JPH0353884B2 - - Google Patents
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- Publication number
- JPH0353884B2 JPH0353884B2 JP58092172A JP9217283A JPH0353884B2 JP H0353884 B2 JPH0353884 B2 JP H0353884B2 JP 58092172 A JP58092172 A JP 58092172A JP 9217283 A JP9217283 A JP 9217283A JP H0353884 B2 JPH0353884 B2 JP H0353884B2
- Authority
- JP
- Japan
- Prior art keywords
- value
- work
- ground
- setting
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 230000035945 sensitivity Effects 0.000 claims description 19
- 238000001514 detection method Methods 0.000 description 12
- 238000013459 approach Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003971 tillage Methods 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 1
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
［産業上の利用分野］
この発明は対地作業機の昇降自動制御装置に関
するものであり、特に、複数種の対地作業機或は
対地作業に応じて対地作業機の昇降等の制御動作
の速度を変更設定できるようにした対地作業機の
昇降自動制御装置に関するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic lifting/lowering control device for ground-based work equipment, and in particular, to an automatic lifting/lowering control device for ground-based working equipment, and in particular, to an automatic lifting/lowering control device for ground-based working equipment. This invention relates to an automatic lifting/lowering control device for a ground-based working machine that is capable of changing and setting the speed of control operations such as the above.
［従来の技術］
従来此種対地作業機の自動制御装置は、特開昭
55−58004号や特開昭55−111705号又は特開昭56
−78502号が知られている。[Prior art] The conventional automatic control device for this type of ground-based work machine was
No. 55-58004, JP-A-55-111705, or JP-A-56
-78502 is known.
特開昭55−58004号は耕深作業に於て、耕耘部
（対地作業機）の耕深値を設定器と対地作業器の
耕深値を検出するセンサとが設けられ、該設定器
の設定値にセンサの検出値を合致するように耕耘
部の昇降動作を制御する際、速度切換回路により
対地作業機の初期動作は速く、そして、センサの
検出値が設定器の耕深設定値に近づくと対地作業
機の下降動作が遅くなるよう自動的に切換えるよ
うに構成して耕耘部の急降下をなくして耕耘部の
ハンチングを防止している。 JP-A No. 55-58004 discloses that in deep plowing work, a device for setting the plowing depth value of a tilling section (ground work device) and a sensor for detecting the plowing depth value of the ground work device are provided. When controlling the vertical movement of the tiller so that the detected value of the sensor matches the set value, the speed switching circuit allows the initial movement of the ground work equipment to be fast, and then the detected value of the sensor matches the plowing depth set value of the setting device. The structure is configured so that the lowering operation of the ground work machine is automatically changed to slow down when it approaches, thereby eliminating sudden descent of the tilling section and preventing hunting of the tilling section.
又、特開昭55−111705号は対地作業装置の実検
出牽引負荷値と予め設定された負荷値との偏差値
の増減に基づいて、該偏差値がポジシヨン感度設
定器により設定された許容範囲内に維持するよう
に電磁バルブの開閉を制御するように構成してい
る。そして、該偏差値の絶対値が小さい間は前記
バルブを低周波のパルス信号にて動作させ、偏差
値の絶対値が大きいときは高周波のパルス信号に
て動作するように構成して対地作業装置の能率の
良い昇降制御を図ると共に、シリンダ内の圧力の
急激な減少を防止し、作業性を向上させている。 Furthermore, Japanese Patent Application Laid-Open No. 55-111705 discloses that based on the increase or decrease in the deviation value between the actual detected traction load value of the ground work equipment and the preset load value, the deviation value is determined within the allowable range set by the position sensitivity setting device. It is configured to control the opening and closing of the electromagnetic valve to maintain the temperature within the range. The ground work equipment is configured to operate the valve with a low frequency pulse signal while the absolute value of the deviation value is small, and to operate with a high frequency pulse signal when the absolute value of the deviation value is large. In addition to achieving efficient lifting and lowering control of the cylinder, it also prevents a sudden decrease in the pressure inside the cylinder and improves work efficiency.
