JPH03251101A - Tilt controller of working part in travel machine body for working - Google Patents

Abstract

PURPOSE:To eliminate the need of a manual tilt switch for exclusive use, reduce the number of parts and enable improvement in operating efficiency by providing a tilt control part with a tilting operation manual changeover means for respectively changing over left and right tilting operations of a working part to left tilting, stopping and right tilting operations. CONSTITUTION:Whether the tilt automatic control is turned OFF or not is judged and whether the tilt setting volume 12 is inoperative or not is subsequently judged. In the case of YES, a working part is tilted and operated so as to keep a horizontal posture relatively to a machine body. When the tilt setting volume 12 is judged to be operated, the operating position of the tilt setting volume 12 is judged to be operated within any of the preset manual left tilt, manual stop and manual right tilt regions. Based on the judgment, the working part is respectively subjected to left tilting, stopping and right tilting operations. Thereby, the manual tilting operation can be performed without providing a manual tilt switch for exclusive use separately from the tilt setting volume 12. The number of parts can be reduced to improve operating efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an inclination control device for a working section of a working traveling vehicle such as a tractor.

[Prior art and problems to be solved by the invention] Generally,
In this type of work traveling machine, for example, if this is an agricultural tractor, the working part is tilted so that the tilt attitude of the working part connected to the machine body with respect to the field always matches the set slope set in the slope setting volume. There is a device that performs so-called automatic tilt control that automatically tilts the vehicle based on the detected value of the sensor. However, conventionally, in such devices, various operating parts such as a control changeover switch for switching between the automatic tilt control state and the manual operation state, the tilt setting volume, and a manual tilt switch are provided on the operation panel. Therefore, there have been problems in that the number of parts has increased and the operation panel has become more complex, resulting in a decrease in operability.

[Means for Solving the Problems] In view of the above-mentioned circumstances, the present invention was created for the purpose of providing a tilt control device for a working section in a working traveling machine that can eliminate these drawbacks. The inclination control unit that causes the working part connected to the machine to tilt left and right is configured to control the working part based on the set value of the tilt setting volume and the detected value of the inclination sensor in order to maintain a constant inclination of the working part with respect to the field. In a working traveling aircraft, the work vehicle is provided with an automatic tilt control means for automatically tilting left and right, wherein the tilt control section is provided with a manual left tilt control unit in which a tilt setting volume is preset in a manual operation state in which automatic tilt control is released. manual tilt operation switch that determines whether the operation is in the manual stop position or manual right tilt position, and switches the left and right tilt operation of the working part to left tilt operation, stop operation, and right tilt operation, respectively, based on the judgment It is characterized by providing means.

In addition, the tilt control unit, which tilts the working part connected to the machine to the left and right, automatically tilts the working part based on the setting value of the tilt setting volume and the detected value of the tilt sensor in order to maintain a constant inclination of the working part with respect to the field. In a working traveling aircraft equipped with an automatic tilt control means for automatically tilting left and right, the tilt control unit determines the operation position of a tilt setting volume in a manual operation state in which the automatic tilt control is released;
The present invention is characterized by the provision of a manual tilt control means for tilting the working part to a preset tilt posture in accordance with the operation position of the tilt setting volume based on the judgment.

With this configuration, the present invention makes it possible to eliminate the need for a dedicated manual tilt switch, reduce the number of parts, and significantly improve the operability of tilting the working section.

[Example] Next, an example of the present invention will be described based on the drawings. In the drawings, reference numeral 1 denotes a traveling body of an agricultural tractor, and a rotary tilling type working section 3 is connected to the rear of the traveling body 1 via an elevating linkage mechanism 2 so as to be able to rise and fall freely. The lift arm 5 is lifted and lowered by swinging due to the hydraulic expansion and contraction of the hydraulic cylinder 4, and the tilting operation is performed by the hydraulic expansion and contraction of either the left or right lift rod 6 that connects the lift arm 5 and the lower link 2a. The basic configuration of both is the same as before.

Reference numeral 7 denotes an operation panel provided on the side of the driver's seat 8 of the traveling aircraft 1, and the operation panel 7 includes a manual lift operation lever 9.
, an automatic changeover switch 10, a plowing depth setting volume 11, an inclination setting volume 12, and the like are provided, and operation signals from these operating tools are input to a control section 13, which will be described later.

The control unit 13 is configured using a so-called microcomputer, and includes an arm angle detection sensor 14 that detects the swing angle of the lift arm 5, and a tiller that detects the swing angle of the rear cover 8a. The hydraulic pressure is determined based on signals input from sensors such as the depth detection sensor 15, the inclination sensor 16 that detects the inclination of the aircraft body 1, and the rod length detection sensor 17 that detects the operating length of the lift rod 6, and the operating tools. Various control programs for outputting operation commands to the cylinder 4 and lift rod 6 are stored. In other words, in the control unit 13, manual lifting control is performed to raise and lower the working part 3 based on the operation position of the manual lifting operation lever 9, and a tilling depth detection sensor is used to maintain a constant tilling depth set by the tilling depth setting volume 11. Automatic plowing depth control that raises and lowers the working part 3 based on the detected value of 15, slope setting volume 1
The tilt sensor 16 maintains the tilted posture set in step 2.
Various types of controls such as automatic tilting control that tilts the working section 3 based on the detected value of the tilting operation, and manual tilting control that is the gist of the present invention have come to be performed.

The manual tilt control is executed with the automatic tilt control canceled, but the manual left/right tilt operation and stop operation of the working unit 3 is performed using the tilt setting volume 12 for setting the target tilt in the automatic tilt control. This is done based on the operating position. That is, in this control,
Following the determination of whether the automatic tilt control is OFF, it is determined whether the tilt setting volume 12 is not operated, and then YES.
In the case of S, the working part 3 is tilted to maintain a horizontal position with respect to the aircraft body 1, but the tilt setting volume 12
If it is determined that the tilt setting volume 12 has been operated, it is determined whether the operation position of the tilt setting volume 12 is operated in one of the preset manual left tilt range, manual stop range, and manual right tilt range. Based on this judgment, the working section 3 is operated to tilt to the left, to operate to stop, and to tilt to the right.

Furthermore, in this embodiment, the tilting operation speed of the working unit 3 is made faster as the operating position of the tilt setting volume 12 moves away from the manual stop region in the manual left tilt region or the manual right tilt region.

That is, when the tilt setting volume 12 is operated to the manual left tilt range or the manual right tilt range, an inching operation signal ( The tilting operation speed of the working section 3 is controlled by changing the width of the intermittent operation signal.

In the embodiment of the present invention configured as described above, in the manual tilt control state where the automatic tilt control is canceled, the tilt setting volume 12 for setting the target tilt in the automatic tilt control is set to the manual left tilt range, the manual stop range , manual right tilting range, the tilting operation of the working part 3 is switched to the left tilting operation, the stop operation, and the right tilting operation, respectively.

In this way, in the present invention, the working part 3 is automatically tilted based on the detected value of the tilt sensor 16 so that the tilt of the working part 3 with respect to the field always matches the slope set in the tilt setting volume 10. It is configured to perform automatic tilt control for operating the automatic tilt control and manual tilt control for operating the tilt of the working part 3 with respect to the machine body 1 when the automatic tilt control is released. The working part 3 is operated by operating the slope setting volume 12 for setting the target slope in the automatic slope control.
The tilt can be operated. Therefore, it is possible to manually tilt the working part 3 without providing a dedicated manual tilt switch in addition to the tilt setting volume 12, and as a result, it is possible to reduce the number of parts by making the parts dual-purpose. By simplifying the operation panel 7, the operability of the operation panel 7 can be greatly improved.

Moreover, in the manual tilt control, since the manual stop range has a width, there is a possibility that if the tilt setting volume 12 is accidentally touched, the working part 3 may be tilted against the user's intention. can be prevented.

Furthermore, in the embodiment, the horizontal setting position of the tilt setting volume 12, which is very often set in the automatic tilt state, is set as the manual stop area in the manual tilt state. The operation of resetting to the stop area can be reduced as much as possible, and operability can be improved.

Furthermore, in the embodiment, since the tilting operation speed of the working part 3 is controlled to be faster as the operation position of the tilt setting volume 12 is farther from the manual stop area, the working part 3
In addition to improving operability by quickly operating the device to a desired tilted position, it is also possible to perform very precise fine adjustments by operating at low speeds, thereby improving work accuracy.

