JPH04131003A - Lifting and lowering control device of ground working machine - Google Patents

Abstract

PURPOSE:To prevent engine stop, etc., by roughness of tilling finish face or large load by changing a lowering position in tilling depth control to the lowest lowering position when changeover from tilling depth control to the second position control is carried out. CONSTITUTION:When a tilling depth control is changed over to the second position control for carrying out lifting and lowering control so as to nearly coincide a position detection value of memory for memorizing detection values from a position detector 9 under tilling depth control with a position detection value detected with the position detector 9, lowering position which is carrying out tilling depth control is set to the lowest lowering position. When a device is controlled so that the position set value of a position setting device 7 coincides with the position detection value of memory, the position control is changed over to the first position control subjected to lifting and lowering control so as to coincide a position set value of the position setting device with a position detection value from the position detector 9.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a lift control device for a ground work machine towed by a tractor or the like.

2. Description of the Related Art Conventionally, as a structure for connecting a ground working machine such as a rotary tiller to a tractor or the like, a boat fishing system is shown in FIG. That is, a three-point link hitch mechanism consisting of two lower links 2 located on the left and right and one top link 3 located in the center is provided at the rear of the tractor. A rotary 4 is connected to a tractor 1. Further, a lift arm 5 is provided at the rear of the tractor 1 and is rotated vertically by a hydraulic device, and this lift arm 5 and the lower link 2
A lift rod 6 is connected between.

Next, the tractor 1 includes a position setting device 7 for setting the vertical position of the tilling rotary 4 with respect to the tractor 1 by rotating the lift arm 5, and a position lever 8 for switching the position setting value in the position setting device 7. A position detector 9 is also provided that detects the vertical position of the tilling rotary 4 with respect to the tractor 1 by detecting the rotation angle of the lift arm 5.

Further, the tractor 1 is provided with a plowing depth setting device 10 for setting the plowing depth by the plowing rotary 4, and the plowing rotary 4 is provided with a plowing depth detector 11 for detecting the plowing depth.

Here, the tractor l has a position set value set in the position setting device 7 and a position detector 9.
a first position control means for controlling the tilling rotary 4 up and down until the position detection value substantially coincides with the position detection value detected in the first position control means;
Operation switch 1 within the range of the lowered position indicated by
A third position control means for raising and lowering the tilling rotary 4 by the raising and lowering operations of 2 is provided.

Further, the tractor 1 is provided with a plowing depth setting value set by a plowing depth setting device 10 and a plowing depth detector 11 within a range between a preset ascending position and a descending position indicated by the position setting device 7. A plowing depth control means is provided for controlling the plowing depth of the tilling rotary 4 so that the plowing depth detected value coincides with the plowing depth detected value.

In addition, when the plowing depth control is performed by the plowing depth control means, if the plowing depth set value from the plowing depth setting device 11 or the plowing depth detection value from the plowing depth detector 10 exceeds the predetermined range, , control of the tilling depth of the tilling rotary 4 is prohibited in order to prevent abnormal operation from occurring.

After the tilling depth control of tilling rotary 4 was prohibited,
The tilling rotary 4 is raised and lowered by the first position control means or the third position control means, and then the tilling depth is controlled again by the tilling depth control means.

Problem to be Solved by the Invention When plowing depth control is prohibited, the tilling rotary 4 is located at the ``'A'' position as shown by the solid line and stops its vertical movement.
Further, the position lever 8 is located at the rrB'' position indicated by a solid line.

Therefore, when the tilling rotary 4 is raised or lowered by the third position control means by operating the operation switch 12, the tilling rotary 4 is moved by the I of the position lever 8.
There is a danger that the tilling rotary 4 may descend to the II CI+ position, which corresponds to the I B +1 position, and if the tilling rotary 4 descends to the II C11 position, the finished tilling surface may become rough or the engine of the tractor 1 may stop due to the action of a large load. I do things.

On the other hand, when the tilling rotary 4 is raised or lowered by the first position control means, the position lever 8 is rotated to the II D 11 position corresponding to the "8" position of the tilling rotary 4. It is extremely difficult to gradually raise the tiller 8 and rotate it to the II D 11 position corresponding to the If A II position of the tilling rotary 4.

Moreover, the operator driving the tractor 1 has to operate the operation switch 12 and the position lever 8 while checking the up-and-down state of the tilling rotary 4, which is a heavy burden.

