JPH062B2 - Control mode switching device in work equipment control device - Google Patents

Description

Detailed Description of the Invention

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control mode switching device in a work implement control device for a ground tillage device such as a rotary tiller, a plow, and a ground posture control in the left-right direction or front-rear direction of the work implement, a plowing depth control, A control mode switching device is devised so that a plurality of control modes such as tilling resistance control can be switched to a predetermined control mode to be executed without fail. Conventional technology When the work machine's left / right posture control and front / rear posture control,
A posture sensor that detects the left-right posture of the work machine, a lift angle sensor that detects the lift arm angle of the tractor in the front-rear posture, a top-link sensor that detects the length of the top link that can be expanded and contracted, At this time, a plowing depth sensor that detects the height of the work implement to the ground, a plowing resistance sensor that detects the resistance force that acts on the top link at the time of plowing resistance control, etc. A dynamic potentiometer, a linear movement potentiometer, or ultrasonic waves, light is used to convert into an electrical signal, and the detected values are input to the control unit of the work machine control device via the changeover switches, respectively, and when working. Switches the respective changeover switches so that the necessary sensors are connected to the control unit. However, it requires a lot of skill and is troublesome to switch only a necessary number of these changeover switches without fail. DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention The present invention is devised so as to prevent erroneous switching operations of a large number of changeover switches and to perform the switching operations with less labor. Technical Means for Solving Problems The present invention has taken the following technical means in order to solve the above problems. This machine side has a control unit consisting of a microcomputer,
In addition, the control unit has a plurality of control programs with different control contents built-in, and a detection value of a sensor for individually detecting work characteristics in each control mode on the working machine side and a set value for each work characteristic are set. In a control device for a working machine configured to control respective drive parts based on an output from the control part so as to match, a microcomputer on the machine side and the respective sensors are detachable connectors In the working machine control device, there are provided a signal line connected to the connector through which signals from respective sensors are input, and a mode switching line for changing the control content. Control Mode Switching Device Embodiment and Operation Next, an embodiment of the present invention will be described with reference to the drawings. Fourth
As shown in the figure, on the rear part of the tractor (1), a rotary tiller as an example of the working machine (2) is provided with a pair of left and right lift arms.
Consists of left and right lower links (6) and (7) swinging up and down to left and right lift rods (4) and (5) to (3) and (3), and top link (8) at the upper center. Connected by a three-point link mechanism (9), this three-point link mechanism (9)
(3), (3) is configured to be lifted and lowered by a hydraulic lifting mechanism (11) that lifts and lowers by a lift cylinder (10) using hydraulic pressure, and one lift rod (5) is expanded and contracted by hydraulic pressure. It is formed by the lift rod cylinder (12)
By the extension or contraction operation of the lift rod cylinder (12), the horizontal posture of the working machine (2) is controlled,
Further, the top link (8) is formed by a top link cylinder (13) that expands and contracts by hydraulic pressure, and the extending or contracting operation of the top link cylinder (13) controls the posture of the working machine (2) in the front-rear direction. Is configured. Then, the working depth control mechanism for controlling the working depth of the working machine (2) to a predetermined value is, for example, the vertical rocking rotation of the working depth detecting body (14) slidingly contacting the ground surface like the rear cover as the working depth detection value. The output of the tilling depth sensor (S ₁ ) such as the rotary potentiometer for detecting and the tilling depth set value set by the tiller depth setting device (I ₁ ) such as the rotating potentiometer are composed of something like a microcomputer. Input to the control unit (15) through the AO converter (16) and compare the difference between the tilling depth set value and the tilling depth setting value with the comparison controller (1
Control processing in 7), until the tilling depth detection value matches the tilling depth set value by the output from the DA converter (18), the lift drive unit (19) made of, for example, an electromagnetic switching valve is used for the lift cylinder.