It should be noted that the present invention is of course not limited to the above-mentioned embodiments, and for example, it is not always necessary to perform tilt operation speed control based on the operating position of the tilt setting volume 12 in the above-mentioned embodiments, and Setting volume 1
The second manual operation position may be set so as not to overlap the setting range for automatic tilt control, as shown in FIG. Furthermore, as in the above embodiment, the tilt setting volume 12
9th without switching the operation by selective operation of
As shown in the figure, the working part 3 may be tilted to a tilting position corresponding to the operating position of the tilt setting volume 12. In other words, this device compares the set value of the tilt setting volume 12 and the detected value of the rod length detection sensor 17 in the manual tilt state, and tilts the working part 3 so that they always match. In the case of a vehicle, it not only has the advantage of not requiring the operation of returning the tilt setting volume 12 to the manual stop range after operating it to the manual left tilt range or the manual right tilt range, but also allows you to quickly and accurately reach the desired tilt position. The advantage is that it can be set to

[Operations and Effects] In summary, since the present invention is constructed as described above, in a device that performs so-called automatic tilt control, when the automatic tilt control is canceled, the working part cannot be operated to tilt by manual operation. , the manual operation is performed by operating the tilt setting volume for setting the target tilt in the automatic tilt control to any of the preset manual left tilt position, manual stop position, and manual right tilt position. become. Therefore, it is possible to manually tilt the working part without providing a dedicated manual tilt switch in addition to the tilt setting volume, and as a result, the number of parts can be reduced by using parts that can be used for multiple purposes. It is possible to improve operability by simplifying the system.

Furthermore, even if the working part is configured to be tilted to a preset tilted posture based on the operating position of the tilt setting volume, the same effect as that described above will be obtained. After operating the tilt setting volume, there is no need to return to the manual stop position again, which has the advantage of excellent operability, as well as the advantage of being able to quickly and accurately set the desired tilt position.

[Brief explanation of drawings]

The drawings show an embodiment of the inclination control device for the working section in the working traveling body according to the present invention, in which FIG. 1 is a side view of the tractor, FIG. 2 is a plan view of the same, and FIG. 3 is a side view of the tractor. A plan view of the operation panel, Fig. 4 is an enlarged plan view of the tilt setting volume, Fig. 5 is a block diagram of the control mechanism, Fig. 6 is a flowchart showing the control procedure for manual tilt control, and Fig. 7 is automatic tilt control. FIG. 8 is an enlarged plan view of a tilt setting volume showing another example, and FIG. 9 is a flowchart showing another example. In the figure, 1 is the traveling aircraft, 3 is the working part, 6 is the lift rond,
7 is an operation panel, 12 is a tilt setting volume, 13 is a control unit, and 16 is a tilt sensor. 4 71

Claims (1)

[Claims] 1) A tilt control unit that tilts the working part connected to the machine body left and right, and a setting value of a tilt setting volume and a detected value of a tilt sensor to maintain a constant inclination of the working part with respect to the field. In the work traveling machine, the work traveling machine is provided with an automatic tilt control means for automatically tilting the working section left and right based on the tilt control unit, wherein a tilt setting volume is preset in the tilt control unit in a manual operation state in which the automatic tilt control is released. Determine whether the operation is in the manual left tilt position, manual stop position, or manual right tilt position, and switch the left/right tilt operation of the working part to left tilt operation, stop operation, or right tilt operation, respectively, based on the judgment. What is claimed is: 1. A tilt control device for a working section in a work traveling machine, characterized in that a tilt operation manual switching means is provided. 2) The tilt control unit, which tilts the working part connected to the machine to the left and right, automatically tilts the working part based on the setting value of the tilt setting volume and the detected value of the tilt sensor in order to maintain a constant inclination of the working part with respect to the field. In a work traveling machine equipped with an automatic tilt control means for automatically tilting left and right, the tilt control unit determines the operation position of a tilt setting volume in a manual operation state in which the automatic tilt control is released; 1. An inclination control device for a working part in a work traveling machine, characterized in that a manual inclination control means is provided for inclining the working part to a preset inclination posture in accordance with the operating position of a tilt setting volume.