Means for Solving the Problem The ground work is continued until the position setting value from the position setting device that sets the position of the ground work equipment and the position detection value from the position detector that detects the position of the ground work equipment substantially match. a first position control means for controlling the elevation of the ground working machine; a tilling depth set value from a tilling depth setting device for setting the tilling depth of the ground working machine; and a tilling depth detector for detecting the tilling depth of the ground working machine; plowing depth control means for controlling the plowing depth of the ground working machine so that the plowing depth substantially coincides with the detected depth value, and the position setting is performed after the ground working machine is raised and lowered to a predetermined position by the first position control means. In the elevation control device for a ground work machine, which operates the tilling depth control means using a position set value set by a device as a descending operation limit, from the position detector when the tilling depth control is being performed by the tilling depth control means. a storage means for storing a position detection value of the ground work machine; and a first control unit for controlling the ground work machine to raise and lower so that the position detection value stored in the storage means and the position detection value detected by the position detector substantially match. two-position control means; and a first switching means for detecting that at least one of a plowing depth setting value and a plowing depth detection value exceeds a predetermined range and switching from the plowing depth control means to the second position control means. and detecting that the position setting value of the position setting device has been operated so as to substantially match the position detection value stored in the storage means, and transmitting the signal from the second position control means to the first position control means. A second switching means for switching is provided.

When controlling the plowing depth by the working plowing depth control means, if at least one of the plowing depth setting value and the plowing depth detection value exceeds the predetermined range, the first switching means changes the plowing depth control means to the second position. The control is switched to the control means, and the ground work machine is controlled to move up and down so that the position detection value stored in the storage means and the position detection value detected by the position detector substantially match. Then, when this elevation control is being performed,
When the position setting value of the position setting device is operated so as to substantially match the position detection value stored in the storage means, the second position control means is switched from the second position control means to the first position control means by the second switching means, and then the second position control means is switched to the first position control means. , the first position control means is switched to the plowing depth control means.

Embodiment An embodiment of the present invention will be explained based on FIGS. 1 to 3. Note that the same parts as those described in FIG. 4 are indicated by the same reference numerals, and the description thereof will be omitted.

An operation panel 14 is provided inside the fender 13 of the tractor 1, and a control device 1 configured using a member such as a microcomputer is provided below the operation panel 14.
5 is installed. A position setting device 7, a position detector 9, a plowing depth setting device 10, a plowing depth detector 11, and an operation switch 12 are connected to this control device 15.

The control device 15 also includes a position detection value from the position detector 9 when plowing depth control is being performed by a plowing depth control means, which will be described later, and an operation during elevation control by a second position control means, which will be described later. A memory 16, which is a storage means for storing the position set values from the position setter 7, is connected thereto. Further, the control device 15 is operated by a command signal based on data from the setting devices 7, 10, the detector 9.degree. An ascending solenoid 17 and a descending solenoid 18 for raising and lowering the motor 4 are connected.

In such a configuration, control for raising and lowering the tilling rotary 4 will be explained based on the flowchart of FIG. 1. In addition, the position setting value from the position setting device 7 is HaI+, the position detection value from the position detector 9 is b′″, and the tilling depth setting value from the tilling depth setting device 10 is ′c.
, the plowing depth detection value from the plowing depth detector 11 is If d l+,
The position detection value from the position detector 9 stored in the memory 16 during tilling depth control by the tilling depth control means is "m".
”.

When control starts, first, necessary data "a.

b, c, d” are read, and then the operation switch 12 is pressed.
The state of is determined. When the operating switch 12 is set to "raise", a command signal is output to the raising solenoid 17, and the tilling rotary 4 rises to a preset raised position.On the other hand, when the operating switch 12 is set to "lower" If so, it is determined whether or not tillage depth control is prohibited.In addition, since tillage depth control is not prohibited in the normal state, it is determined that tillage depth control is not prohibited. After this determination, lifting control is performed by the first position control means using It aI+ and 'b''. As a result, the tilling rotary 4, which was in a rising state,
It descends toward the position setting position set by the position setting device 7.

Next, during the elevation control state by the first position control means, it is determined whether "c''' and II d l+ are normal values within a predetermined value range suitable for plowing depth control by the plowing depth control means. be done. If both values are normal, tt 6
It is determined whether the value of rr has fluctuated, that is, whether the tilling rotary 4 has touched the ground and entered the working state.

Here, if the value of II d l+ does not fluctuate, that is,
If the tilling rotary 4 does not enter the working state, the first position control means returns to the start. On the other hand, Lr
When the value of d II fluctuates, that is, when the tilling rotary 4 enters the working state, C'' and II d +1
Switching to tilling depth control using tilling depth control means using
At the same time, the position detection value from the position detector 9 is stored in the memory 16.

In the plowing depth control state by the plowing depth control means, ′′b′
It is determined whether or not ″ has fallen beyond u an, and II
When bII exceeds 11aI+, the descending operation is stopped and the process returns to the start. On the other hand, 11 bII is II a
If it does not exceed I+, return to the start in the same state.

