated to retain its lifted state. On the other hand, in case the above resultant value is greater than said small specified value, the working unit is assumed to be lifted by a position control and a position control means is actuated. After that, control mode is arbitrarily selected using a lifting operation lever 13.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to a ground working device mounted on a traveling machine so as to be movable relative to the ground, and the height of the working device above the ground can be adjusted to a target set arbitrarily by a plowing depth setting device. An automatic plowing depth control means for maintaining the height of the working device relative to the machine body and a position control means for maintaining the height of the working device relative to the machine body at an arbitrary first predetermined height by a position setting device are provided, and these automatic plowing depth control means and the position With priority given to the control means, each time an arbitrary operation is performed on the operating tool, a state in which the working device is raised to a second predetermined height relative to the aircraft set in advance by a rise setting device and a state in which the raised state is released are alternately performed. The present invention relates to a lift control mechanism for a ground working device, which is provided with a forced raising means and a forced backward raising means for automatically raising the working device to a second predetermined height relative to the machine body as the traveling machine body retreats.

[Conventional technology]

The artificial switch that activates the forcible lifting means is of the type that maintains the initially operated state both mechanically and electrically. That is, when the switch is pressed and operated to forcibly raise the working device, the switch maintains the pressed state and maintains the electrical connection state so that the working device maintains the raised state. Therefore, -dan main electric iH3'
Even if the engine key switch is turned off to stop the tractor and the engine key switch is turned on again, the electrical connection is maintained by the switch to maintain the raised state of the working equipment. This prevents the work equipment from falling unexpectedly.

[Problem to be solved by the invention] However, by adding a new forced reverse control means, a switch that maintains the electrical connection state as originally can no longer be used as an artificial switch to operate the forced ascent means. It had to be a momentary type switch that sends a signal to the control means only when the switch is operated.

Therefore, this time, the electrical connection state by the switch is not expected, and the memory in the control device only remembers that the working equipment is in either the raised or lowered state, so the engine key is not turned on. When the switch is turned off, the contents in the memory are lost, and when the key switch is turned on again to restart, for example, if the working device has been raised by the position control means, it will return to its set position. Although it is a priority circuit, if the working equipment is raised by the operation of the forced raise means or forced reverse control means, the forced raise means has been canceled due to the loss of memory contents, so the automatic plowing depth control state will not be activated. , and the work equipment falls to the ground.

Therefore, caution was required when rebooting.

SUMMARY OF THE INVENTION An object of the present invention is to provide a system that can prevent a working device from falling unexpectedly, regardless of the worker's intention, by simple control changes.

[Means to solve the problem]

The characteristic structure according to the present invention is as follows: (1) When the main power is turned on, the detection value from the sensor that detects the height of the working equipment relative to the machine body and the rising height of the working equipment when the forced lifting means is activated, that is, a second predetermined value; height)
(1) If the absolute value is less than a predetermined minute value, the forced rise control means is put into operation so that the second predetermined height position is reached; (2) The absolute value is very small. The position control means is configured to be activated if the value is equal to or greater than a predetermined value, and its functions and effects are as follows.

[For production]

Considering the case where the main power is turned off while the working equipment is raised, if the work equipment is raised from the automatic plowing depth control state using the forced raising means, ii) the work equipment is raised from the automatic plowing depth control state using the forced reverse raising means. iii) When the position is raised by the position control means.

In case i), since the working device has been raised to the second predetermined height, the absolute value is naturally "zero".
The forced lifting means is operated to maintain the working device at the second predetermined height.

In the case of il), since the raised position is the same as the second predetermined height, the forced raising means is activated and the working device is maintained at the second predetermined height.In the case of 1ii), the position control means is activated. Since it can be set to an arbitrary height (the first predetermined height), that is, the detected value may be the same as the second predetermined height, or may indicate a state lower than that, and the detected value may be the same as the second predetermined height. If so, the forced lifting means operates to maintain the working device at the second predetermined height, and the working device does not fall. Further, when the detected value is lower than the second predetermined height, the position control is activated and the working device is maintained at the first predetermined height, so that it does not fall in this case as well.

〔Effect of the invention〕

Therefore, when the tractor is stopped and then restarted with the working device raised, it will not fall unexpectedly, contributing to safety.

Moreover, if the working equipment is raised by forced raising means,
By adopting the control form described above, even if the forced lift switch is changed to a "momentary switch", the work equipment can be controlled in the same way as when a conventional forced lift switch is used. .

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, a rotary ground work device (3) is connected to the rear end of the traveling machine body (1) via a two-point linkage mechanism (2), and a hydraulic cylinder (4) provided on the machine body side. Lift arm (5) that moves up and down with a link mechanism (2)
are connected via a lift rod (6) to form an agricultural tractor-type working machine capable of driving and lowering the ground working device (3).

This tractor has a control mechanism that can perform two types of automatic control: position control that raises and lowers the ground work device (3) to a set height relative to the machine body, and plowing depth control that maintains the ground work device (3) at the set plow depth. It is equipped with

That is, a potentiometer (7) is installed at the base end of the lift arm (5) to detect the height of the ground work device (3) relative to the aircraft.
), and a potentiometer (8) for detecting the plowing depth of the device (3) from the amount of rocking of the rocking rear cover (3a) is attached to the ground working device (3), and A control box (11) containing a control device (10) in the formed driving part (9) is located on the side of the seat (12), and a lever (
13) is provided.

As shown in Figures 1 and 2, the panel (lla) of the control box (11) has ○N/OFF
A switch (14) that can be switched between two positions, a dial-operated plowing depth setting device (15), a dial-operated plowing depth control sensitivity setting device (16), and a rise setting device (17) are provided. The operating lever (13) is configured to be of a -axis swing type, and a potentiometer (18) for position setting is attached to the base end of the lever (13). By setting ( By setting Y), two operations (X) and (Y) are discriminated based on the output from the potentiometer (18) so that the automatic plowing depth control state is established.

