JPH0728803Y2 - Work implement control device for mobile agricultural machinery - Google Patents

Description

[Detailed Description of the Invention] (a) Field of Industrial Application The present invention relates to a work machine control device for a mobile agricultural machine such as a tractor. More specifically, it operates a hydraulic actuator for a work machine based on the operation of a position lever to perform work. The present invention relates to a work machine control device for a mobile agricultural machine configured to move up and down the machine.

(B) Conventional technology Generally, a mobile agricultural machine, for example, a tractor, is equipped with a working machine such as a rotary machine behind a traveling machine body so that the working machine can freely move up and down based on a position lever operation, and the position lever is lowered. It is configured to perform a tilling work or the like by operating the work machine in a position where the work machine is driven into the field scene.

(C) Problems to be Solved by the Invention However, according to the above-mentioned conventional tractor, when the rotary is monotonously lowered from its raised position, the descending speed thereof is increased in combination with the weight of the rotary, and the rotary is When the vehicle suddenly comes into contact with the field scene, a dashing phenomenon occurs in which the traveling machine body is pushed forward by the rotation of the rotary.

Therefore, in the present invention, the duty ratio of the output pulse signal to the descending solenoid is gradually reduced, the rotary working machine is gradually decelerated to descend / ground, and the descending speed is adjusted to match the field conditions by volume adjustment. It is an object of the present invention to provide a working machine control device that is configured to be adjustable and that solves the above problems.

(D) Means for Solving the Problems The present invention has been made in view of the above circumstances. For example, referring to FIG. 1, a position lever (9) is provided.
In the mobile agricultural machine (1) configured to operate the working machine hydraulic actuator (34) (see FIG. 6) based on the operation of (see FIG. 5) to move the working machine (12) up and down, Descending deceleration means (37) for decelerating the working machine hydraulic actuator (34) by gradually reducing the duty ratio of the inching output signal to the descending solenoid (23) based on the descending operation of the lever (9); The duty ratio initial value changing means (39) capable of appropriately changing the initial value when the duty ratio is reduced, and the adjusting means (27) for adjusting the duty ratio initial value changing means (39) are provided.
Based on the duty ratio initial value changing means (39) adjusted by the operation of the adjusting means (27), the initial value of the duty ratio of the inching output signal is appropriately changed to reduce the descending speed of the working machine (12). It is characterized in that it can be changed.

(E) Action Based on the above-mentioned structure, when the position lever (9) is moved down from its raised position to ground the working machine (12) during the operation of the mobile agricultural machine (1), the descending / decelerating means (37) based on this operation. Thereby, the inching output signal to the lowering solenoid (23) is output with its duty ratio gradually reduced, and this causes the working machine hydraulic actuator (34).
Is operated intermittently, so that the working machine (12) is lowered so that its speed becomes gradually slower and then grounded. Furthermore,
When the adjusting means (27) is appropriately adjusted depending on the field conditions, the duty ratio initial value changing means (39) changes the initial on-time of the inching signal output from the descending / decelerating means (37) based on the adjustment. Since the duty ratio is appropriately changed, therefore, the working machine (12) is appropriately changed in its descending speed according to the field conditions.

Note that the reference numerals in parentheses do not limit the configuration in any way.

(F) Embodiment An embodiment according to the present invention will be described below with reference to the drawings.

As shown in FIG. 6, the tractor 1 includes a front wheel 2 and a rear wheel 3.
Has a traveling machine body 5 supported by, and a driver's seat 6 is arranged substantially in the center of the traveling machine body 5,
A steering wheel 7 and a seat 10 are installed in the driver's seat 6, respectively. Further, a rotary working machine 12 is mounted on the rear side of the traveling machine body 5 so as to be able to move up and down through a lift arm 8, a link 14 and the like, and a hydraulic actuator 34 for lifting the working machine is installed on the lift arm 8 portion. There is.

Further, as shown in FIG. 4, the driver's seat 6 is provided with a mode switching volume 26, a working machine switching volume 20, a descending speed control volume 27 and the like. Further, as shown in FIGS. 5 (a) and 5 (b), the position lever 9 installed in the driver's seat 6 is installed so as to freely rotate in the direction of arrow B about the rotation base A. The rotation angle of the lever 9 is detected by the position detection sensor 18.

