JPH0739373Y2 - Work implement control device for tractor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial field of application The present invention relates to a work machine control device for a tractor, particularly a potato excavator, and more specifically, a work machine that operates a hydraulic actuator to raise and lower the work machine. Regarding the control device.

(B) Conventional technology Conventionally, control devices for tractor work machines, especially potato excavators,
The hydraulic actuator is operated based on the position of the lifting operation lever, and the potato excavator is moved up and down.

(C) Problems to be solved by the device By the way, in the above-mentioned conventional potato excavator control device, the operator must operate the elevating operation lever according to the situation of the field, and the potato excavator in particular works. It is extremely difficult to keep the potato excavator in a proper posture because it will dive into the soil as it moves, and towing the potato excavator based on changes in the soil quality and slope of the field. There is a problem that it cannot cope with a sudden change in resistance, slips on the drive wheels of the tractor, and deteriorates running fuel efficiency.

Therefore, the present invention is configured to prevent a working machine such as a potato excavator from digging into the soil as the work progresses, and to raise the working machine when there is a sudden load change, thereby solving the above-mentioned problems. An object of the present invention is to provide a work implement control device for a tractor.

(D) Means for Solving the Problems The present invention has been made in view of the above circumstances. For example, referring to FIGS. 1 and 3, the hydraulic actuator (2) is actuated to activate the potato. In a tractor (1) configured to raise and lower a working machine (3) such as a excavator, a hydraulic pressure supply means (5) for supplying a hydraulic pressure to the hydraulic actuator (2) at predetermined intervals, and Ground distance detecting means (6) for detecting a distance (h) between the tractor (1) and the ground,
When the detection value of the ground distance detection means (6) decreases, the hydraulic pressure is supplied to the hydraulic actuator (2) prior to the hydraulic pressure supply means (5) to raise the working machine (3). And a control means (7).

(E) Operation Based on the above-mentioned configuration, the tractor (1) supplies the hydraulic pressure to the hydraulic actuator (2) by the hydraulic pressure supply means (5) at predetermined time intervals, and biases the working machine (3) in the floating direction. The work machine is prevented from slipping into the soil, the drive wheels are prevented from slipping, and the ground distance detecting means (6) travels while detecting the distance (h) to the ground.

Then, for example, when slip occurs on the drive wheels of the tractor (1) in a soft ground, the drive wheels slip into the ground,
The distance (h) between the tractor (1) and the ground decreases and the detection value of the ground distance detecting means (6) decreases. Then, the tractor (1) supplies the hydraulic pressure to the hydraulic actuator (2) by the ascending control means (7) prior to the hydraulic pressure supply means (5) based on the decrease in the detected value, and the working machine (3). ) Rises. As a result, the traction resistance applied to the working machine (3) is reduced and the slip of the drive wheels is stopped. The reference numerals in parentheses refer to the drawings, but do not limit the configuration in any way.

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

As shown in FIG. 3, the tractor (1) has a traveling machine body 12 supported by front wheels 10 and rear wheels 11, and a driver's seat 13 is provided substantially at the center of the traveling machine body 12. Is provided. The driver's seat 13 has a steering wheel 15 and a seat 16
And a clutch pedal 17 are provided respectively. Further, a mission case 20 is arranged at the rear of the traveling body 12, and a substantially central portion of the lower part of the mission case 20,
Also, the ultrasonic transmitter 21 and the ultrasonic receiver connected to an ultrasonic sensor 6 described later are provided below the rear wheel 29 in a side view of the machine body.
22 are provided. Further, the potato excavator 3 is mounted at the rear of the traveling machine body 12 so as to be able to move up and down via a lift arm 25, a lower link 26, and the like, and a lift arm angle detection including a potentiometer is provided at the base end of the lift arm 25. Sensor
27 and a hydraulic cylinder 2 for raising and lowering the working machine are installed.

The hydraulic cylinder 2 has a hydraulic circuit U shown in FIG.
It is controlled by.

In the hydraulic circuit U, the hydraulic pump 30 communicates with the tank 32 through the filter 31, and the priority valve
While communicating with the lift rod cylinder 35 via 33,
It communicates with the working machine lifting hydraulic cylinder 2 via a control valve 36. Further, the control valve 36
Are controlled by the hydraulic pressure from the ascending solenoid valve 37 and the descending solenoid valve 39. On the other hand, the hydraulic pump 40 communicates with the tank 32 via the filter 31,
In addition, it communicates with the traveling clutch 42 via the control valve 41. The hydraulic pressure acting on the traveling clutch 42 is controlled by the traveling clutch solenoid valve 43 incorporated in the control valve 41.

The ascending solenoid valve 37 and the descending solenoid valve 39 are controlled by the electric circuit shown in FIG. 1, and a control unit 44 is incorporated in the electric circuit. The control unit 44 incorporates a hydraulic pressure supply unit 5, a rising control unit 7, a timer 46 and the like. An ascending solenoid valve 37 is connected to the output side of the oil pressure supply means 5, and the oil pressure supply means 5 operates the ascending solenoid valve 37 at predetermined intervals based on the time measured by the timer 46. By supplying hydraulic pressure to the working machine lifting hydraulic cylinder 2 to urge the potato excavator 3 in a floating direction, it is possible to prevent the potato excavator 3 from diving into the soil as the work progresses. Is configured. Also, the rising control means 7
Is based on the phase difference between the pulse transmitted from the ultrasonic transmitter 21 and the pulse received from the ultrasonic receiver 22 on its input side, the distance h between the mission case 20 and the ridge upper surface A standing on the field.
Is connected to the ultrasonic sensor 6, and an ascending solenoid valve 37 and a descending solenoid valve 39 are connected to the output side thereof. When the distance h between the mission case 20 and the ridge upper surface A detected by the ultrasonic sensor 6 decreases, the ascending solenoid valve 37 is actuated in preference to the oil pressure supply means 5, and the working machine ascending / descending hydraulic pressure is increased. The hydraulic pressure is supplied to the cylinder 2 to raise the potato excavator 3.

