JPH04299901A - Control device for backing and rising of working machine - Google Patents

Abstract

PURPOSE:To prevent damage of machine by making a working machine connected to a tractor not rise rapidly when a machine body is backed. CONSTITUTION:A tractor is equipped with a control device of backing and rising of working machine constituted in such a way that when the tractor is operated backward, a working machine connected to the tractor rises and the control device is actuated if, after action of application to an electric source, a set value by a rising position setting device is coincident with a value of a ground height detector attached to a lift arm.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a backward/lift control device for a ground work machine connected to the rear of a tractor.

0002

[Prior Art] Conventionally, when reversing a tractor,
It is known that a ground work machine is raised in conjunction with this backward movement operation. The reason why the work machine is raised when it is moved backward together with the tractor is to prevent damage to the ground work machine. In particular, if the rotary tiller is moved backwards when it is in the lowered state, there is a risk that the rear cover may bend due to the resistance of the soil.To eliminate this problem, a device for controlling the backward and upward movement of the work equipment is required. It is being done.

0003

[Problems to be Solved by the Invention] However, with such conventional devices, when the tractor is moved backwards after the engine has started, the work equipment may rise at that moment, and the operator has to set the raising position. If adjustments were not made in advance, the tractor and work equipment would interfere with each other, resulting in damage to the tractor's fenders, etc.

0004

[Means for Solving the Problems] The present invention has been proposed in view of the above-mentioned problems, and has taken the following technical measures. That is, the ground working machine 14 is connected to the rear part of the body of the traveling vehicle 1 so as to be able to rise and fall freely, and the working machine is configured in conjunction with the hydraulic lifting mechanism 8 so that the ground working machine 14 is raised when the running vehicle 1 is operated in reverse. In the reverse elevation control device, the operation of the reverse elevation control device is performed after the engine starting operation, and the setting by the lifting position setting device 30 that sets the lifting height of the work implement 14 and the hydraulic lifting mechanism 8 are performed. This device is characterized in that it is configured such that it does not operate until the positions of the lift arms 7, 7 match.

[0005]

Embodiments Hereinafter, embodiments of the present invention will be described based on the drawings. First, to explain the configuration, 1 is a tractor equipped with front wheels 2, 2 and rear wheels 3, 3 at the front and rear of the body, respectively.
At the rear upper part of the mission case 4 is a hydraulic cylinder case 5.
is fixed in place. A single-acting hydraulic cylinder 6 is provided within the hydraulic cylinder case 5, and lift arms 7, 7 are rotatably supported on both left and right sides of the hydraulic cylinder case 5.

[0006] Here, the hydraulic cylinder 6 and lift arms 7, 7 are collectively referred to as a hydraulic lifting mechanism 8. A rotary tiller 14 as a ground work machine is connected to the rear end of the three-point link mechanism 12 consisting of the top link 10 and the lower links 11, 11 so as to be movable up and down.
, 7 and the lower links 11, 11, lift rods 15, 15 are interposed and connected. Reference numeral 20 denotes a hydraulic operating lever, and a ground height setting device 21 is attached to the rotating base of the hydraulic operating lever 20 to set the height above the ground of a ground work machine connected to the rear of the tractor 1. There is.

On the other hand, a ground height detector 23 is attached to the rotation base of the one-side lift arm 7 to detect its rotation angle, that is, the height of the ground work equipment.
The lift arms 7, 7 are configured to rotate to a position set at and stop at that position, and a position control system is configured here. To briefly explain the structure of the rotary tillage device 14, this rotary tillage device 14 is as follows.
It includes a tilling section 34, a main cover 35 that covers the top of the tilling section 34, and a rear cover 36 rotatably pivoted at the rear of the main cover 35, and the lower end of the rear cover 36 can be slid on the ground. A rear cover 3 is attached to the rear end of the upper part of the main cover 35.
A plowing depth detector 37 for detecting the rotation angle of 6 is provided.

Next, the control system of this device will be explained based on the block diagram shown in FIG. Ground height setting device 21 for setting the height of ground work equipment 14 and actual lift arms 7, 7
A ground height detector 23 for detecting the position of is connected to a control device 27 having a CPU via an A/D converter. 28
is a lift switch that is directly connected to the control device 27 without going through an A/D converter, and when this switch 28 is turned on, the ground work equipment 14 returns to the maximum raised position (the height set by the raised position setting device described later). When it is turned OFF, it descends to a height determined by the hydraulic operating lever 20.