一方、特開昭56−78502号は対地作業機に於て、
感知部により検出される耕深の検出値と耕深調節
レバーにて設定された指示値とを比較部にて比較
し、該検出値と指示値との比較差値が存在すると
きには前記指示値に検出値を合致するよう液圧制
御部を作動させる。そして、前記比較部の比較差
値が設定値を越えるとき動作切換部にて前記液圧
制御部の作動速度を大きくするように構成し、耕
深等の対地作業性を向上している。 On the other hand, Japanese Patent Application Laid-open No. 56-78502 deals with ground-based work equipment.
The detection value of the plowing depth detected by the sensing section and the indicated value set by the tilling depth adjustment lever are compared in the comparison section, and if there is a comparison difference value between the detected value and the indicated value, the indicated value is The hydraulic pressure control section is operated so that the detected value matches the detected value. Further, when the comparison difference value of the comparison section exceeds a set value, the operation switching section is configured to increase the operating speed of the hydraulic pressure control section, thereby improving ground workability such as plowing depth.
［発明が解決しようとする課題］
上述した従来型はいづれの場合に於ても対地作
業機の耕深値を定める設定部等の設定値に対地作
業機の実際の耕深値を検出する検出器等の値を一
致させるように対地作業機を動作させる自動制御
装置であり、前記設定値と検出値との偏差値が大
であるときに対地作業機の動作を速くし、該偏差
値が小になると、或は、該偏差値の一定の範囲内
になつたとき、該動作を遅くさせるように制御す
るものである。[Problems to be Solved by the Invention] In any case, the above-mentioned conventional type detects the actual plowing depth value of the ground work machine as a setting value of a setting unit, etc. that determines the plowing depth value of the ground work machine. This is an automatic control device that operates the ground work equipment so that the values of the equipment, etc. match, and when the deviation value between the set value and the detected value is large, it speeds up the operation of the ground work equipment, and when the deviation value When the deviation value becomes smaller or within a certain range of the deviation value, the operation is controlled to be slowed down.
しかし、これらの従来型は上記の一連の制御が
一定であり、例えばロータリ作業とプラウ作業と
に於て同一の制御をなすので、夫々対地作業機は
前記偏差値に対して同一反応速度で耕深設定値に
合致すべく動作する。一方、ロータリ作業に於て
は耕深値が浅く、対地作業機の地表面に対する速
い反応が要求され、また、溝掘作業等は比較的耕
深値に深い一定した作業であると共に、僅かな偏
差値に鋭敏に対地作業機を昇降させるとハンチン
グが生じるので、前記偏差値に対する対地作業機
の遅い反応が要求される。 However, in these conventional types, the above-mentioned series of controls are constant, for example, the same control is performed for rotary work and plowing work, so each ground work machine plows at the same reaction speed with respect to the deviation value. Operates to match the depth setting. On the other hand, in rotary work, the plowing depth is shallow and the ground work equipment needs to react quickly to the ground surface, and trenching work is a constant work with a relatively deep plowing depth, and only a small amount of work is required. Hunting occurs when the ground work equipment is moved up and down sensitively to the deviation value, so the ground work equipment is required to react slowly to the deviation value.
そこで、多種の対地作業或は対地作業機に有効
的に使用できる対地作業機の昇降自動制御装置を
提供するために解決されるべき技術的課題が生じ
てくるのであり、本発明は該課題を解決すること
を目的とする。 Therefore, a technical problem arises that needs to be solved in order to provide an automatic lifting/lowering control device for ground-based work equipment that can be effectively used for various types of ground-based work or ground-based work equipment. The purpose is to solve the problem.
［課題を解決するための手段］
この発明は、上記目的を達成するために提案せ
られたものであり、対地作業機の耕深又は耕耘抵
抗等の作業特性値を指示設定する作業特性値設定
部と、該作業特性値の現出値を検出する作業特性
値検出器とが設けられ、該作業特性値設定部の設
定値と作業特性値検出器の検出値との偏差値に基
づいて出力される比較制御部の指令により作業機
昇降機構の駆動部を動作させ、前記設定値に検出
値を合致するように制御する対地作業機の昇降自
動制御装置に於て、前記比較制御部により制御さ
れる駆動部の動作速度を複数段階に切換え、且
つ、任意の速度に設定できる感度設定部を設けた
ことを特徴とする対地作業機の昇降自動制御装置
を提供せんとするものである。[Means for Solving the Problems] The present invention has been proposed to achieve the above object, and includes a work characteristic value setting method for instructing and setting work characteristic values such as plowing depth or tilling resistance of a ground work machine. and a work characteristic value detector that detects the current value of the work characteristic value, and outputs the output based on the deviation value between the set value of the work characteristic value setting part and the detected value of the work characteristic value detector. In an automatic lifting control device for a ground work machine, the drive unit of a work equipment lifting mechanism is operated in response to a command from a comparison control unit, and the control is performed by the comparison control unit to control a detected value to match the set value. An object of the present invention is to provide an automatic lifting/lowering control device for a ground-based working machine, which is characterized by being provided with a sensitivity setting section that can switch the operating speed of a drive section to a plurality of stages and set it to an arbitrary speed.
