JPH0740807B2 - Lifting control mechanism for ground work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention is a target in which a ground work device is attached to a traveling machine body so as to be capable of relative vertical movement, and a ground work height of the work device is arbitrarily set by a plowing depth setting device. The automatic tilling depth control means for maintaining the height and the position controlling means for maintaining the height of the working device with respect to the machine body at an arbitrary first predetermined height by the position setter are provided, and the automatic tilling depth control means and the position are provided. Prior to the control means, the state in which the working device is raised to the second predetermined height against the body by the raising setter and the state in which the raised state is canceled are alternately performed for each arbitrary operation on the operating tool. The present invention relates to a lifting control mechanism for a ground work device provided with a forcible ascent means and a forcibly retreat ascending means for automatically raising the work device to the second predetermined height against the machine body when the traveling machine body retreats.

[Conventional technology]

The artificial switch for actuating the forcible raising means is of a type that maintains an initially operated state both mechanically and electrically. That is, when the switch is pressed and the working device is forcibly lifted, the switch maintains the pressed state and maintains the electrical connection state so that the working device maintains the lifted state. Therefore, even if the engine key switch is turned on again after the tractor has been stopped by turning off the main power source (engine key switch), the electrical connection state is maintained by the switch so as to maintain the rising state of the working device. Is maintained, the working device does not drop accidentally.

[Problems to be Solved by the Invention]

However, if a switch that maintains the original electrical connection state is used as an artificial switch that activates the forcible ascending means by newly adding the forcible reverse control means, the control means can be used only when the switch is operated. I had to make a momentary-type switch to send a call.

Therefore, this time, the electrical connection state by the switch is not expected, and only the fact that the working device is in the ascending state or the descending state is stored by the memory or the like in the control device. When the switch is turned off, the contents in the memory are lost, and when the key switch is turned on again to restart, for example, when the working device is raised by the position control means, the position is returned to its set position. Although it is a priority circuit, if the working device is raised from the automatic plowing control state by the operation of the forced raising means or the forced reverse control means, the forced raising means has been canceled due to the disappearance of the memory contents. ,
The automatic working depth control state is returned to, and the working device falls to the ground.

Therefore, it was necessary to be careful when restarting.

It is an object of the present invention to provide a simple control change that can prevent an accidental drop of a work device regardless of a worker's will.

[Means for Solving the Problems]

The characteristic configuration according to the present invention is such that, at the time of turning on the main power, a detection value from a sensor that detects the height of the working device with respect to the machine body, and a rising height of the working machine when the forced lifting means is activated (that is, a second predetermined value). height)
And a point of obtaining an absolute value of the difference, a point of activating the forcible ascending control means so as to reach a second predetermined height position if the absolute value is equal to or less than a preset predetermined value, and the absolute value is If the value is equal to or more than the predetermined value, the position control means is configured to be in operation, and the operation and effect are as follows.

[Work]

Considering the case where the main power supply is turned off while the work equipment is raised, i) when the work is lifted from the automatic plowing depth control state by the forced raising means, and ii) when the main plunge control is performed from the automatic tilling depth control state If there is a rise, iii) if there is a rise with the position control means.

In the case of i), since the working device has been raised to the second predetermined height, the absolute value is naturally "zero", so that it is smaller than the preset predetermined value, and the forcible raising means is activated to perform work. The device is maintained at a second predetermined height.

In the case of ii), since the raised position is the same as the second predetermined height, the absolute value is smaller than the preset predetermined value, the forced raising means is activated, and the working device is maintained at the second predetermined height. It

In the case of iii), the position control means can be operated to maintain an arbitrary height (first predetermined height), that is, the detected value may be the same as the second predetermined height, or more than that. When the height is the same as the second predetermined height, the absolute value becomes smaller than a preset predetermined value, so that the forcible raising means operates and the working device moves to the second position.
Maintaining a certain height, the working device does not fall. Further, when the detected value is lower than the second predetermined height, the absolute value becomes larger than the preset predetermined value, so the position control is activated and the working device is maintained at the first predetermined height. , In this case also does not fall.

