JPH0370002A - Control mechanism for working device - Google Patents

Abstract

PURPOSE:To prevent overlooking adjustment by providing an adjusting work judging means to judge whether or not an adjusting mode means is operated. CONSTITUTION:The adjusting work judging means which judges whether or not the adjusting mode means is operated is provided, and also, a control box 19 housing a controller 14 which issues an operating command to each working device receiving an instruction value from each of detecting sensors 6, 8, 9, and 11 is provided, and when at least one of the control box 19, the working device, setting apparatuses 7, 10, 12, or the detecting sensors 6, 8, 9, 11 is exchanged, an alarm is issued or the stopping instruction of work is issued if no adjusting work is performed. Therefore, a worker can perform the adjusting work by recognizing the alarm, and also, no depth control, etc., based on the inexact instruction value of the sensor is performed stopping the work. In such a way, it is possible to evade trouble to repeat the work.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention provides a state quantity detection sensor for a working device, and a set amount detection sensor for detecting a set amount of a setting device that sets the state quantity of the working device. Calculated from the indicated value of each detection sensor in that state and the standard value set in the design, with a plurality of each equipped and the work device and setting device positioned at the adjustment reference position. The present invention relates to a control mechanism for a working device, which is provided with adjustment mode means for loading a correction value into a storage device as a reference value for determining the actual state quantities of the working device and the setting device. To explain the adjustment work using a tilling depth sensor that detects the vertical movement of the tilling cover as a working state quantity detection sensor, after replacing the tilling depth sensor due to a failure, the tilling device is floated above the ground and the tilling cover is replaced. Position it at the lowest position. The lowest position of this tillage cover is set as the adjustment reference position, and in that state, the output value indicated by the tillage depth sensor is taken in by operating a specific switch that sets the adjustment work state mode, and the output value and the standard calculated based on the design are taken. A configuration is adopted in which the difference from the plowing depth sensor is stored in a non-volatile memory as a correction value, the correction value is used to correct the instruction value output by the plowing depth sensor during actual working conditions, and the corrected instruction value is used for control. ing.

[Conventional technology]

As mentioned above, the adjustment work can correct differences in indicated values due to variations in the mounting state of potentiometers etc. as sensors using software, and there is no need for manual work such as finely adjusting the mounting state of the sensor. This is an essential work that is important for accurate control, but when the sensor is replaced as mentioned above, or when the CPU, etc. Even if the control box housing the control device is replaced, the adjustment work may not be performed.

[Problem to be solved by the invention]

In this case, the installed state of the replaced sensor is different from the installed state of the failed sensor, and for example, even if the tilling cover is in the standard state, the output value from the sensor may be different. Therefore, not only is accurate control not performed, but if the output value deviates greatly from the standard value,
In some cases, the output value of the sensor is outside the control range at the lowest or highest position of the tilling cover, resulting in no control at all.

An object of the present invention is to provide something that can prevent forgetting to make adjustments by adding a simple mechanism.

[Means to solve the problem]

The characteristic configuration according to the present invention is to provide an adjustment work determining means for determining whether or not the adjustment mode means has operated, and to provide a control device for receiving instruction values from each of the detection sensors and issuing operation commands to each work device. If at least one of the control box, the work device, the setting device, and the detection sensor is replaced and the adjustment work is not performed, a warning is issued or the work is stopped. A means for issuing a stop command is provided, and its effects are as follows.

[For production]

For example, the adjustment work determining means may capture a command from a specific operating tool or the like to set the control device in adjustment mode,
A method is adopted to store this instruction in non-luminous memory,
If the command is stored in this memory, it is assumed that the adjustment has been made, and conversely, even if the control box etc. is replaced, if the command is not stored in the memory, it is assumed that the adjustment has not been performed, and a warning is issued. The system will issue a warning or stop work to alert workers to make adjustments.

〔Effect of the invention〕

Therefore, the operator can make adjustments after noticing the warning, and if the worker stops the work, at least the plowing depth will not be controlled based on inaccurate sensor readings, so the worker can start the work again. You can avoid having to do it twice.

〔Example〕

As shown in FIG. 5, a tilling device (3) is attached to a lifting link (2) at the rear end of an agricultural tractor (1), and a control device for this tilling device (3) will be explained. A lifting link (2) consisting of a top link (2A) and left and right lower links (2B), (2B) is connected to a lift arm (4) that is swing-driven by a hydraulic cylinder (C).
), (4) and the lower links (2B), (2B) are configured to be driven up and down by lift rods (5A), (5B), and a tilling device (3) is installed at the tip of the lift link (2>). ) is installed.

Next, the sensor and setting device will be explained. Tillage device (3
) is provided with a tilling cover (3B) that can move up and down relative to the case (3A), and this tilling cover (3B)
A potentiometer-type plowing depth sensor (6) for detecting the amount of vertical swing is provided in the case (3A). On the other hand, a potentiometer (7A) is installed in the control section of the agricultural tractor (1).
A plowing depth setting device (7) of the formula is provided, and the plowing depth value is set by this setting device (7).
), and the tilling depth is controlled by moving the lifting link (2) up and down so as to maintain this set value based on the feedback value from the tilling depth sensor (6).

The right lift rod (5B) is configured as a telescopic cylinder, and by telescopic operation, the left lift rod (5A)
) and the left lower link (2B). and,
A stroke sensor (8) for detecting the amount of expansion and contraction is attached to the lift rod (5B), and the lift rod (5B)
) is configured to sense the amount of expansion and contraction of the agricultural tractor, and a weight type tilt sensor (9
), a potentiometer-type rolling setting device (10) is provided in the control section, and the rolling setting device (10) is provided with a potentiometer-type rolling setting device (10).
), the stroke sensor (
A rolling control device is configured to expand and contract the right lift rod (5B) based on the feedback value from 8) to perform rolling operation of the tilling device (3).

Further, a sensor (1) for detecting the amount of vertical movement of the lift arm (4) relative to the tractor is installed at the center of rotation of the lift arm (4).
1), and a lift lever (3) as a position setting device for forcibly raising and lowering the tilling device (3) is provided in the control section.
12), a potentiometer type position sensor (12A) for sensing the amount of operation is provided at the pivot axis position of the lift lever (12), and a position setting device (12) is provided.
) to maintain the lift arm sensor (1) at the set value.
Based on the feedback value from 1), a position control structure is configured to set the height of the tiller (3) relative to the tractor.

The adjustment means will be explained. As shown in Figure 2 (a), the plowing depth sensor (6), stroke sensor (7), inclination sensor (
9) The lift arm sensor (11) is referred to as a sensor that detects the state quantity of the working device, and the potentiometers such as the plowing depth setting device (7), rolling setting device (10), and position setting device (12) are used to detect the setting amount. Sensor (7A), (10A
), (12A). Here, the design value that the state quantity detection sensor would indicate when the work equipment etc. is positioned in the reference state is stored as a standard value in the ROM (15) as a storage means of the control device (14). . When the lift arm sensor (11) as the state quantity detection sensor is replaced, the lift arm (4) is positioned at the upper limit position as the adjustment reference position (adjustment reference state). At this time, if the standard value stored in the ROM (15) and the indicated value of the lift arm sensor (11) show approximately the same value, the lift arm (4) is certainly at the adjustment reference position. Even if the tilling device (3) is not installed, the indicated value of the lift arm sensor (11) is taken in by the trigger command from the adjustment mode start switch (17), and the value indicated by the lift arm sensor (11) is set to the standard value. The difference between the indicated value and the indicated value is taken into the non-volatile memory (16) as a correction value. In this way, as shown in FIG. 3, a plurality of sensors (6),
(8) etc., and performs an adjustment operation to import the correction value into the non-volatile memory (16) only for those at the adjustment reference position.

When the adjustment is completed and the actual working state starts, the correction value in the non-volatile memory (16) is calculated based on the indicated values from the state quantity detection sensor (6) and the set quantity detection sensor (7A). (reference value), and the working device (3) and the like are operated so as to balance the corrected detected value and the corrected set value, respectively.

As described above, the ROM (15), CPU, nonvolatile memory (16), starting switch (17), etc. are referred to as adjustment mode means.