On the other hand, the microcomputer 17 mounted on the tractor 1
As shown in FIG. 1, the microcomputer (hereinafter referred to as a microcomputer) has a position detection sensor 18 for detecting the operation angle of the position lever 9, a lift arm angle sensor 19, a descending speed adjusting volume 27, etc., connected to its input side. At the same time, an automatic plowing depth ramp 31, an automatic tilt ramp 32, a lift arm raising solenoid 22, a lift arm lowering solenoid 23, a lift rod extension solenoid 33, and a lift rod contraction solenoid 35 are connected to the output side. Further, in the microcomputer 17, when the position detection sensor 18 detects that the position lever 9 has been lowered from its uppermost position, the microcomputer 23 moves to the lift arm lowering solenoid 23.
A descending deceleration means 37 for gradually reducing the duty ratio and outputting a signal is provided, and the initial value of the duty ratio changed by the descending deceleration means 37 is appropriately changed based on the adjustment / operation by the descending speed adjusting volume 27. The duty ratio initial value changing means 39 is provided. Therefore, when the position lever 9 is lowered from its uppermost position and the rotary working machine 12 is lowered toward the field, the lowering speed adjusting volume 27 is rotated to, for example, the position shown in B of FIG. 3 (a). When operated, the first pulse width when the duty ratio is reduced, that is, the on-time is set to T ₁ as shown by a in FIG. 2, and as a result, the working machine lifting hydraulic actuator 34 is operated once. The ON operation time of each rotary working machine is increased as shown in FIG.
With 12, the arrival time to the target position such as the ground surface is shortened.
Similarly, when the adjusting volume 27 is operated in the position indicated by b in FIG. 3 (a), as shown at B 'of FIG. 2, shorter T ₂ than the first on-time T ₁ The duty ratio T ₂ / T is set to be smaller than that in the case of the second a ', and as shown in Fig. 3 (b) b ", the descending time of the rotary working machine 12 to the target position is relatively delayed. It Also, when the descending speed adjusting volume 27 is operated to c of FIG. 3 (a), as shown in the second map segments', the shorter T ₃ than the on-time of the first pulse T ₂ The duty ratio T ₃ / T is further reduced, and the rotary working machine 12 is set to the third
The fall time is further delayed as shown in FIG.
Incidentally, 36 in FIG. 1 is a ROM and a RAM.

Since the present embodiment is configured as described above, for example, when performing cultivating work using the rotary working machine 12, the operator operates the position lever 9 to the highest position to move the working machine 12 to the highest position. Hold. Then, when the tractor 1 reaches its working position, the position lever 9 is operated to descend from its highest position. Then, the lever 9
Is detected by the position detection sensor 18, and based on this, the descending speed reducing means 37 causes the lift arm descending solenoid to move.
The inching pulse signal is output toward 23 so that the duty ratio becomes gradually smaller. As a result, the work machine lifting hydraulic actuator 34 is intermittently operated,
The rotary working machine 12 is lowered toward the field so that the descending speed gradually decreases. Therefore, since the rotary working machine 12 is grounded in the state of being most decelerated, the dashing phenomenon does not occur.

Further, the sinking amount of the front wheels 2 and the rear wheels 3 changes due to the difference in conditions such as hardness in the field, and the grounding timing of the rotary working machine 12 changes. In this case, the descent speed adjusting volume 27 is appropriately rotated. By this, the duty ratio initial value changing means 39
The initial duty ratio of the inching pulse signal is changed appropriately. Therefore, the duty ratio of the first pulse of the inching pulse signal output from the lowering / decelerating means 37 toward the lift arm lowering solenoid 23 is appropriately increased / decreased, whereby the rotary working machine 12 can freely change its lowering speed, Dashing control corresponding to the situation is performed.

(G) Effect of the Invention As described above, according to the present invention, the adjusting means (27)
The duty ratio initial value changing means (3
Based on 9), the initial value of the duty ratio of the inching output signal from the descending / decelerating means (37) can be changed as appropriate, so the descending speed of the working machine (12) is gradually reduced to smoothly ground, It is possible to reliably prevent the occurrence of problems such as the dashing phenomenon, and to freely change the descending speed of the working machine (12) to make fine adjustments corresponding to the conditions such as the hardness of the field.

[Brief description of drawings]

FIG. 1 is a diagram showing an electric circuit according to the present invention, FIG. 2 is a time chart showing a change of an inching pulse signal when the rotary working machine is descending, and FIG. 3 (a) is an adjustment of a descending speed adjusting volume. Fig. 3 (b) is a diagram showing the descending speed of the rotary working machine which changes by adjusting the descending speed adjusting volume, Fig. 4 is a drawing showing the descending speed adjusting volume, etc., and Fig. 5 (a) is a position lever. FIG. 5 (b) is a front sectional view showing the installation structure of FIG. FIG. 6 is an overall side view showing a tractor to which the present invention can be applied. 1 ... Mobile agricultural machine (tractor), 9 ... position lever, 12 ... working machine (rotary working machine), 23 ... falling solenoid (lift arm lowering solenoid), 27 ... adjusting means (lowering speed adjusting volume) ), 34 ... Hydraulic actuator for working machine (hydraulic actuator for lifting working machine), 37 ... Lowering / decelerating means, 39 ... Means for changing initial value of duty ratio.

Claims (1)

[Scope of utility model registration request] 1. A mobile agricultural machine configured to operate a hydraulic actuator for a working machine based on an operation of a position lever to raise and lower the working machine, wherein an inching output to a lowering solenoid is performed based on a lowering operation of the position lever. Decreasing / decelerating means for decelerating the working machine hydraulic actuator by gradually decreasing the duty ratio of the signal, duty ratio initial value changing means for appropriately changing the initial value when the duty ratio is reduced, and the duty ratio initial value. Adjusting means for adjusting the changing means is provided, and based on the duty ratio initial value changing means adjusted by the operation of the adjusting means, the initial value of the duty ratio of the inching output signal is appropriately changed, A working machine control device for a mobile agricultural machine, characterized in that the lowering speed can be changed.