［作用］
この発明は、作業特性値の設定部と検出器とを
設け、該設定部の設定値と検出器の検出値との偏
差値に基づいて作業機昇降機構の駆動部動作を制
御する対地作業機の昇降自動制御装置に感度設定
部を設けている。この感度設定部は駆動部の制御
動作速度を複数段階に切換え、且つ、任意の速度
に設定できるように構成されている。即ち、前記
偏差値が同一値にあつても、該感度設定部を操作
することにより、前記設定値に検出値を合致させ
る速度（時間）を変化させて制御することができ
る。依つて、種々の対地作業或は対地作業機によ
つて適切な制御動作速度に調節して対地作業機の
昇降自動制御装置の汎用及び作業性の向上を図る
ことができる。[Operation] The present invention includes a work characteristic value setting section and a detector, and controls the operation of the drive section of the work equipment lifting mechanism based on the deviation value between the setting value of the setting section and the detected value of the detector. A sensitivity setting section is provided in the automatic elevation control device for ground-based work equipment. This sensitivity setting section is configured to switch the control operation speed of the drive section into a plurality of stages and to set it to an arbitrary speed. That is, even if the deviation values are the same, the speed (time) at which the detected value matches the set value can be changed and controlled by operating the sensitivity setting section. Therefore, it is possible to adjust the control operation speed to an appropriate speed for various types of ground work or ground work equipment, thereby improving the versatility and workability of the automatic elevation control device for ground work equipment.
［実施例］
以下、この発明の一実施例を別紙添付図面の第
１図乃至第７図に従つて説明する。尚、説明の都
合上、従来公知に属する技術事項も同時に説明す
る。[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 7 of the attached drawings. For convenience of explanation, conventionally known technical matters will also be explained at the same time.
図に於て１はロータリ耕耘装置等の対地作業機
であり、第１図及び第２図に示すように、該対地
作業機１は３点リング機構等の作業機昇降機構２
によつてトラクタ３に昇降自在に吊架され、ポジ
シヨンレバー４の回動位置に応じて前記作業機昇
降機構２のリフトシリンダ５の圧力油が供給或は
排出され、リフトアーム６，６が昇降回動する。
即ち、該ポジシヨンレバー４の回動位置によつて
対地作業機１の上下の位置が定められ、この位置
に対地作業機１が保持するように構成されてい
る。この対地作業機１の作業位置は、種々の作業
特性によつて異なる。そして、この作業特性値を
定める耕深設定値H1は作業特性値設定部７によ
り設定され、該作業特性値設定部７は前記ポジシ
ヨンレバー４がポテンシヨメータの抵抗８を摺接
するように構成されている。又、作業特性の現出
値、即ち前記耕深設定値とは別に、実際の対地作
業機の位置である耕深検出値Ｈは作業特性検出器
９により検出される。この一実施例では該作業特
性検出器９を、作業機昇降機構２のリフト軸１０
（リフトシリンダ５のリフトピストン１１によつ
て回動する軸）に固設した摺動子１２がポテンシ
ヨメータの抵抗１３を摺接するように構成してい
る。そして、前記作業特性値設定部７のポジシヨ
ンレバー４にて設定される電位、及び、該作業特
性値検出器９の摺動子１２にて検出される電位を
比較制御部１４に入力する。 In the figure, 1 is a ground work machine such as a rotary tiller, and as shown in Figs. 1 and 2, the ground work machine 1 has a work machine lifting mechanism 2 such as a three-point ring mechanism.
Pressure oil is supplied or discharged from the lift cylinder 5 of the work equipment lifting mechanism 2 according to the rotational position of the position lever 4, and the lift arms 6, 6 are suspended from the tractor 3 so as to be able to rise and fall freely. Rotate up and down.