The adjustment mode means may take the following form. In other words, the tilling device (3), the setting device (7), etc. use the indication values from the state quantity detection sensor (6) and the setting quantity detection sensor (7A) as adjustment standards for the nonvolatile memory (16). When the position is reached, the state quantity detection sensor (6) is taken in and used as a reference value during actual work.
The indicated value from the set amount detection sensor (7A) is calculated by the reference value, the quotient is determined, the actual state amount is determined from the ratio of each sensor (6) to the adjustment reference state, and the determined value of the state amount ( Attitude control is performed by changing the attitude of the work device (3) until the set amount index value (quotient) and the set amount index value (quotient) are balanced. In other words, in the adjustment mode, the work equipment, etc. is positioned at the adjustment reference position, and the trigger is applied to each detection sensor (
6) etc. are taken into the non-volatile memory (16) as a reference value separately from the standard value, and this taken-in value is used as a reference for control.

Here, the adjustment reference states of each sensor are as follows: ■ Lift arm sensor (11) has lift arm (4) at upper limit position;
■The position setter (12) is in the raised position, ■The tilt sensor (9) is in the horizontal position, ■The stroke sensor is in the tilling device (3)
) is horizontal, ■The rolling setting device (10) indicates that the tilling device (3) is horizontal, ■The tilling depth sensor (6) indicates that the tilling cover (
3B) is at the lowest position, and the tilling depth setting device (7) is at the lowest position, and the tilling cover (3B) is at the lowest position.

Next, the adjustment work determining means for determining whether the adjustment mode means has been activated will be explained.

A second non-volatile memory (18) within the control device (14).
), and a control box (19) housing this control device (14) is attached to the control section. The rolling setting device (10) and tilling depth setting device (7>) are also attached to this control box (19).

As shown in the flow in Figure 4, the control box (
19) or various sensors (11) have been replaced (in this case, it may be determined by software or manually). Next, if adjustments are made, the activation switch (11) is replaced. 17) is captured and stored in the second non-volatile memory (18). therefore,
When the control box (19) etc. is replaced, by clearing the data in the second non-volatile memory (18), software can determine whether or not it has been replaced.Then, the post-adjustment work is started. Various sensors (8)
Even if the signal from is output to the control device (14),
By storage in the second non-volatile memory (18),
Warnings such as a buzzer (20) will not be issued. Here, if there is no adjusted signal in the second non-volatile memory (■8) and a signal indicating the working status is transmitted from the various sensors (8) in that state, the buzzer (20) will issue a warning. This is to notify the operator that the adjustment has not been made.

In this case, not only a warning but also a stop command may be issued so as not to start the working device.

[Another example]

■ As the working device (3), in addition to the tilling device, a working device such as a rice transplanter can also be used.

(2) A simple RAM or the like may be used as the storage means (16).

(2) The adjustment work determining means may have a logic circuit configuration using various gate circuits.

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 control mechanism of the working device according to the present invention, in which Fig. 1 is an overall control configuration diagram, Fig. 2 (a) is a block diagram showing adjustment control, and Fig. 2 (b) is an actual working state. Figure 3 is a block diagram showing the control in the adjustment control.
The figure is a flowchart for determining whether adjustment has been completed, and FIG. 5 is a perspective view showing the tilling device. (3)... Working device, (6)... State quantity detection sensor, (7)... Setting device, (7A).
...Setting amount detection sensor, (14) ...Control device, (19) ...Control box.

Claims (1)

[Claims] A state quantity detection sensor (6) of the work device (3) and a set amount detection sensor (7A) that detects the set amount of the setting device (7) that sets the state amount of the work device (3), respectively. In addition to being equipped with a plurality of sensors, when the working device (3) and the setting device (7) are located at the adjustment reference position, the indicated value of each detection sensor (6) in that state is set based on the design. The standard value and the correction value calculated from the working device (3)
and an adjustment mode means for storing the actual state quantity of the setting device (7) in the storage means as a reference value for determining the actual state quantity, the control mechanism for determining whether or not the adjustment mode means is activated. A control box (19) containing a control device (14) for issuing operation commands to each work device (3) in response to an instruction value from each of the detection sensors (6) is provided, as well as a work determination means, If at least one of the control box (19), the working device (3), the setting device (7), and the detection sensor (6) is replaced and the adjustment work is not performed, a warning will be issued. A control mechanism for a working device that is provided with means for issuing a command to stop work or to issue a command to stop work.