JPH0627506Y2 - Fall warning device for work vehicles - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a fall warning device for a traveling vehicle such as an agricultural tractor that can be equipped with different types of working parts such as a rotary tiller and a plow implement. It is a thing.

[Problems to be Solved by Prior Art and Invention] Generally, in this type of work vehicle, a tilt detection sensor that detects the left and right tilt of the machine body is connected to a control unit with an alarm device, and There is a system in which, when the detected value exceeds the preset fall risky tilt angle in the control unit, an alarm is issued by a command from the control unit to alert the operator.

By the way, let us consider such an inclining danger inclination angle, for example, in the case of an agricultural tractor capable of mounting a rotary tilling implement and a plow implement. In other words, when comparing the tilling work with the rotary tiller and the plowing work with the plow working machine, in the plow working machine,
As shown in Fig. 3, it is assumed that the wheels on the already-worked ground side have entered the dug-up holes and that the inclination exceeds the overturning danger angle θ ₁ , which is dangerous in the case of a tiller. However, there is no fear of falling due to the pulling reaction force associated with the plowing work, and the falling danger inclination angle θ ₂ becomes large.

However, in the past, the tipping danger tilt angle was set to a fixed value, although it was different depending on the type of working part as described above, so the tipping danger tilt angle in the case of a cultivating work machine is considered in consideration of safety. It is common to set the value to the smallest value, and as a result, when working with a work part where the fall risky inclination angle is set to a large value, the safe slope before reaching the original fall risky inclination angle is obtained. It is extremely dangerous because the alarm is issued in the range and it is noisy, and it is not possible to accurately judge whether or not the danger angle of fall is actually reached, and it is possible to exceed the danger angle of fall without knowing it. There is a drawback that you are forced to do various tasks.

[Means for Solving the Problem] The present invention was devised with the object of providing a fall warning device for a work vehicle capable of eliminating these drawbacks in view of the above circumstances. , A traveling machine equipped with different kinds of working parts is provided with a tilt detection sensor for detecting the left and right tilt of the machine body, and the tilt detection sensor and a control with an alarm means for setting a fall risk tilt angle according to each working part Section and switching means for determining which working section sensor is connected to the control section side and switching, and connecting the switching means for selecting the set fall risky tilt angle. It is characterized in that the dangerous inclination angle at which the control unit issues an alarm command based on the detected value can be automatically selected by the sensor type discrimination switching of the switching means.

With this configuration, the present invention is capable of automatically selecting a fall risky inclination angle according to the type of working machine and issuing a fall warning suitable for the type of work.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of an agricultural tractor, and different working sections such as a rotary tiller working machine 4 and a plow working machine 5 are detachably attached to a rear portion of the traveling machine body 1 by a lifting link mechanism 2. The tilt detection sensor 3 is attached to the body frame of the traveling machine body 1 so that the inclination angle of the traveling machine body 1 in the left-right direction can be detected.

Further, 6 is a tilling depth sensor provided in the tilling work machine 4, and a detection signal from the tilling depth sensor 6 is connected by a coupler 9 which is detachably fitted to the lift rod 8
The load rod detection sensor 7 for detecting the rod length and the detection signals from various sensors such as the tilt detection sensor are input to a control unit 10 including a microcomputer on the machine side. And in this case,
A coupler switch (switching means) 9a for discriminating whether or not the working depth sensor 6 is connected to the coupler 9 and switching the same.
Is provided. For example, as shown in FIG. 5, the line from the control unit 10 corresponding to the tilling depth sensor 6 is provided in addition to the power line e, the ground line g, and the input line s for inputting the detection signal. On the side of the depth sensor 6 is provided a discriminant line c to which a line branched from the ground line is connected, and the control unit 10 causes the signal from the discriminant line c to accompany the coupler connection as described above. When inputting, the working unit is determined to be the tilling working machine 4, and when there is no input, it is determined to be the plow working machine 5, whereby the sensors corresponding to the working unit are determined. Is set so that it can be determined.

Next, an alarm control procedure based on the inclination detection sensor 3 will be described with reference to a flow chart and a block diagram. Here, 11 is an alarm configured by a buzzer or the like connected to the control unit 10, 12 is a tilt setting device, 13 is a lift rod extension solenoid, and 14 is a reduction solenoid.

Further, the control unit 10 controls the traveling body 1 regardless of the type of the working unit.
Set the tipping limit tilt angle L ₃ that is the tilt limit of
As a value smaller than this, the second tipping risk angle L ₂ set when the plow work machine 5 is used is set as a smaller angle when the tiller work machine 4 is used. One fall danger inclination angle L ₁ is set (L ₃
> L ₂ > L ₁ ). Then, the control unit 10 that receives the detection signal L from the tilt detection sensor 3 first detects the detection signal L.
Of the fall limit tilt angle L ₃ is not exceeded (| L | <L ₃ ), and if NO is judged as it is exceeded, a short cycle is issued to the alarm device 11. After issuing a work command and issuing an alarm, the alarm device 11 is turned off, and tilt control described below is performed. If YES is determined as not exceeding the tipping limit inclination angle L ₃ , then the detection value L does not exceed the second tipping danger inclination angle L ₂ (| L
| <L ₂ ) is determined. Then, if NO is judged as exceeding the limit, a long cycle operation command is issued to the alarm device 11. On the other hand, if the determination is YES because it has not exceeded the second tipping danger angle of inclination L ₂ , the detected value L has not exceeded the first tipping risk angle of inclination L ₁ (| L | <L ₁ ) Or not. If NO is judged as exceeding the limit, it is judged whether or not the input signal from the coupler switch 9a indicates that the tilling implement 4 is attached, and the coupler is attached. If the determination is YES, a long-cycle operation command is output to the alarm device 11,
If NO is determined as not mounted, and similarly to the case where the detection value L does not exceed the first fall risky inclination angle L ₁ and YES is determined, the operation command to the alarm device 11 is issued. The tilting control of the working unit is performed by keeping the off state without being issued, and thereby, the fall alarm is controlled according to the type of the working unit.