That is, the vertical position of the ground working machine 1 is determined by the rotational position of the position lever 4, and the ground working machine 1 is configured to be held at this position. The working position of this ground work machine 1 differs depending on various work characteristics. The plowing depth set value H1 that determines this work characteristic value is set by the work characteristic value setting section 7, and the work characteristic value setting section 7 is arranged so that the position lever 4 slides against the resistor 8 of the potentiometer. It is configured. Further, apart from the current value of the work characteristics, that is, the set plowing depth value, the detected plowing depth value H, which is the actual position of the ground working machine, is detected by the work characteristics detector 9. In this embodiment, the work characteristic detector 9 is connected to the lift shaft 10 of the work equipment lifting mechanism 2.
A slider 12 fixed to a shaft rotated by the lift piston 11 of the lift cylinder 5 is configured to come into sliding contact with a resistor 13 of the potentiometer. Then, the potential set by the position lever 4 of the work characteristic value setting section 7 and the potential detected by the slider 12 of the work characteristic value detector 9 are input to the comparison control section 14.
一方、作業機昇降機構２を昇降駆動させる駆動
部１５は上昇用電磁コントロール弁１６と下降用
電磁コントロール弁１７とにより構成され、該電
磁コントロール弁１６，１７は信号電流の大きさ
に応じて流量（単位時間当り）を加減制御できる
ように形成されている。そして、圧力ポンプ（図
示せず）の圧力油を上昇用電磁コントロール弁１
６を介してリフトシリンダ５に供給し、リフトシ
リンダ５内の圧力油を下降用電磁コントロール弁
１７を介してタンク（図示せず）に排出させ、対
地作業機１を昇降させるように構成している。 On the other hand, the drive unit 15 that drives the work equipment lifting mechanism 2 up and down is composed of a lifting electromagnetic control valve 16 and a lowering electromagnetic control valve 17, and the electromagnetic control valves 16 and 17 control the flow rate according to the magnitude of the signal current. (per unit time) can be controlled. Then, the solenoid control valve 1 for raising the pressure oil of the pressure pump (not shown)
6, the pressure oil in the lift cylinder 5 is discharged to a tank (not shown) via a lowering electromagnetic control valve 17, and the ground work equipment 1 is raised and lowered. There is.
ここで対地作業機１の昇降制御について第３図
のフローチヤートも合わせて説明すれば、前記作
業特性値設定部７にて設定された耕深設定値H1
が比較制御部１４に入力され（ステツプ101）、前
記作業特性値検出器９にて検出された耕深検出値
Ｈが比較制御部１４へ入力される（ステツプ
102）。そして、前記耕深設定値H1と耕深検出値
Ｈとの偏差値を該比較制御部１４にて判断し（ス
テツプ103）、この耕深検出値Ｈが耕深設定値H1
より大のとき（対地作業機が耕深設定値よりも下
降しているとき）は駆動部１５の上昇用電磁コン
トロール弁１６に感度設定部１８を介して信号電
流が出力され、リフトアーム６の上昇指令を出す
（ステツプ104）。一方、これとは逆に耕深検出値
Ｈが耕深設定値H1より小のとき（対地作業機が
耕深設定値よりも上昇しているとき）は、下降用
電磁コントロール弁１７に感度設定部１８を介し
て信号電流が出力され、リフトアーム６の下降指
令を出す（ステツプ105）。又、前記耕深検出値Ｈ
と耕深設定値H1とが一致しているときはステツ
プ101にもどる。そして、連続して上述の制御を
繰り返す。 Here, the lifting control of the ground working machine 1 will be explained with reference to the flowchart in FIG.
is input to the comparison control section 14 (step 101), and the plowing depth detection value H detected by the work characteristic value detector 9 is input to the comparison control section 14 (step 101).
102). Then, the comparison control section 14 determines the deviation value between the set plowing depth value H1 and the detected plowing depth value H (step 103), and the detected plowing depth value H is determined as the set plowing depth value H1.
When the depth is greater (when the ground work machine is lowered than the set plowing depth value), a signal current is output to the lifting electromagnetic control valve 16 of the drive unit 15 via the sensitivity setting unit 18, and the lift arm 6 is lowered. Issue a command to ascend (step 104). On the other hand, when the plowing depth detection value H is smaller than the plowing depth set value H 1 (when the ground work machine has risen above the plowing depth set value), the descending solenoid control valve 17 is A signal current is outputted via the setting section 18 to issue a command to lower the lift arm 6 (step 105). Further, the plowing depth detection value H
When the plowing depth setting value H1 matches the plowing depth setting value H1 , the process returns to step 101. Then, the above-mentioned control is continuously repeated.
一方、この比較制御部１４から出力される信号
電流を第６図も合わせて説明すれば、前記偏差値
（即ちH1−Ｈ）の大きさに比例して感度設定部１
８を介して駆動部１５に入力され、夫々の電磁コ
ントロール弁１６，１７を制御する。依つて、該
偏差値が大であるときは、前記信号電流は大であ
り、前記耕深検出値Ｈが耕深設定値H1に近づく
につれて該偏差値が小となるので、前記駆動部１
５の動作速度は当初は大であるが、前記対地作業
機が作業特性設定値に近づくにつれて駆動部１５
の動作速度が遅くなる。 On the other hand, if the signal current output from the comparison control section 14 is explained with reference to FIG. 6 , the sensitivity setting section 1
8 to the drive unit 15 to control the respective electromagnetic control valves 16 and 17. Therefore, when the deviation value is large, the signal current is large, and as the plowing depth detection value H approaches the plowing depth setting value H1 , the deviation value becomes small.
The operating speed of the drive unit 15 is initially high, but as the ground work machine approaches the work characteristic setting value, the operating speed of the drive unit 15 increases.
operation speed becomes slower.
又、前記感度設定部１８はダイヤルを種々の対
地作業或は対地作業機によつて任意の感度位置に
セツトすることにより、前記比較制御部１４から
の信号電流を変更し、任意に制御速度或は駆動部
の動作速度を設定できる。即ち、例えば第４図中
二点鎖線はロータリ作業用の感度設定部１８をセ
ツトした場合の偏差値に対する圧力油の流量（或
は夫々の電磁コントロール弁への出力電流値）を
示すものとし、点線はトレンチヤ等による溝掘作
業用に感度設定部１８をセツトした場合の偏差値
に対する圧力油の流量を示すものであるとする。
この場合、ある偏差値Ｐに対して溝掘作業ではリ
フトシリンダ１１への圧力油は流量Ｌであるのに
対し、ロータリ作業は流量L1である。従つて、
第４図中斜線の部分の流量だけ溝掘作業よりもロ
ータリ作業の場合の圧力油が多く流れる。依つ
て、前述の対地作業機を作業特性設定値に合致さ
れる制御速度或は駆動部動作速度は溝掘作業より
もロータリ作業が大となる。 Further, the sensitivity setting section 18 changes the signal current from the comparison control section 14 by setting the dial to an arbitrary sensitivity position depending on various types of ground work or ground work equipment, and adjusts the control speed or speed as desired. can set the operating speed of the drive unit. That is, for example, the two-dot chain line in FIG. 4 indicates the flow rate of pressure oil (or the output current value to each electromagnetic control valve) with respect to the deviation value when the sensitivity setting section 18 for rotary work is set. It is assumed that the dotted line indicates the flow rate of pressure oil with respect to the deviation value when the sensitivity setting section 18 is set for trenching work using a trencher or the like.
In this case, for a certain deviation value P, the flow rate of pressure oil to the lift cylinder 11 is L in trench digging work, whereas the flow rate is L1 in rotary work. Therefore,
More pressure oil flows in the rotary work than in the trench digging work by the amount of flow in the shaded area in FIG. Therefore, the control speed or driving unit operating speed of the above-mentioned ground-based work machine that matches the work characteristic setting values is higher for rotary work than for trench digging work.