Since the present embodiment is configured as described above, the tractor 1 operates the raising solenoid valve 37 at predetermined time intervals by the hydraulic pressure supply means 5 to supply the hydraulic pressure to the working machine lifting hydraulic cylinder 2. , The potato excavator 3 is biased in the floating direction to prevent the potato excavator 3 from diving into the soil as the work progresses, and the ultrasonic transmitter 21 transmits toward the ridge upper surface A. The ultrasonic receiver 22 receives the generated pulse, and the ultrasonic sensor 6 travels while detecting the distance h between the mission case 20 of the tractor 1 and the ridge upper surface A based on the phase difference between the transmitted pulse and the received pulse.

When the rear wheel 11 of the tractor 1 slips on a road surface having a low friction coefficient such as on soft ground, the rear wheel 11 dives into the ground, and the distance h between the mission case 20 of the tractor 1 and the upper surface of the ridge decreases. To do. Then, when the phase delay between the transmission pulse of the ultrasonic transmitter 21 and the reception pulse of the ultrasonic receiver 22 decreases, and the detection value of the ultrasonic sensor 6 decreases based on this, the increase occurs based on the decrease of the detection value. The control means 7 operates the lifting solenoid valve 37 to supply the hydraulic pressure to the working machine lifting hydraulic cylinder 2 to lift the potato excavator 3. As a result, the traction resistance applied to the potato excavator 3 is reduced, and the slip of the rear wheel 11 of the tractor 1 is stopped.

Next, another embodiment of the present invention will be described with reference to FIG. The same parts as those in FIGS. 1 to 3 are designated by the same reference numerals and the description thereof will be omitted.

In this embodiment, the ultrasonic sensor 6 is connected to the input side of the control means 45 incorporated in the control section 44, and the rising solenoid valve 37 and the traveling clutch solenoid valve 43 are connected to the output side thereof. ing. When the detected value of the ultrasonic sensor 6 decreases, the control means 45 operates the raising solenoid valve 37 in preference to the hydraulic pressure supplying means 5 to supply the hydraulic pressure to the working machine lifting hydraulic cylinder 2 to supply the potato. Horitori 3
And the detection value of the ultrasonic sensor 6 increases, the traveling clutch solenoid valve 43 is controlled to release the traveling clutch 42.

Since the present embodiment is configured as described above, when the tractor 1 reaches the headland and the ridges disappear below the mission case 20, the ultrasonic sensor 6 detects the distance between the mission case 20 and the field scene. Therefore, the detection value of the ultrasonic sensor 6 rapidly increases. Then, based on the increase in the detected value, the control means 45 controls the traveling clutch solenoid valve 43 to release the traveling clutch 42. As a result, the tractor 1 can be stopped quickly regardless of the operator's operation.

(G) Effect of the Invention As described above, according to the present invention, the hydraulic actuator (2) for raising and lowering the working machine (3) is configured to supply the hydraulic pressure by the hydraulic pressure supply means (5) at every required time. Therefore, it is possible to prevent the working machine (3) from slipping into the soil by urging the working machine (3) in the floating direction, thereby preventing the drive wheels of the tractor (1) from slipping,
It is possible to prevent deterioration of fuel efficiency and improve economy.

When the distance (h) between the tractor (1) and the ground is reduced, the hydraulic pressure supply means (5) is controlled by the ascending control means (7).
Since the hydraulic pressure is supplied to the hydraulic actuator (2) in order to raise the working machine (3), even if a slip occurs in the drive wheel of the tractor (1) in a soft ground, for example, The slip can be immediately stopped, whereby the work can be continued without interruption, the burden on the operator can be reduced, and the work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a view showing an electric circuit according to the present invention, FIG. 2 is a view showing a hydraulic circuit thereof, FIG. 3 is an overall side view showing a tractor to which the present invention is applied, and FIG. 4 is another view of the present invention. It is a figure which shows the electric circuit which concerns on an Example. 1 ... tractor, 2 ... hydraulic actuator (hydraulic cylinder for lifting work equipment), 3 ... work equipment (potato excavator), 5 ...
... hydraulic pressure supply means, 6 ... ground distance detection means (ultrasonic sensor), 7 ... ascent control means.

Claims (1)

[Scope of utility model registration request] 1. A tractor configured to actuate a hydraulic actuator to raise and lower a work implement, comprising: hydraulic supply means for supplying hydraulic pressure to the hydraulic actuator at predetermined intervals; and a distance between the tractor and the ground. A ground distance detecting means for detecting the ground pressure, and a rising control means for supplying a hydraulic pressure to the hydraulic actuator in preference to the hydraulic pressure supplying means to raise the working machine when the detection value of the ground distance detecting means decreases, A work implement control device for a tractor, comprising: