JPH0458804A - Setting device of controller - Google Patents

Abstract

PURPOSE:To simplify the device by driving a setting means-driving motor to the position of the previous set value corresponding to a mode selected by the operation of a mode switch for switching plural modes. CONSTITUTION:A motor 53 for driving a single setting means 52 for setting the magnitude of a control mode selected with a mode switch 50 is controlled with a controller 27. The newest set value of each mode is memorized in EEPROM 55 and the motor is driven to the previous set value corresponding to the selected mode.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a setting device for an automatic control device having a plurality of control modes, and can be used, for example, in plowing depth control devices, inclination control devices, etc. of tractors, etc. .

[Tsuchikoku technology and its issues] Modern automatic control devices for tractors, etc. have multiple settings, such as a setting device for tillage depth control, a setting device for horizontal control, and a ground height setting device for position control. A setting device is provided.

In this way, providing multiple setting devices to correspond to the number of multiple control modes not only leads to an increase in costs, but also makes it difficult for users to quickly decide which one to use. If you are in a hurry, you may accidentally operate the setting device.

In addition, when one setting device is provided for multiple control modes, if no modifications are made to the setting device, each time the mode is changed, the control range corresponding to the mode must be adjusted again by operating the setting device. The settings must be reset, and such resetting is difficult and tedious.Furthermore, unless some kind of safety circuit is incorporated, there is a danger that the work equipment may move in an unexpected direction the moment the mode is switched. had sex. This is because the set value that was set in another control mode is determined to be valid even after the mode is changed.

[Means for Solving the Problems] The present invention is proposed to eliminate the above-mentioned drawbacks, and for this purpose, the following technical measures have been taken.

That is, a mode changeover switch 50 for selectively switching between a plurality of control modes, a single setting means 52 for setting the magnitude of one selected IIJ control mode, a motor 53 for driving this setting means 52, and When the mode selection switch 50 is operated to change the mode, the motor is moved to the position of the previous setting value corresponding to the selected mode. 53
The setting device of the control device is characterized in that it is provided with a control means 27 for driving the control device.

[Example] Hereinafter, the present invention will be described in detail based on Figure +f+i. In this embodiment, the present invention will be explained in detail by taking, as an example, plowing depth control of a ground working machine mounted on the rear of a tractor. First, to explain the structure, reference numeral 1 is a tractor, which has front wheels 2, 2 and rear end 3.3 at the front and rear of the machine body, respectively, and a hydraulic cylinder case 5 fixed to the rear upper part of the transmission case 4. ing. Hydraulic cylinder case 5
A single-acting hydraulic cylinder 6 is provided inside the hydraulic cylinder case 5, and lift arms 7.7 are pivotally mounted on both left and right sides of the hydraulic cylinder case 5 for free rotation. In addition, here, the hydraulic cylinder 6,
and the lift arm 7.7 are collectively referred to as the hydraulic elevator handle 8, and by appropriately switching the control valves described below,
Hydraulic oil is supplied to and discharged from the hydraulic cylinder 6, and the lift arm 7.7 rotates in the vertical direction.

In addition, 3 links consisting of a top link 10 and a lower link 11
A rotary tilling device 14 is installed at the rear end of the point link machine 12.
A lift rod 15.15 is interposed and connected between the lift arm 7.7 and the lower link 11.11.

Of these, the right lift rod 15a is composed of a double-acting hydraulic cylinder, and hydraulic oil is supplied and discharged into this hydraulic cylinder 15a by switching a control valve, which will be described later, and expands and contracts to tilt the work machine in the left and right direction. .

Reference numeral 16 denotes an inclination detector attached to the lateral side of the hydraulic cylinder case 5, which detects the inclination of the tractor 1 in the left and right lateral directions. A relative angle detector 17 detects the amount of relative rotation between the tractor 1 and the rotary tiller 14, and is composed of a linear potentiometer. It is placed on the side.

20 is a hydraulic operating lever for position control,
The rotating base of this hydraulic vibration lever 20 has a tractor 1
A ground height setting device 21 consisting of a potentiometer for setting the ground height of the rotary tiller 14 connected to the rear of the rotary tiller 14 is attached. On the other hand, a ground height detector 23 is attached to the base of the lift arm 7 on one side to detect the rotation angle of the lift arm 7, that is, the height of the ground work equipment. 7
．． 7 rotates and stops at the set position.

Next, to briefly explain the structure of the rotary tilling device 14, this rotary tilling device 14 has five tilling sections 34, a main cover 35 that covers the top of the tilling section 34, and a main cover 3.
The rear cover 36 is pivotally attached to the rear of the main cover 35, and the lower end of the rear cover 36 is configured to slide against the ground and press elastically to level the tilled soil surface.
A plowing depth detector 37 is provided at the upper rear end of the plowing depth detector 37 for detecting the rotation angle of the plow cover 36.

Next, the control system of this device will be explained based on the block diagram shown in FIG.

The ground height setting device 21 for setting the height of the ground working machine is connected to a control device 27 consisting of CPtJ via A/1) 4 & converter 25, and also connected to a ground height detector 23 and a plowing depth. The detector 37, the inclination detector 16 that detects the inclination angle of the tractor 1, and the relative angle detector 17 that detects the relative angle between the tractor 1 and the ground work equipment are also controlled by the control device via the AID converter 25, respectively. 27, and on the output side of the control device fi 27, there are a lifting proportional control valve 46 and a lowering proportional control valve 47 that move the lift arm 7.7 up and down, and a slope control valve 47 for lifting the lift arm 7.7. An extension control valve 48 and a shortening control valve 49 are connected to extend and retract the posture modification hydraulic cylinder 15a.

