JPH07184404A - Apparatus for setting angle of of operation lever for position control of mobile machine - Google Patents

Abstract

PURPOSE:To enable precise lift control of a farm working machine by decreas ing the swinging angle of an operation lever. CONSTITUTION:Adefinite angle [B] which is an operation angle of a position lever 4 between the upper operation limit position 5 and the lower operation limit position 6 is measured by a pair of upper and lower potentiometers 7, 8. A setting angle in a small angle range [C] is set by the upper potentiometer 7 and a setting angle in a large angle range [D] is set by the lower potentiometer 8. A definite angle [A] which is an operation angle of a lift arm 2 between the upper working limit position 9 and the lower working limit position 10 is divided into a large angle region [E] to move above the ground from the upper working limit position 9 and a small angle region [F] to move in the soil at the lower working limit position 10. The region [E] to move above the ground is controlled by the upper potentiometer 7 and the region [F] moving in the soil is controlled by the lower potentiometer 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating angle setting device for an operating lever in position control of a mobile agricultural machine. According to the present invention, an electronically controlled hydraulic mechanism in which the swinging angle of the working machine lifting operation lever is reduced to improve operability enables minute working machine lifting control to be performed even with an operating lever having a small swinging angle. It is a thing.

[0002]

2. Description of the Related Art Conventional position control is disclosed in Japanese Patent Application Laid-Open No. 62-158413, Japanese Patent Application Laid-Open No. 1-211407, and the like.
There is one position setter consisting of a potentiometer attached to the base of the operating lever, and as the total swing angle of the operating lever for changing the set value is reduced,
When the set pitch of the set value is set to a fixed length, the total set pitch picked up by the operating lever decreases, the fluctuation per pitch becomes large, and the following movement on the working machine side becomes jerky.

In order to reduce the fluctuation, it is necessary to increase the number of set pitches of the set value, which can be solved by increasing the diameter of the potentiometer or making the pitch of the set pitch finer, but the mounting space becomes large. It has drawbacks such as cost increase due to dedicated parts.

[0004]

SUMMARY OF THE INVENTION The present invention is intended to solve such a problem of the conventional device, and has taken the following technical means. That is, the lift arm 2 is provided at the end of the machine body of the mobile agricultural machine 1 so that it can be moved up and down by a fixed angle "A", and the position lever 4 installed near the driver's seat 3 is provided so that it can be moved by a fixed angle "B" and the position lever 4
Of the position control control mechanism for moving the lift arm 2 up and down in correspondence with the operation moving position of, the fixed angle "B" which is the operation angle between the operation upper limit position 5 and the operation lower limit position 6 of the position lever 4 Attach the upper and lower potentiometers 7 and 8 to be measured, and set the upper potentiometer 7 to the set value within the small angle "C" range on the operation upper limit position 5 side within the angle "B". Operation lower limit position 6 within angle “B”
The set value in the large angle “D” range on the side is set, and within the fixed angle “A” which is the operating angle between the operation upper limit position 9 and the operation lower limit position 10 of the lift arm 2 from the operation upper limit position 9 side. Large angle mid-air moving section "E" and operation lower limit position 10
It is divided into the small-angle underground moving section section “F” on the side, and the aerial moving section section “E” is controlled in direct proportion to the set value within the small angle “C” set by the upper potentiometer 7, Of an operating lever operating angle setting device in a mobile agricultural machine position control, characterized in that the soil moving part section "F" is controlled in direct proportion to a set value within a large angle "D" set by a potentiometer 8 for And

[0005]

EXAMPLE An example of a mobile agricultural machine 1, which is an agricultural tractor, is shown in the figure.
The present invention is folded into the position lever 4 portion for controlling the lifting and lowering of the working machine 11 which is mounted on the end of the machine body so as to be able to move up and down. Embodiments of the present invention will be described in detail below with reference to the drawings. However, the dimensions, materials, shapes, relative positions, etc. of the components described in this embodiment are as follows.
Unless otherwise specified, the scope of the present invention is not intended to be limited thereto and is merely an illustrative example.

The working machine 11 is a rotary tiller, and is attached to a three-point link 15 including a top link 13 and lower links 14, 14 provided at the rear part of the machine body 12 of the mobile agricultural machine 1. A hydraulic cylinder case 16 is arranged above the rear part of the machine body 12, and when the high pressure oil flows between a cylinder 17 and a piston 18 provided inside, the lift arm 2 rises and a lower link 1 via a lift rod 20.
4,14 are pulled up.

A lift arm sensor 21 such as a potentiometer is attached to the base of the rotary shaft of the lift arm 2, and the lift arm 2 has an upper operating position 9 and an lower operating position 1.
The position of the lift arm 2 within a fixed angle "A", which is an operating angle between 0, is constantly measured and detected, and the CPU 22 is notified. Within the fixed angle “A”, which is the operating angle between the operation upper limit position 9 and the operation lower limit position 10 of the lift arm 2, a large-angle air moving section “E” and an operation lower limit position 10 side from the operation upper limit position 9 side It is divided into a small angle underground section “F”.

The air moving section "E" is a section in which the plowing blade, which is the working portion of the working machine 11, is suspended so that it simply moves up and down, and it requires precise vertical control. It is the section that does not. Underground movement section "F"
Is a section in which the plowing blade, which is the working part of the working machine 11, is performing excavation work in plowing mud soil, and is a section portion that requires a precise vertical control amount and stable movement without jerks. .

A rear wheel 23 of the mobile agricultural machine 1 is provided near the rear part of the machine body 12, and a driver's seat 3 is provided between the rear wheels 23, 23 on the left and right.
Is provided, and the position lever 4 is attached to the fender 24 portion near the driver's seat 3. As shown in FIG. 2, an upper potentiometer 7 and a lower potentiometer 8 are attached to the base of the rotation shaft of the position lever 4.

The upper potentiometer 7 is set within a small angle "C" range on the operation upper limit position 5 side within a fixed angle "B" which is an operation angle between the operation upper limit position 5 and the operation lower limit position 6 of the position lever 4. An actuator 25 for setting a value, which protrudes from the middle of the position lever 4 to the side
The oscillating arm 26 abutting on the work machine 11 is operated to set the angle for position control of the working machine 11 in the air, which will be described in detail later.

The lower potentiometer 8 is set within a large angle "D" range on the operation lower limit position 6 side within a fixed angle "B" which is an operation angle between the operation upper limit position 5 and the operation lower limit position 6 of the position lever 4. An actuator 25 for setting a value, which protrudes from the middle of the position lever 4 to the side
The swinging arm 27 engaged with is forcedly swinging over a fixed angle "B", and the working machine 1 will be described in detail later.
1. Set the angle for position control in the soil.

The upper and lower potentiometers 7 and 8 are like electric type variable resistors and swing (or reversely used) the shaft side with respect to the case side fixed to the machine frame. , The setting value of position control is changed by the change of resistance due to the swinging, and the upper potentiometer 7 having the pushing and abutting swinging arm 26 naturally has at least a small angle "C" by a torque spring or the like. Moves the swing arm 26 to the operator 25 side, but it may move on the large angle “D” side, but if it is not moved, another advantage described later will occur.

The above-mentioned upper operating limit position 9 of the lift arm 2
Angle "A" which is the operating angle between the lower limit position 10 and the operating position
The inside is divided into a large-angle air moving part section “E” from the operation upper limit position 9 side and a small-angle underground moving part section “F” on the operation lower limit position 10 side, and this air moving part section “E” And the operating angle of the small angle “C” set by the upper potentiometer 7 are directly proportionally controlled. This means that the large aerial up-and-down angle "E" of the working machine 11 can be directly proportionally controlled by the small operation angle "C" of the position lever 4, so that the aerial posture of the working machine can be largely changed by changing the movement of the small operating lever.

Further, a small angle soil moving section "F" on the side of the operation lower limit position 10 within the constant angle "A" which is the operation angle between the operation upper limit position 9 and the operation lower limit position 10 of the lift arm 2.
And the operating angle of the large angle “D” set by the lower potentiometer 8 are directly proportionally controlled. This means that the small soil up-and-down angle "F" of the working machine 11 can be directly proportionally controlled by the large operation angle "D" of the position lever 4, so that even if the swing angle of the entire lever is reduced,
Since most of the angles within the swing range can be used for the part of the working machine 11 that controls the raising and lowering in the soil, it is possible to maintain a precise and stable raising and lowering operation.