It operates (10). The left / right attitude control mechanism includes a left / right attitude detection value detected by a left / right attitude sensor (S ₂ ) such as a level meter attached to the work machine (2) and a left / right attitude setter including, for example, a rotary potentiometer. The left / right posture set value set by (I ₂ ) is input to the AD converter (16), and the expansion / contraction drive is performed until the left / right posture detected value matches the left / right posture set value by the output command of the comparison control unit (17). The part (20) extends and contracts the lift rod cylinder (12). The front-rear posture control mechanism includes a front-rear posture detection value detected by a front-rear posture sensor (S ₃ ) such as a level meter attached to the work machine (2) and a front-rear posture setter including a rotary potentiometer, for example. The left / right posture set value set by (I ₃ ) is input to the AD converter (16), and the expansion / contraction drive is performed until the front / rear posture detected value matches the front / rear posture set value by the output command of the comparison control unit (17). The part (21) extends and contracts the top link cylinder (13). The lift position control mechanism includes a lift position detection value detected by a lift angle sensor (S ₄ ) including one lift arm (3) and a rotary potentiometer provided so as to rotate in one body, The elevation position set value set by the elevation position setting device (I ₄ ) consisting of a rotary potentiometer that is rotated by the elevation lever (23) is input to the AD converter (16),
The lift drive unit (19) operates the lift cylinder (10) until the lift position detection value matches the lift position set value according to the output command of the comparison control unit (17). The tilling resistance control mechanism is operated to rotate by the tilling resistance lever (24) and the tilling resistance detection value detected by the tilling resistance sensor (S ₅ ) composed of a torque meter such as the pushing force of the top link (8). Set the tilling resistance setting value set by the tilling resistance setting device (I ₅ ) consisting of something like a rotary potentiometer.
Input to the AD converter (16), the lift drive unit (19) operates the lift cylinder (10) until the tilling resistance detection value matches the tilling resistance set value according to the output command of the comparison control unit (17). Is. And the above-mentioned working depth sensor (S ₁ ), left-right posture sensor (S ₂ ) ...
In order to input the output of AD into the AD converter (16), the working depth sensor (S
₁ ), one of the connector segments (C ₁ ), (C ₂ ), (C ₃ ) ... is connected to the output side of the left / right attitude sensor (S ₂ ) ...
Connect the other connector segment (Ca) of the connector connected to the converter (16) to the above connector segment (C ₁ ), (C ₂ ), (C ₃ ).
One of the connector segments (C ₁ ), (C ₂ ), (C ₃ ) ... is connected to the AD converter (16) side connector segment. (C ₂ )
When connected to the control mode of the sensor (15)
FIG. 2 shows a wiring diagram in FIG. 2 and FIG. 3 shows a case where a mode depth switching circuit configured so as to switch is provided, and an example of the mode switching circuit is a working depth sensor (S ₁ ). The front view of the connector segment (C ₁ ) is shown, but the power cord
(a ₁ ), (a), sensor signal code (b ₁ ), (b), mode switching code (C ₁ ), (C), ground code (d ₁ ), (d) (C ₁ ) and (C ₂ ) have connector segments (C ₁ ),
When (Ca) is combined, the working depth sensor (S
The switching resistors (R ₁ ) and (Ra) whose values are such that the control unit (15) switches to the tilling depth control mode by ₁ ) are connected. The power cord is attached to the connector segment (C ₁ ) in Fig. 3.
(a ₁ ), sensor signal code (b ₁ ), mode switching code (C ₁ ),
Power supply pin ( ₁ ), sensor signal pin ( ₁ ), mode switching pin ( ₁ ), ground pin ( ₁ ) connected to the ground cord (d ₁ ) respectively
₁ ) is provided. Therefore, although not shown, switching resistors having different values corresponding to the switching resistor (R ₁ ) may be provided in the cords of the other connector segments (C ₂ ), (C ₃ ) ... EFFECT OF THE INVENTION The control mode switching device in the working machine control device according to the present invention is configured as described above, and a sensor for detecting a characteristic value in each control mode is connected to the control unit (15) by a connector. At this time, since the control section (15) immediately switches to the control mode by the mode switching circuit provided in the connector, a special mode switching switch for switching the control mode becomes unnecessary, and such a special mode switching switch is not necessary. There is no danger of mistaken mode switching operation because it is no longer needed,
The switching operation of the desired control mode is automatically performed extremely accurately.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, FIG. 1 is a control block diagram, FIG. 2 is a detailed view of an essential portion of FIG. 1, FIG. 3 is a front view of a connector segment of FIG. 2, and FIG. FIG. 5 is an overall side view of the tractor and the working machine in a working state. Explanation of code (2) …… Work machine (15) …… Control unit

Claims (1)

[Claims] 1. A control unit including a microcomputer is provided on the machine side, and a plurality of control programs having different control contents are built in the control section, and work characteristics in each control mode on the work machine side are individually controlled. The detection value of the sensor that detects
In a control device for a working machine configured to control each drive section based on an output from the control section so as to match each set value of the work characteristics, a microcomputer on the machine side is provided. Each sensor is connected through a detachable connector, and a signal line for inputting a signal from each sensor to the connector and a mode switching line for changing the control content are provided. A control mode switching device in a working machine control device.