〔The invention's effect〕

Therefore, when the tractor is stopped and then restarted while the work device is being raised, the tractor is not accidentally dropped, which can contribute to safety.

Moreover, when the working device is lifted by the forced lifting means,
By adopting the control mode as described above, even if the forced raising switch is changed to the “momentary switch”, the work device can be controlled as if the conventional forced raising switch was used. .

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 4, a rotary ground working device (3) is connected to the rear end of the traveling machine body (1) via a two-point link mechanism (2), and a hydraulic cylinder (4) provided on the machine body side. Lift arm (5) that is driven up and down by a link mechanism and link mechanism (2)
And are connected via a lift rod (6) to form an agricultural tractor type working machine capable of driving and lifting the ground working apparatus (3).

In the tractor, two types of automatic control mechanisms are possible, that is, position control for raising and lowering the ground work device (3) to the set height of the aircraft and plowing depth control for maintaining the ground work device (3) at the set working depth. Is equipped with.

That is, a potentiometer (7) for detecting the height of the ground working device (3) with respect to the body is attached to the base end of the lift arm (5), and a swingable rear cover () is attached to the ground working device (3). A potentiometer (8) for detecting the working depth of the device (3) is attached from the swing amount of 3a), and the vehicle body (1)
A lever (13) for raising and lowering the ground work device (3) by arranging a control box (11) having a control device (10) built in the operation part (9) formed on the side of the seat (12).
Is provided.

As shown in FIGS. 1 and 2, on the panel (11a) of the control box (11), there is a switch (14) that can be switched between two ON / OFF positions and a dial-operated plowing depth setting device ( 15), dial operation type tilling depth control sensitivity setting device (1
6), a rise setting device (17) is provided. The operation lever (13) is of a uniaxial swing type, and the lever (1
At the base of 3), a potentiometer (1
8) is attached, and by setting this operation lever (13) in the operation range (X), the working device (3) is moved up and down to the first predetermined height of the machine body corresponding to the operation position of the lever (13). Also, by setting the operation area (Y) connected to this operation area (X), the two operations (X), (Y) are output by the potentiometer (18) so that the automatic plowing depth control state is established. )
Is determined.

When the operating lever (13) having a control system as shown in FIG. 1 is set in the operating range (X), the signal from the potentiometer (18) and the potentiometer () attached to the lift arm (5) are set. Control is performed based on the feedback signal from 7), and the switch (14)
When is set to the ON state and the operating lever (13) is set to the operating range (Y), the automatic tilling depth control is activated by the signal from the potentiometer (18), and the signal from the tilling depth setter (15) is activated. , And a feedback signal from the potentiometer (18) that detects the swing of the rear cover (3a).

If the operating lever (13) is set to the operating range (Y) while the switch (14) is set to OFF, the working device (3)
However, it is in a so-called floating state in which it descends to the limit where it can descend by its own weight and swings following the unevenness of the ground.

Above, the operating lever (13) and the potentiometer (7)
And are referred to as position control means including the control device (10) as position setters, and the plowing depth setter (15), the rear cover (3a), the operating lever (13) and the potentiometer (7) are automatically plunged. It is called the depth control means.

When the automatic control is performed, the electromagnetic valve (V ₄ ) for the hydraulic cylinder ( ₄ ) is operated by the output signal from the control device (10). In addition, in the control box (11), the working device (3) is raised to the second predetermined height against the machine body preset by the raising setting device (17) in preference to the automatic plowing depth control and the position control. An operating tool (19) is provided for alternately performing the state and the released state, and the operating tool (19) is a momentary switch that signals only that it is operated. A lamp (20) that repeatedly turns on and off is provided each time the switch (19) is operated, and is turned on when the working device (3) is located at the second predetermined height. . The operation tool (19), the control device (10), the raising setting device (17) and the like are referred to as the forced raising means. In addition, the above-mentioned plowing depth sensitivity setting device (16)
Is also used as a switch for arbitrarily raising and lowering the working device (3), and by operating the operating positions (D), (M), (U), the working device (3) is lowered to a neutral state, and It is designed to raise. The control device (10) has a built-in microprocessor and is configured to perform automatic control according to a preset program.