The high-pressure oil pressurized by the hydraulic pump 28 reaches the control valve 31 and returns to the tank 32 when the work machine 11 is not required to move up and down. The lift arm 2 is set by setting the set value of either the upper or lower potentiometer 7 or 8 attached to the rotation axis side of the position lever 4.
The lift arm 2 swings upward or downward so that the detection values detected by the lift arm sensor 21 of FIG. The swinging direction and angle are commanded by the CPU 22, and the ascending proportional solenoid valve 29 or the descending proportional solenoid valve 30.
Operates to send high-pressure oil between the cylinder 17 and the piston 18.

The setting values of the upper and lower potentiometers 7 and 8 can be switched by controlling the angular position of the position lever 4. For example, the lower potentiometer 8 which constantly rotates allows a small angle "C" within the entire swinging angle of the lever. It is possible to determine the priority order by judging whether the range is "" or the range of the large angle "D". Alternatively, the swing arm 26 of the upper potentiometer 7 can be moved only within the range of the small angle “C”, and the upper potentiometer 7 can be prioritized from the time when the swing arm 26 moves. .

In the illustrated example, the angle ratio between the small angle "C" and the large angle "D" between the setting portions on the manual lever side, and the large angle "E" and the small angle between the detection portions on the lift arm 2 side. Although the angle ratio of each “F” is constant, it may be changeable. For example, if the mutual angle ratio is set to 5: 5 and 5: 5, the operation can be performed in the same manner as in the conventional case.

[0018]

As described above, according to the present invention, the large angle on the lift arm 2 side is set so as to match the set value set by the swing position within the small angle "C" range on the position lever 4 side. Since the detection value, which is the stop position of the air moving section "E", is determined, the work machine 11 can be largely changed with a small lever operation amount to stop it in the air position. Time is not delayed.

Further, the lift arm 2 which is the section "F" of the working machine 11 which requires a high degree of precision in the raising and lowering operation, is the underground moving section section "F".
For the small swing angle portion of the position lever 4, the set value is set to a large angle "D" with respect to the entire swing angle of the position lever 4, so the number of set values increases, and the work machine 11 stops within the section "F". The detected value, which is the position, increases, and precise elevation control is possible.

As a result, the overall swing angle of the position lever 4 can be made smaller than in the conventional case, so that the manual operation portion can be compact, while exhibiting the same or higher performance, and can be arranged in a narrow space.

[Brief description of drawings]

FIG. 1 is a side view of a main part.

FIG. 2 is a partially enlarged view of a main part.

FIG. 3 is an overall side view.

FIG. 4 is an explanatory diagram of an actuator section.

FIG. 5 is a control circuit diagram.

[Explanation of symbols]

 1 Mobile agricultural machinery 2 Lift arm 3 Driver's seat 4 Position lever 5 Operation upper limit position 6 Operation lower limit position 7 Upper potentiometer 8 Lower potentiometer 9 Operation upper limit position 10 Operation lower limit position

Claims (1)

[Claims] 1. A lift arm 2 is provided at an end portion of a mobile agricultural machine 1.
Is provided so that it can be moved up and down by a fixed angle "A", and a position lever 4 installed near the driver's seat 3 is provided so that it can be operated by a fixed angle "B", and the lift arm 2 can be moved up and down in accordance with the operation moving position of the position lever 4. In the one with a position control control mechanism for moving, two upper and lower potentiometers 7 and 8 for measuring a constant angle "B" which is an operation angle between the operation upper limit position 5 and the operation lower limit position 6 of the position lever 4 are provided. Mounting, small angle "C" on the upper limit position 5 side of angle "B" with potentiometer 7 for upper part
Set the set value in the range and lower potentiometer 8
The set value in the large angle “D” range on the operation lower limit position 6 side within the angle “B” is set by and the fixed angle “that is the operating angle between the operation upper limit position 9 and the operation lower limit position 10 of the lift arm 2”. The inside of "A" is divided into an in-air moving section section "E" having a large angle from the operation upper limit position 9 side and a small-angle underground moving section section "F" having a small angle on the operation lower limit position 10 side and set by the upper potentiometer 7. Control the mid-air moving section "E" in direct proportion to the set value in the small angle "C", and in direct proportion to the set value in the large angle "D" set by the lower potentiometer 8 in the soil moving section. An operating lever operating angle setting device in mobile agricultural machine position control, characterized by controlling section "F".