After the fall alarm control is performed in this manner, the tilt control of the working unit is further performed in the embodiment. The procedure is as to whether or not the tilt control switch is turned ON, that is, the tilt automatic switch. If it is determined that the control state is set, and if YES is determined as the control state, the detection value from the inclination detection sensor 3, the detection value from the lift arm sensor 7, and the inclination setter 12 are determined. Is calculated, and it is judged whether or not the target value of the working unit set by the tilt setting unit 12 is smaller than the lift rod length value. If YES, the reduction solenoid 14 is operated. To the extension solenoid 13, the lift rod length is automatically controlled by issuing an operation command to the extension solenoid 13, and thereby, the inclination of the working unit is increased. And summer to make a degree control.

In the embodiment of the present invention configured as described above, the working section uses the rotary tiller 4 and the plow operator 5 interchangeably, but when the tiller 4 is mounted, the working unit travels. When the machine body 1 tilts beyond a small tilt angle, that is, the first tipping danger tilt angle L ₁ , the alarm device 11 is activated to notify the operator of the danger, and when the plow work machine 6 is mounted, A large tilt angle, that is, a second fall danger tilt angle L ₂
When the vehicle tilts beyond the range, the alarm 11 is activated to notify the operator of the danger. That is, the control unit 10 selects whether the fall risky inclination angle is small L ₁ or large fall L ₂ based on whether or not there is an input from the coupler switch 9a, and the selected fall risky inclination angle L is selected. ₁ or L ₂
Based on the above, alarm control is performed to notify the worker of the danger.

In the embodiment in which the present invention is implemented in this way, an alarm is issued when the aircraft tilts at a dangerous angle, but the tilt angle of the traveling vehicle body 1 that issues the alarm is the work that is installed. The machine will be automatically selected according to the type of machine, and an alarm will be issued when the selected overturning danger tilt angle is exceeded.Therefore, an appropriate overturn warning corresponding to the work form will be provided. It is possible to improve safety.

Moreover, since the change of the tipping danger tilt angle according to the working machine is changed by using the coupler switch 9a, there is an advantage that the change is not forgotten unlike the case where the change is manually switched. However, the present invention is not limited to the coupler switch as the switching means, but may be a normal manual switch that is switched by the operator. Needless to say.

In addition, this product is designed to generate a different alarm and warn the operator further when the tipping limit tilt angle is exceeded even if the tipping danger tilt angle at which the warning is issued is exceeded. As a result, it is possible to more reliably raise the appropriate judgment of the operator.

It should be noted that in the specification, the angle value set as the fall risky tilt angle (the same applies to the fall limit tilt angle) is, of course, set in consideration of a certain safety factor. The fact that this angle is exceeded does not necessarily mean that the aircraft will immediately fall. Further, the falling danger tilt angle is not limited to two types, but may be three types or more depending on the type of the working unit to be mounted.

[Advantages] In short, since the present invention is configured as described above, an alarm is issued by a command from the control unit when the traveling machine body tilts beyond the overturning danger tilt angle. However, this fall risky inclination angle is based on the switching means that switches by determining which sensor is connected to the control unit, and therefore, it should be determined according to the type of work unit mounted. It will be possible to select automatically, therefore,
There is an advantage that the change of the rolling danger inclination angle corresponding to the type of the working part is not forgotten as in the case of the manual switching switch, and the safety can be further improved. Depending on the type, there is no case where it is not very useful, and reliable alarm control can be automatically performed regardless of the type of work machine, making it extremely safe and highly reliable. Become.

[Brief description of drawings]

FIG. 1 shows an embodiment of a fall warning device for a work vehicle according to the present invention. FIG. 1 shows an overall side view of an agricultural tractor, and FIG. 2 shows a case where a rotary tiller is installed. FIG. 3 is an operation explanatory view showing a case where a plow working machine is mounted, FIG. 4 is a block circuit diagram of alarm control, FIG. 5 is a block circuit diagram of a coupler switch,
FIG. 6 is a flow chart showing the control procedure, and FIG. 7 is a timing chart showing the control state. In the figure, 1 is a traveling machine body, 4 is a rotary tilling work machine, 5 is a plow work machine, 9 is a coupler, 9a is a coupler switch, 10
Is a control unit, and 11 is an alarm device.

Claims (2)

[Scope of utility model registration request] 1. An alarm in which a tilt detection sensor for detecting left and right tilts of a machine body is provided on a traveling machine body to which different types of work sections can be attached, and the tilt detection sensor and a fall risk tilt angle corresponding to each work section are set. Switching with the control unit with means and which working unit sensors are connected to the control unit side,
The dangerous inclination angle at which the control unit issues an alarm command based on the detection value from the inclination detection sensor is connected to the switching means for selecting the set inclining danger inclination angle, and the sensor type of the switching means is switched. A fall warning device for a working vehicle characterized by being configured so that it can be automatically selected. 2. A utility model registration claim characterized in that the switching means is a coupler switch provided on a coupler for connecting the sensors and the working unit, and switches based on the fact that the sensors are different. A fall warning device for a traveling vehicle for work according to claim 1.