Then, when the operating lever (13) with a control system configured as shown in Fig. 1 is set to the operating range (X), the signal from the potentiometer (18) and the lift arm (
Control is performed based on a feedback signal from a potentiometer (7) attached to the switch (14), and the switch (14) is set to the ON state,
) to the operating range (Y), the potentiometer (
The automatic plowing depth control is activated by a signal from the plowing depth setter (15), and is controlled based on the signal from the plowing depth setting device (15) and the feedback signal from the potentiometer (18) that detects the rocking of the rear cover (3a). It will be done.

Also, if the operating lever (13) is set to the operating range (Y) with the switch (14) set to OFF, the working device (
3) descends under its own weight to the limit that it can descend, and enters a so-called floating state in which it swings following the unevenness of the ground.

The above describes the operating lever (13) and the potentiometer (7).
) as a position setting device, the control device (10) is also referred to as position control means, and the plowing depth setting device (15),
The rear cover (3a), the operating lever (13), the potentiometer (7), etc. are referred to as automatic plowing depth control means.

Note that when automatic control is performed, the electromagnetic valve (V,) for the hydraulic cylinder (4) is operated using an output signal from the control device (10). In addition, the control box (1
1) gives priority to automatic plowing depth control and position control, and sets the state in which the work device (3) is raised to the second predetermined height relative to the machine set in advance by the rise setting device (17) and the state in which it is raised. An operating tool (19) is provided that alternately performs the release state, and this operating tool (19) is a momentary type switch that only signals that it has been operated each time it is operated. ) is provided with a lamp (20) that repeatedly turns on and off each time the work device (
3) is turned on when it is located at a second predetermined height. As mentioned above, the operating tool (19), the control device (10),
The rise setting device (17) and the like are referred to as forced rise means. Further, the plowing depth sensitivity setting device (16) also serves as a switch for arbitrarily raising and lowering the working device (3), and is located at the operating position (D),
By operating (M) and (U), the working device (3) is lowered, placed in a neutral state, and raised again. The control device (10) has a built-in microprocessor and is configured to perform automatic control according to a preset program.

Next, the forced reverse control means will be explained.

Although not shown in the figure, a limit switch or the like is provided at the reverse operation position of the travel control lever to detect the backward state of the travel body (1). Therefore, when this limit switch senses and operates, the working device (3) is forcibly raised with priority over automatic plowing depth control and position control. The height at which this working device (3) rises is the second predetermined height position set by the rise setting device (17), and of course, when it rises, the lamp (
20) lights up. Therefore, this forced backward raising means is also a type of forced raising means, and in order to release the raised state and lower the working device (3), press and operate the momentary switch (19) to lower the working device (3). can be done.

From the above configuration, when the main power is turned off while the working device (3) is in the raised state, the information in the control device (10) is cleared, and the main power is turned on again, the working device (
3) The control to prevent falling will be explained with reference to the flow chart in FIG.

First, when the main power is turned on, the rise setting device (17)
Store the set value (second predetermined height) in the B register,
Next, a potentiometer (7) detects the amount of swing of the lift arm (5) in order to sense the height of the work device (3) relative to the aircraft.
The detected value of is stored in the C register, and the absolute value of the deviation between the two is calculated in the A register. Therefore, if this calculated value (deviation) is smaller than a small predetermined value (α), the forced (
Retreat) Assuming that the vehicle has been raised by the raising means, the forced raising means is operated to maintain the raised state. Further, if the calculated value is larger than a small predetermined value (α), it is assumed that the value has increased due to position control, and the position control means is activated.

From this point on, the control mode is arbitrarily selected by the lift operation lever (13).

[Another example]

(2) The working device (3) may be a working device other than the rotary tiller.

(2) The operating tool (19) may be of any other type as long as it can output the operation as a simple signal.

(2) Although a microprocessor is used as the control device (10), a hardware configuration using a gate circuit may be adopted.

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 the drawing]

The drawings show an embodiment of the lifting control mechanism for a ground work device according to the present invention, in which FIG. 1 is an overall control block diagram, FIG. 2 is a front view showing a control operation panel, and FIG. FIG. 4 is a side view of the agricultural tractor. (1)...... Traveling aircraft, (3)... Ground work equipment, (7)... Sensor, (10)...
...control device, (17) ...rise setting device, (19) ...operation tool.

Claims (1)

[Claims] The ground working device (3) is attached to the traveling machine (1) so that it can move up and down relative to the ground, and the working height of the working device (3) above the ground is maintained at the target height arbitrarily set by the plowing depth setting device (15). An automatic plowing depth control means and a position control means for maintaining the height of the working device (3) relative to the machine body at an arbitrary first predetermined height by a position setting device are provided, and these automatic plowing depth control means and position control means are provided. The operating tools (
19), raise the working device (3) with the setting device (
17) A forced raising means that alternately raises the aircraft to a second predetermined height set in advance and releases the raised state, and automatically works as the traveling aircraft (1) moves backward. A lifting/lowering control mechanism for a ground work device, which is provided with a forced retreat/lift means for raising the device (3) to a second predetermined height relative to the aircraft, the mechanism for controlling the lift of the work device (3) when the power is turned on. If the absolute value of the difference between the detected value from the sensor (7) that detects the height of the aircraft and the second predetermined height is less than a minute predetermined value, the forced rise control means is operated to reach the second predetermined height. A lift control mechanism for ground work equipment, which is provided with a control device (10) that activates the position control means when the absolute value is equal to or greater than a minute predetermined value.