Next, the forced reverse drive control means will be described. Although not shown, a limit switch or the like is provided at the backward operation position of the traveling operation lever to detect the backward traveling state of the traveling machine body (1).
Therefore, when this limit switch senses and operates, the working device (3) takes precedence over the automatic plowing depth control and position control.
Forcibly raise. The height at which the working device (3) rises is the second predetermined height position set by the rise setting device (17), and of course, when the work device (3) rises, the lamp (20) lights up. Therefore, the forced backward raising means is also a kind of the forced raising means, and when releasing the raised state and lowering the working device (3), the momentary switch (19) is pushed to move down. Can be made.

With the above configuration, the main power source is turned off while the working device (3) is in the raised state, the information in the control device (10) is cleared, and then the main power source is turned on again. The control for preventing the fall of) will be described with reference to the float chart of FIG.

First, when the main power is turned on, the set value (second predetermined height) set by the ascending setting device (17) is stored in the B register, and then the height of the working device (3) against the body is sensed. Therefore, the detected value of the potentiometer (7) for detecting the swing amount of the lift arm (5) is stored in the C register, and the absolute value of the deviation between the two is calculated by the A register. Therefore, if this calculated value (deviation) is smaller than a predetermined value (α) set in advance,
Assuming that the forcible (backward) ascending means has caused the ascending, the forcible ascending means is operated to maintain the ascended state.
If the calculated value is larger than the predetermined value (α) set in advance, the position control means is actuated on the assumption that the position control has increased. After that, the control mode is arbitrarily selected by the elevating operation lever (13).

[Other embodiment] The working device (3) may be a working device other than the rotary tiller.

The operation tool (19) may be of another type as long as it can output the operation as a simple signal.

Although a microprocessor is used as the control device (10), a hardware configuration using a gate circuit may be adopted.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a lifting control mechanism of a ground work apparatus according to the present invention. FIG. 1 is a block diagram of the overall control, FIG. 2 is a front view showing a control operation panel, and FIG. FIG. 4 is a side view of the agricultural tractor when the main power supply is cut off once and then turned on again in this state. (1) …… Traveling machine, (3) …… Ground work device, (7)
...... Sensor, (10) …… Control device, (17) …… Rise setting device, (19) …… Operating tool.

Claims (1)

[Claims] 1. A target in which a ground work device (3) is attached to a traveling machine body (1) so as to be capable of relative vertical movement, and a work height of the work device (3) above ground is arbitrarily set by a plowing depth setting device (15). The automatic working depth control means for maintaining the height and the position controlling means for maintaining the height of the working device (3) with respect to the machine body at an arbitrary first predetermined height by the position setting device are provided, and the automatic working depth control is performed. State in which the working device (3) is raised to the second predetermined height against the body preset by the raising setting device (17) every arbitrary operation on the operation tool (19) in preference to the means and the position control means. And a forcible ascending means for alternately performing the ascending state to cancel the ascending state, and a forcible retreat for automatically raising the working device (3) to the second predetermined height against the machine body as the traveling machine body (1) moves backward. With the lifting control mechanism of the ground work device equipped with lifting means I, at power-on time, a sensor for detecting the machine body height of the working device (3) (7)
If the absolute value of the difference between the detected value from the vehicle and the second predetermined height is less than or equal to a preset predetermined value, the forcible raising control means is activated so that the second predetermined height is reached, and the absolute value is set to the above-mentioned absolute value. An elevation control mechanism for a ground work device, which is provided with a control device (10) for activating the position control means if the value is equal to or more than a predetermined value.