A dial-adjustable plowing depth setting device 40 provided near the cockpit 29 and a plowing depth detector 37 for detecting the plowing depth of the rotary tilling device 14 are controlled by a control device via an A/D converter. 27. Reference numeral 30 denotes a lifting position setting device which is provided independently from the ground height setting device 21 and sets the maximum lifting position of the work implement 14. Normally, the hydraulic operating lever 20 is used to raise and lower the work equipment 14, but when the work equipment 14 is raised or lowered by pressing the lift switch 28, and when the work equipment 14 is moved backward, the setting amount of the height to which the work equipment 14 is raised is set. is set using this raised position setting device 30. The lifting position setter 30 is also connected to the control device 27 via an A/D converter.

Reference numeral 41 denotes a switch for detecting a reverse operation of the aircraft. When the change lever 42 is operated within the change guide 43 to the reverse range, the switch 41 is turned on and sends a signal to the control device 27. 44 is a mode switch that determines whether or not to raise the work equipment 14 when the aircraft is moved backwards. If you turn it ON in advance, the work implement 14 will rise to the set height when the tractor 1 moves backwards, and if you turn it OFF, the work implement 14 will not rise even if you move the machine backwards. . (In addition, an EEPROM is provided in the storage section of the control device 27 to store the height determined by the raised position setter 30 and to be able to rewrite the height.) A rising proportional control valve 46 and a lowering proportional control valve 47 that control the hydraulic lifting mechanism 8 are connected.

Next, the operation of this embodiment will be explained based on the flowcharts shown in FIGS. 4 to 6. FIG. 4 shows the overall control flow. In FIG. 5, the work equipment backward and upward mode switch 44 is set to ON (step S1), and if the adjustment by the lift position setting device 30 is never performed after the power is turned on (after the engine starting operation), then the The set value by the position setting device 30 is converted to 1/2 (steps S3, S
4) Prevents the danger of the work equipment suddenly rising to a high position due to the machine being moved backwards.

On the other hand, if the setting operation using the raise position setter 30 is performed immediately after the engine starting operation, an operation completion flag is set (step S5) and this state is maintained. Then, when the change lever 42 is operated to move the aircraft backward, the reverse motion detection switch 41 is turned on (step S6), and the ascending mode is set (step S7). FIG. 6 shows a flowchart of the rise mode, and the characteristics of the control described in this flowchart are as follows:
Of the height set by the hydraulic operating lever 20, that is, the height set by the position control, and the height set by the lift position setting device 30, the lower setting always takes priority, and the engine Even if you move the aircraft backwards immediately after starting,
The work equipment can only be raised to a low set height. Once the lift mode is turned on, the height and lift arm 7 are set by the lift position setter 30,
The heights of the lift arms 7 and 7 are compared, and if the heights of the lift arms 7 and 7 are lower than the set value, they are raised to the set height, and otherwise the output is turned off.

[0013]

[Operations and Effects of the Invention] As explained above, this invention
A ground work machine 14 is connected to the rear part of the body of the traveling vehicle 1 so as to be able to rise and fall freely, and when the traveling vehicle 1 is operated in reverse, the ground work machine 1
4, the backward and upward movement control device for a working machine is configured in conjunction with a hydraulic lifting mechanism 8 to raise the working machine 1.
Setting by the lifting position setting device 30 which sets the lifting height of the lift arm 7, 7 which constitutes the hydraulic lifting mechanism 8.
Since the machine is configured so that it does not operate until the positions of became.

[Brief explanation of drawings]

FIG. 1 is a side view of a tractor and a rotary tiller.

FIG. 2 is a plan view of a change guide portion.

FIG. 3 is a block diagram showing a control system.

FIG. 4 is an overall flowchart.

FIG. 5 is a flowchart of the working machine backward and upward mode.

FIG. 6 is a flowchart of a rising mode.

[Explanation of symbols]

1 Tractor 2 Front wheel 3 Rear wheel 8 Hydraulic lifting mechanism 14 Ground working machine (rotary tilling device) 27 Control device 30 Raise position setter 41 Reverse motion detection switch 42 Change lever 44 Work machine reverse rise mode switch 46 Raise Proportional control valve for lowering 47 Proportional control valve for lowering

Claims (1)

[Claims] 1. A ground work machine 14 is connected to the rear body of a traveling vehicle 1 so as to be able to rise and fall freely, and is configured to be interlocked with a hydraulic lifting mechanism 8 so as to raise the ground work machine 14 when the running vehicle 1 is operated in reverse. In the above-mentioned working machine reversing and lifting control device, the operation of the reversing and lifting control device is performed by setting the lifting position setting device 30 that sets the lifting height of the working equipment 14 after the engine starting operation, and by setting the lifting height of the working equipment 14 and the hydraulic lifting mechanism 8. 1. A retraction and elevation control device for a working machine, characterized in that it is configured to operate only after the positions of lift arms 7, 7 constituting the work machine coincide with each other.