Note that 28 is a lift switch that is directly connected to the control device 27 without going through the A/D converter 25;
When 8 is turned ON, the ground work equipment 14 rises to the maximum raised position, and when it is turned 0)')', it is lowered to a height determined by the hydraulic operating lever 20.

Further, 50 is a mode switching switch connected to the control device 27, and in this embodiment, by appropriately switching the mode switching switch 50, the plowing depth control mode, slope control mode, and raising position adjustment mode can be selected. , tumble speed control mode, and four control modes can be switched.

That is, in the plowing depth control mode, the control amount setting device 52 described later
By rotating the dial 51, control is performed to keep the plowing depth of the rotary tillage device 14 constant, and in the tilt control mode, the left and right tilted posture of the ground working machine connected to the rear of the tractor 1 is maintained constant. In the raising position adjustment mode, control is performed to determine the raised position of the ground-based work equipment, and in the lowering speed control mode, control is performed to set the descending speed of the ground-based work equipment. The magnitude of the time control #4 quantity (analog quantity) for each of these modes is set by a single dial-type control quantity setter 52.

A control motor 53, which can be driven forward or backward, is connected to the lower part of the setting device 52. The position of the control motor 53 is always detected by electrically detecting the position of the setting device 52. 55 is E E connected to the control device 27
It is a PROM and stores the latest setting values for each mode. That is, when a certain control mode is selected, when setting@52 is operated, the set value after the operation is newly stored in the memory of this EEPROM 55.

FIG. 4 is a flowchart illustrating the contents of the program stored in the memory of the control device 27.

First, the values detected by each detector and the state of each switch are read (step S1). At this time, if the mode changeover switch 50 is set to the plowing depth control mode, E
The latest plowing depth setting value stored in the EPROM 55 is read (steps S2, S3), and the setter 52
If the setting value of and the setting value of tilling depth do not match, the motor 53 is driven and rotated until the value of setting device 52 and the setting value of tilling depth become electrically equal (step S4 .S5), when the rmi person matches, the motor 53
is stopped, and a plowing depth adjustment sector completion flag is set (step S7). That is, from this point on, the set value by this setter 52 is written into the EEPROM 55 as the plowing depth set value.

The above is for tillage depth control mode, and similarly for slope control mode, raising position setting mode, and lowering speed setting mode, the previous set value in each mode and the setting immediately after mode switching are described above. If the set value by the device 52 does not match, the motor 53 is driven to make the two match,
Once they match, the setter 52 determines the control amount for each control mode.

As described above, in this embodiment, the control variables for the four control modes are set using one setting device 52, and furthermore, the previous set value in a certain mode is different from the set value immediately after mode switching. In this case, the motor 53 is driven to rotate the setting device 52 itself, and the previous setting value and setting device 5 are
Since the mode B can be set only after the set values according to No. 2 match in terms of voltage, there is no operational error and the device itself can be manufactured at low cost.

Note that FIGS. 8 and 9 are control flowcharts proposed to improve the position operation of the tractor 1 explained in this embodiment. , and when the rotation of the PTO shaft has stopped, it means that the position control failure band has been narrowed. By narrowing the dead zone, the lift arm 7.7 will operate more sensitively even if the hydraulic control lever 20 is slightly moved, making it easier to make fine adjustments and making it easier to attach the work equipment to the tractor. It became 8 easy.

[Effects of the Invention] As described above, the present invention includes a mode changeover switch 50 for selectively switching between a plurality of control modes, a single setting means 52 for setting the size of one selected control mode, and this setting means. 52, and a means 55 for temporarily storing the latest setting value of each mode. When the mode changeover switch 50 is operated to change the mode, the previous setting value corresponding to the selected mode is Since the control means 27 is provided to drive the motor 53 to the set value position, there is no need to provide a setting device for each mode, and the number of parts can be reduced, making the device simple and inexpensive. 1
111! Can be built.

Furthermore, even if the previous set value in that mode is not known immediately after the mode is switched, the setting device itself is automatically moved to the position of the previous set value by the motor 53 immediately after the mode is switched, improving operability. improved performance and fewer operational errors.

[Brief explanation of the drawing]

Figure 1 is a side view, Figure 2 is a perspective view of the main parts, Figure 3 is a block diagram, Figures 4 to 7 are flowcharts, Figure 8,
FIG. 9 is a control flowchart of the improved device. Symbol explanation Power vehicle (tractor) Hydraulic lifting mechanism ground work equipment (rotary tillage device) Inclination detector Inclination setting device Hydraulic operating lever Height above ground setting device Height above ground detector Control unit (control device) Plowing depth detector mode switching Switch setting device motor EPROM

Claims (1)

[Claims] 1) A mode changeover switch 50 that selectively switches between a plurality of control modes, a single setting means 52 that sets the magnitude of the selected control mode, a motor 53 that drives this setting means 52, and each mode. and a means 55 for temporarily storing the latest set value of the mode changeover switch 50.
A setting device for a control device, characterized in that a control means 27 is provided for driving the motor 53 to the position of the previous set value corresponding to the selected mode when the mode is changed by operating the .