更に、第５図乃至第７図に従つてプラウを対地
作業機１９として耕耘抵抗制御を行う場合を説明
する。この場合の作業特性値である耕耘抵抗設定
値R1を定める作業特性値設定部２０は、ポテン
シヨメータの抵抗２１をドラフトレバー２２が摺
接するように形成し、このドラフトレバー２２に
て前記耕耘抵抗設定値R1を任意に設定される電
位を比較制御部２３に入力するように構成してい
る。又、対地作業機１９に作用する耕耘抵抗検出
値Ｒを検出する作業特性値検出器２４は、この一
実施例では作業昇降機構２の左右のロワーリンク
２５，２５の前部に、トラクタ３の機体２６にピ
ン２７，２７にて枢着された検出レバー２８，２
８の下部をピン２９，２９にて連結している。そ
して、ドラフトバネ３０，３０により検出レバー
２８の下部及びロワーリンク２５が常に後方へ押
動されるように前方へ付勢し、一方の検出レバー
２８の上端部位に機体２６に取付けたポテンシヨ
メータを用いて検出レバー２８に連結した摺動子
３１が抵抗３２に摺接して、該摺動子３１にて設
定される電位を比較制御部２３に入力するように
構成している。 Furthermore, the case where tilling resistance control is performed using a plow as the ground work machine 19 will be explained with reference to FIGS. 5 to 7. The work characteristic value setting unit 20 that determines the tilling resistance setting value R1 , which is the work characteristic value in this case, forms the resistor 21 of the potentiometer so that a draft lever 22 comes into sliding contact with it. The resistance setting value R 1 is configured to input an arbitrarily set potential to the comparison control section 23 . Further, in this embodiment, the work characteristic value detector 24 for detecting the plowing resistance detection value R acting on the ground work machine 19 is located at the front part of the left and right lower links 25, 25 of the work lifting mechanism 2. Detection levers 28, 2 pivotally attached to the fuselage 26 with pins 27, 27
The lower parts of 8 are connected by pins 29, 29. The lower part of the detection lever 28 and the lower link 25 are always urged forward by the draft springs 30, 30, and the potentiometer attached to the body 26 is attached to the upper end of one of the detection levers 28. A slider 31 connected to the detection lever 28 by means of the slider 31 is in sliding contact with a resistor 32, and the potential set by the slider 31 is input to the comparison control section 23.
そして、ドラフトレバー２２の回動操作によつ
て作業特性値設定部２０にて設定された耕耘抵抗
設定値R1が比較制御部２３に入力され（ステツ
プ201）、作業特性値検出器２４にて検出された耕
耘抵抗検出値Ｒが該比較制御部２３に入力される
（ステツプ202）。次に、該比較制御部２３にて該
耕耘抵抗設定値R1と耕耘抵抗検出値Ｒとの偏差
値Ｒ−R1を検出し（ステツプ203）、該偏差値に
従つて、上昇用電磁コントロール弁１６に信号電
流を出力し（ステツプ204）、或は下降用電磁コン
トロール弁１７に信号電流を出力する（ステツプ
205）。又、ステツプ203にて耕耘抵抗設定値R1と
耕耘抵抗検出値Ｒとが一致していた場合は、夫々
の電磁コントロール弁１６，１７には出力されな
い。このように繰り返して耕耘抵抗設定値R1に
耕耘抵抗検出値Ｒを一致するように制御する。こ
の比較制御部２３の出力電流は、耕耘抵抗設定値
R1と耕耘抵抗検出値Ｒの大きさに比例して駆動
部１５の夫々の電磁コントロール弁１６，１７へ
感度設定部３３を介して入力される。該感度設定
部３３は該感度設定部３３の設定ダイヤルを操作
することにより、第４図に示すように同一の偏差
値Ｐであつても駆動部１５への入力電流の大きさ
を変更し、圧力油の流量を上下昇降用電磁コント
ロール弁１６，１７が該電流に応じて給排制御す
るように構成しているので、シリンダ１１への流
量を複数段階に変更し、且つ、設定することがで
きる。依つて、対地作業機或は対地作業に応じて
適正な制御速度を得ることができる。 Then, the tilling resistance setting value R 1 set in the work characteristic value setting section 20 by the rotation operation of the draft lever 22 is inputted to the comparison control section 23 (step 201), and the tilling resistance setting value R 1 is inputted to the comparison control section 23 (step 201), and the tilling resistance setting value R 1 is inputted to the comparison control section 23 (step 201). The detected tilling resistance detection value R is input to the comparison control section 23 (step 202). Next, the comparison control section 23 detects a deviation value R- R1 between the tilling resistance set value R1 and the tilling resistance detected value R (step 203), and according to the deviation value, the electromagnetic control for raising A signal current is output to the valve 16 (step 204), or a signal current is output to the lowering electromagnetic control valve 17 (step 204).
205). Further, if the tilling resistance set value R1 and the tilling resistance detected value R match in step 203, no output is made to the respective electromagnetic control valves 16 and 17. The tilling resistance detection value R is controlled to match the tilling resistance set value R1 by repeating this process. The output current of this comparison control section 23 is the tilling resistance setting value.