Next, if at least one of C′″ and 11 d l+ is determined to be an abnormal value, plowing depth control is prohibited and “plowing depth control prohibited” is instructed,
Return to start. Here, if the tillage depth control is prohibited, the operating switch 12 is switched to "raise" to perform ascending control to raise the tilling rotary 4, and then the operating switch 12 is switched to "lower". Then, when it is determined whether or not tillage depth control is prohibited, it is determined that tillage depth control is prohibited, and then it is determined whether or not the position setting value has been changed by operating the position lever 8. This is done by comparing the values of ``9'' and ``m''. In other words, during tilling depth control, "a" indicates the data of the lowest position, and "m" indicates II during tilling depth control.
Since this is the stored value of bII data, a” is “m”
', it is determined that the position lever 8 has been operated in the upward direction.

If a≧m is not satisfied, that is, if the position lever 8 is not operated in the upward direction or if the amount of operation is small, the first switching device switches from the plowing depth control device to the second position control device. "M"
and the position detection value Il being detected by the position checker 9.
The tilling rotary 4 is controlled to move up and down so that bI+ substantially coincides with bI+. Therefore, the lowest position of the tilling rotary 4 is the lowering position of the tilling rotary 4 during tilling depth control.
This prevents the tilling rotary 4 from descending significantly, which would cause the tilled finished surface to become rough, and the engine of the tractor 1 from stopping due to the action of a large load. on the other hand,
82m'', that is, when the position lever 8 is operated in the upward direction by a certain amount or more, the second switching means switches from the second position control means to the first position control means, and the memory 16 stores a''. is stored, and using this 'a'' and Il bI+, the first position control means performs the lifting control. Then, after the lifting control by the first position control means, the plowing depth control by the tilling depth control means is restarted. Note that position lever 8
The operation in the upward direction does not need to be performed while confirming that the tilling rotary 4 is rising, and is an extremely simple operation. Also,
When the tilling depth control by the tilling depth control means is restarted in this way, the value of a'' is set to be higher than before the tilling depth control prohibition state occurs, so the II
The possibility that d l+ becomes an abnormal value decreases, and again,
The possibility that tillage depth control will be prohibited is reduced.

Effects of the Invention Since the present invention is configured as described above, when it becomes inappropriate to continue the tilling depth control by the tilling depth control means, the first switching means switches from the tilling depth control means to the second position control means. If the ground work machine Since the lowest position is the lowered position during plowing depth control, it is possible to prevent roughness of the finished tilled surface due to a large downward movement of the ground work equipment or engine stoppage due to the action of a large load. The second position control means is switched from the second position control means to the first position switching means when it is detected that the position set value of is operated so as to substantially match the position detection value stored in the storage means. This has advantages such as being able to easily change the position setting value in the position setting device without checking the elevation state of the ground work equipment, and greatly reducing the burden on the operator.

[Brief explanation of drawings]

1 to 3 show an embodiment of the present invention, in which FIG. 1 is a flowchart showing the control state, FIG. 2 is a side view, FIG. 3 is a block diagram, and FIG. 4 is a conventional example. FIG. 4...Ground work equipment, 7...Position setting device, 9.
...Position detector, 10...Pilling depth setting device, 11.
...Plowing depth detector, 6...Storage means" Figure

Claims (1)

[Claims] A first control unit that lifts and lowers the ground work equipment until a position setting value from a position setting device that sets the position of the ground work equipment substantially matches a position detection value from a position detector that detects the position of the ground work equipment. The position control means substantially matches a plowing depth setting value from a plowing depth setting device that sets the plowing depth of the ground work machine and a plowing depth detection value from a plowing depth detector that detects the plowing depth of the ground work machine. plowing depth control means for controlling the plowing depth of the ground work machine so as to control the tillage depth, and a position set value set by the position setting device after the ground work machine has been raised or lowered to a predetermined position by the first position control means. In the elevation control device for a ground working machine that operates the plowing depth control means with the plowing depth control means as a lowering operation limit, a position detection value from the position detector is stored when the plowing depth control is being performed by the plowing depth control means. a storage means, a second position control means for controlling the elevation of the ground work machine so that the position detection value stored in the storage means substantially matches the position detection value detected by the position detector; a first switching means for detecting that at least one of the depth setting value and the plowing depth detection value exceeds a predetermined range and switching from the plowing depth control means to the second position control means; a second switching means for switching from the second position control means to the first position control means upon detecting that the position setting value is operated so as to substantially match the position detection value stored in the storage means; An elevation control device for a ground-based working machine, characterized by the following: