JPH0458803A - Controller for backward lifting movement of counter-ground working machine - Google Patents

Abstract

PURPOSE:To prevent the damage of a working machine caused by the rapid lowering thereof by controlling the working machine at a specific state after the backward-moving and lifting mode of the working machine is switched off. CONSTITUTION:When a working machine backward-moving and lifting mode for lifting the working machine to a prescribed height by the backward-moving operation of a vehicle is switched off, a control means 27 inhibits the lifting movement of the working machine. Only when the position of a lift arm coincides with a prescribed position or after the working machine is lifted by the operation of a switch 28, the lowering of the working machine is allowed by the control means 27.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a backward and upward movement control device for a ground working machine connected to the rear of a power vehicle such as an agricultural tractor.

[Prior Art and Problems to be Solved by the Invention] Conventionally, as a device of this type, one is known that, when the tractor is reversed, a working machine connected to the rear of the tractor is raised in conjunction with the reverse operation. There is.

As described above, tractors that have a so-called work equipment reverse and raise mode (backup mode) in which the work equipment rises in conjunction with the tractor's reverse operation are usually provided with a switch to turn the mode on and off. , If you operate the [OFF] button while the work equipment is ascending, there is a risk that the work equipment will suddenly start descending as soon as the work equipment back-up mode is released. It was dangerous because they could not understand whether the aircraft was descending or not, and could even make a mistake.

[Means for Solving the Problems] The present invention is proposed in view of the above problems, and takes the following technical measures.

That is, the ground work equipment 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 equipment 14 is linked with a hydraulic lift [8] to raise the ground work equipment 14 to a predetermined height. In the backward and upward movement control device for a ground-based working machine which has a working machine backward and upward mode, a means 48 for turning on and off the work machine backward and upward mode is provided, and when the work machine backward and upward mode is turned off manually, , a safety mode that prohibits the lifting and lowering of the working machine 14 is activated, and the safety mode is canceled by the lift arm 7.7 using the hydraulic operating lever 20.
A control means 27 is provided for controlling the release operation so that the set position matches the actual position of the lift arm 7.7, or the forced lift switch 28 is operated and the work implement 14 is lifted by 116 degrees. The configuration of a backward and upward control device for a ground work machine is characterized in that:

[Example] Hereinafter, the present invention will be described in detail based on the drawings. First, to explain the structure, reference numeral 1 is a tractor having front wheels 2.2 and rear wheels 3.3 at the front and rear of the body, respectively, and a hydraulic cylinder case 5 fixed to the rear upper part of a transmission case 4. A single-acting hydraulic cylinder 6 is provided inside 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. Note that, herein, the hydraulic cylinder 6 and the lift arm 7.7 are collectively referred to as a hydraulic lifting mechanism 8. A rotary tiller V device 14 as a ground work machine is connected to the rear end of a three-point link machine fence 12 consisting of a top link 10 and a lower link 11.11, and a lift arm 7.7 and a lower link 11.11. A lift rod 15.15 is interposed and connected therebetween. Reference numeral 20 denotes a hydraulic operating lever, and at the rotating base of this operating lever 20 there is a ground height setting device 21 for setting the ground height of the ground work equipment connected to the rear of the tractor 1.
is installed.

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, and is hydraulically operated and set at /<-20. The position control system is configured so that the lift arm 7°7 rotates to the position and stops at that position.
Next, to simply explain the structure of the rotary tilling device 14, this rotary tilling device 14 includes a tilling section 34, a main cover 35 that covers the top of the tilling section 34, and a rear part of the main cover 35 that is freely rotatable. The upper end of the rear cover 36 slides on the ground and is configured to be elastically pressed to level the tilled soil surface. A plowing depth detector 37 for detecting the rotation angle of 36 is provided.

Next, the control system of this device will be explained based on the block diagram shown in FIG. A ground height setting device 21 that sets the height of the ground work equipment 14 and a ground height detector 23 that detects the actual position of the lift arm 7. connected to. 28 is A
When this switch 28 is turned ON using a lift switch that is directly connected to the control device 27 without going through the /D converter 25, the ground work equipment 14 rises to the maximum raised position, and when it is pressed again to turn it OFF, the hydraulic operating lever 20 descend to a height determined by

A dial-adjustable plowing depth setter 40 provided near the cockpit and a plowing depth detector 37 for detecting the plowing depth of the rotary tiller 14 are connected to the control device 2 via the A/D converter 25.
Connected to 7. Reference numeral 41 denotes a backward movement detection switch that detects a backward movement operation of the aircraft, and when the change lever 42 is operated to the reverse movement range within the change guide 43, this switch 41 is activated.
turns on and sends a signal to the control device 27. 46 is a rising proportional control valve that controls the hydraulic lifting mechanism 8, 47 is a descending proportional control valve, and 48 is a switch that turns on and off the working machine backward rising mode. When this switch 48 is held in the ON state, the change When the lever 42 is operated to the reverse side, the work implement 14 moves up (backup) in conjunction with the operation.
When this switch 48 is operated to the off side, the working machine 14 is interlocked so that it will not rise even if the change lever 42 is operated to the reverse side, and in this way, the working machine backward and upward mode is performed.

The flowchart in FIG. 4 explains the operation of this device, and its characteristic part is that once the work equipment retraction/lift switch 48 is operated to 01-”F, the lifting/lowering operation of the work equipment is prohibited. In other words, once you turn off the work equipment's backward and raise mode, it will not activate immediately even if you turn it on again, and you must cancel the safety mode. To cancel the mode, press the lift switch 28 to raise the work machine once, as shown in steps S28 to S32 of the flowchart, or move the hydraulic operating lever 20, which is a position lever, to raise the lift arm 7. The current height and the furrow where the finger of the hydraulic operating lever 20 is placed must match, otherwise the safety mode will not be released. 48, the safety mode that prohibits the lifting and lowering of one working machine is activated immediately, so there is no danger that the working machine 14 that is being raised will suddenly fall, increasing safety.

In this embodiment, when the tractor 1 is moved backward in the working machine retracting/raising mode, the working machine 1 rises to a certain height (α). When the change lever 42 is moved out of the reverse range and into the neutral range or the forward range, for example, the work implement 14 starts to slowly descend. This descending speed β is extremely slower than the appropriate descending speed, and is set to a speed that is slow enough not to harm other workers or damage objects. The control from step S9 to step S15 overrides the conventionally known position control and plowing depth control (or depth control).

Furthermore, the flowchart in FIG. 5 is intended to further stop the rotation of the PTO shaft during the working machine backward/upward mode. In other words, when the change lever 42 is moved to the reverse range when the work equipment is in the backward movement position, the P
TO specific output Specifically, the control force for the PTO clutch is set to OI='1-' in the 0 working machine backward and upward mode.

In addition, when the change lever 42 is operated to the reverse range, the rotation of the 1"1'0 axis (not shown) of the tractor 1 is first stopped as a first step. Note that the tractor 1 is plowed while moving the work machine backward. Since the work may be carried out, it is not necessary to stop the rotation at that time, but to operate the lift switch 28 once to issue a lowering command to lower the hoisted work equipment, or to forcibly operate the hydraulic operating lever 2o. When the PTO shaft is operated to the torsion side, the output to the P'1' O clutch becomes ○N again, and the PTO shaft can be rotated to perform plowing work.

[Effects of the Invention] As described above, the present invention connects the ground working machine 14 to the rear part of the body of the traveling vehicle "jj 1" so that it can move up and down freely, and when the traveling vehicle 1 direction 1 is operated in reverse, the ground working machine 14 is In a backward and upward control device for a ground-based working machine having a backward and upward mode of the work machine which is linked with a hydraulic elevator frame 8 so as to raise the work machine to a predetermined height, a means 48 for turning on and off the backward and upward mode of the work machine is provided. When the backward and upward mode is manually turned off, a safety mode that prohibits the lifting and lowering of the work equipment 14 is activated, and the safety mode is canceled by adjusting the set position of the lift arm 7.7 by the hydraulic operating lever 20 and the lift arm 7.
7 coincides with each other, or the forced lift switch 28 is operated so that the work implement 14 is once raised, and then the release operation is performed. Even if the mode is set to 0F, the working machine does not immediately start descending, and there is no danger that an inexperienced person may become injured due to incorrect operation, thereby increasing safety.

[Brief explanation of drawings]

The figures show an embodiment of the present invention, in which Fig. 1 is an overall side view, Fig. 2 is a plan view of essential parts, Fig. 3 is a block diagram, Fig. 4 is a broach yard, and Fig. 5 is a flowchart of the improvement means. It is. Description of symbols Traveling vehicle l'tTi (tractor) Hydraulic lifting mechanism Rotary tilling device Hydraulic operating lever control means (control unit) Rear cover tilling equipment Tilling depth setting device Reverse movement detection switch Change lever Work equipment reverse rise mode Person cut-off switch

Claims (1)

[Claims] 1) A ground work device 14 is connected to the rear part of the vehicle 1 so as to be able to rise and fall freely, and is linked with the hydraulic lifting mechanism 8 so that the ground work device 14 is raised to a predetermined height when the vehicle 1 is operated in reverse. In a ground-based working machine backward and upward control device having a work machine backward and upward mode, a means 48 for turning on and off the work machine backward and upward mode is provided, and when the work machine backward and upward mode is manually turned off, the work A safety mode that prohibits the lifting and lowering of the machine 14 is activated, and the safety mode is canceled only when the set position of the lift arms 7, 7 by the hydraulic operating lever 20 matches the actual position of the lift arms 7, 7, or when forced When the lift switch 28 is operated, the work equipment 1
1. A backward and upward movement control device for a ground-based working machine, characterized in that a control means 27 is provided for controlling the control device 4 to be released after it has been lifted once.