R 1 and the detected tilling resistance value R are input to the respective electromagnetic control valves 16 and 17 of the drive unit 15 via the sensitivity setting unit 33 in proportion to the magnitude thereof. The sensitivity setting section 33 changes the magnitude of the input current to the drive section 15 even if the deviation value P is the same as shown in FIG. 4 by operating the setting dial of the sensitivity setting section 33, Since the flow rate of the pressure oil is configured to be controlled by the up/down electromagnetic control valves 16 and 17 according to the current, the flow rate to the cylinder 11 can be changed and set in multiple stages. can. Therefore, an appropriate control speed can be obtained depending on the ground work machine or the ground work.
［発明の効果］
この発明は、上記一実施例に詳述したように、
作業特性値設定部の設定値と作業特性値検出器の
検出値との偏差値に基ずいて制御する対地作業機
の昇降自動制御装置に昇降動作速度を複数段階に
切換え、且つ、任意の速度の設定できる感度設定
部を設けている。[Effects of the Invention] As detailed in the above embodiment, the present invention has the following effects:
The automatic lifting control device for ground-based work equipment, which controls based on the deviation value between the set value of the work characteristic value setting unit and the detected value of the work characteristic value detector, switches the lifting operation speed to multiple stages, and can also set the speed at any speed. A sensitivity setting section is provided that allows you to set the following.
依つて、該感度設定部を設定操作することによ
り、対地作業機の種別、或は、対地作業の種別に
応じて適正な制御動作速度を選択し、対地作業機
の作業特性に適合した良好な動作速度を得ること
ができる。 Therefore, by setting and operating the sensitivity setting section, an appropriate control operation speed can be selected depending on the type of ground work equipment or the type of ground work, and a good control operation speed that is suitable for the work characteristics of the ground work equipment can be selected. operation speed can be obtained.
即ち、例えば、ロータリ作業に於ては対地作業
機のロータリが比較的軽量で、耕深値も浅いとい
う作業特性があり、昇降動作を速くして鋭敏に対
値作業機が反応することが望ましい。これに対し
てトレンチヤ等による溝掘作業では耕深値が深
く、比較的一定した深度が要求される作業特性が
あり、又、昇降動作を遅くし、対地作業機の反応
を鈍くしてハンチング等を防止する必要がある。
そこで、前記感度設定部を操作して比較制御部の
制御による駆動部の動作速度を適宜設定すること
により、ロータリ作業やプラウ作業及び溝掘作
業、その他種々の作業特性に合つた対地作業機の
自動制御が可能となり、該自動制御装置の汎用を
図り、作業性及び生産性の向上を寄与できる等正
に諸種の著しい効果のある発明である。 That is, for example, in rotary work, the rotary of the ground work machine is relatively lightweight and the plowing depth is shallow, so it is desirable that the ground work machine responds sharply by speeding up and down movements. . On the other hand, trench digging work using a trencher has work characteristics that require a deep plowing depth and a relatively constant depth, and also slows down the lifting and lowering movements and slows down the response of ground work equipment, resulting in problems such as hunting. It is necessary to prevent this.
Therefore, by operating the sensitivity setting section and appropriately setting the operating speed of the drive section under the control of the comparison control section, the ground work machine can be adjusted to suit the characteristics of rotary work, plowing work, trenching work, and various other works. This invention has various remarkable effects, such as enabling automatic control, making the automatic control device more versatile, and contributing to improved workability and productivity.
図は本発明の一実施例を示したものである。第
１図は耕深制御作業、又、第５図は耕耘抵抗作業
の夫々に於ける側面図、第２図と第６図は制御回
路ブロツク図、第３図と第７図はフローチヤー
ト、第４図は偏差値に対する圧力油の流量を示す
解説図である。
１，１９……対地作業機、２……作業昇降機
構、７，２０……作業特性値設定部、９，２４…
…作業特性値検出器、１４，２３……比較制御
部、１５……駆動部、１８，３３……感度設定
部。
The figure shows one embodiment of the present invention. Fig. 1 is a side view of tillage depth control work, Fig. 5 is a side view of tillage resistance work, Figs. 2 and 6 are control circuit block diagrams, Figs. 3 and 7 are flowcharts, FIG. 4 is an explanatory diagram showing the flow rate of pressure oil with respect to the deviation value. 1, 19...Ground work machine, 2...Work lifting mechanism, 7, 20...Work characteristic value setting section, 9, 24...
...Work characteristic value detector, 14, 23... Comparison control section, 15... Drive section, 18, 33... Sensitivity setting section.
Claims (1)
値を指示設定する作業特性値設定部と、該作業特
性値の現出値を検出する作業特性値検出器とが設
けられ、該作業特性値設定部の設定値と作業特性
値検出器の検出値との偏差値に基づいて出力され
る比較制御部の指令により作業機昇降機構の駆動
部を動作させ、前記設定値に検出値を合致するよ
うに制御する対地作業機の昇降自動制御装置に於
て、前記比較制御部により制御される駆動部の動
作速度を複数段階に切換え、且つ、任意の速度に
設定できる感度設定部を設けたことを特徴とする
対地作業機の昇降自動制御装置。1. A work characteristic value setting section for instructing and setting work characteristic values such as plowing depth or tilling resistance of the ground work machine, and a work characteristic value detector for detecting the current value of the work characteristic value, The drive unit of the work equipment lifting mechanism is operated by the command from the comparison control unit that is output based on the deviation value between the set value of the value setting unit and the detected value of the work characteristic value detector, and the detected value matches the set value. In the automatic elevation control device for a ground-based working machine, the operating speed of the drive unit controlled by the comparison control unit can be switched to a plurality of stages, and a sensitivity setting unit is provided that can set the operating speed to an arbitrary speed. An automatic lifting and lowering control device for ground-based work equipment, characterized by the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58092172A JPS59216502A (en) | 1983-05-25 | 1983-05-25 | Automatic lift controller of earth working machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58092172A JPS59216502A (en) | 1983-05-25 | 1983-05-25 | Automatic lift controller of earth working machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59216502A JPS59216502A (en) | 1984-12-06 |
| JPH0353884B2 true JPH0353884B2 (en) | 1991-08-16 |
Family
ID=14047009
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58092172A Granted JPS59216502A (en) | 1983-05-25 | 1983-05-25 | Automatic lift controller of earth working machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59216502A (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61136811U (en) * | 1985-02-15 | 1986-08-26 | ||
| JPS62130603A (en) * | 1985-11-29 | 1987-06-12 | セイレイ工業株式会社 | Automatic rising/falling control apparatus of agricultural working machine |
| JPS62158410A (en) * | 1986-01-08 | 1987-07-14 | 井関農機株式会社 | Apparatus for controlling plowing resistance |
| JPH074082B2 (en) * | 1986-04-25 | 1995-01-25 | 井関農機株式会社 | Hydraulic control device for tractor |
| JPH0728572B2 (en) * | 1988-01-18 | 1995-04-05 | 井関農機株式会社 | Agricultural working machine plowing depth control device |
| JPH0746927B2 (en) * | 1988-12-28 | 1995-05-24 | 株式会社クボタ | Automatic tillage depth control device for tractors |
| JPH0615343B2 (en) * | 1990-05-29 | 1994-03-02 | 三菱農機株式会社 | Structure of control operation part in agricultural tractor |
| JP7317757B2 (en) * | 2020-03-24 | 2023-07-31 | 株式会社クボタ | work vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5558004A (en) * | 1978-10-20 | 1980-04-30 | Yanmar Agricult Equip | Method and device for controlling tillage depth |
| JPS55111705A (en) * | 1979-02-15 | 1980-08-28 | Kubota Ltd | Automatic lifting device of soil treating machine |
| JPS5678502A (en) * | 1979-11-30 | 1981-06-27 | Iseki Agricult Mach | Lifting control device of soil treating machine |
-
1983
- 1983-05-25 JP JP58092172A patent/JPS59216502A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5558004A (en) * | 1978-10-20 | 1980-04-30 | Yanmar Agricult Equip | Method and device for controlling tillage depth |
| JPS55111705A (en) * | 1979-02-15 | 1980-08-28 | Kubota Ltd | Automatic lifting device of soil treating machine |
| JPS5678502A (en) * | 1979-11-30 | 1981-06-27 | Iseki Agricult Mach | Lifting control device of soil treating machine |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59216502A (en) | 1984-12-06 |
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