JPH0753043B2 - Work machine control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is used in rice transplanters and the like, and based on the detection result of a sensor that detects the operation amount of an operation tool, the work position or travel speed of a work device. The present invention relates to a control device for a work machine, which is provided with control means for switching a gear shift position of the device by an actuator.

[Conventional technology]

In the control device for this type of work machine, since the gear shift operation is performed by the actuator, the operation load can be reduced and the usability is good, but the potentiometer as the sensor and the operation tool are used. It is necessary to confirm the correspondence of.

[Problems to be solved by the invention] In other words, for example, if a potentiometer is used as a sensor, it is calculated by design so that the + 5V to + 35V (not the actual value) of the potentiometer corresponds to the entire stroke of the operating tool. However, there is a case where + 4V to 34V, which actually attaches the potentiometer and works with the operation tool, is displayed as the indicated value. In this case, there is an error between the command given to the actuator and the target operation amount set by the actual operation of the operation tool as the setting device, so that the gear shift or the like cannot be performed accurately.

For this reason, measures have been taken such as forming the mounting hole into a long hole so that the mounting posture of the potentiometer can be finely adjusted, but the fine adjustment work of the potentiometer is also easily performed because the resolution of the potentiometer is high. It was something I couldn't get.

It is an object of the present invention to provide a device that can perform accurate control without the trouble of finely adjusting the mounting posture of a potentiometer as a sensor.

[Means for Solving the Problems]

The control device for a working machine according to the present invention is a work provided with a control means for switching the working position of the working device or the shift position of the traveling transmission device by an actuator based on the detection result of the sensor that detects the operation amount of the operating tool. In the control device of the machine, adjustment mode setting means for setting the adjustment mode state for adjusting the correspondence between the operation amount of the operation tool and the detection value of the sensor, and the adjustment mode state set by the adjustment mode setting means. And a storage device for storing the value detected by the sensor in response to the operation of the operating tool over the entire stroke when the stored value is used as a reference,
It is characterized in that a judging means for judging a target operation amount set by the operating tool is provided based on a detection value of the sensor when the operating tool is operated in an actual driving state.

The function and effect of this characteristic configuration are as follows.

[Action]

When adjusting the correspondence between the operation amount of the operation tool and the detection value of the sensor, it is necessary to put the control device in the adjustment mode state.One of the means for putting the adjustment mode state is, for example, a dedicated switch. It is possible to adopt a method in which the adjustment mode state is provided by operating this switch, and the adjustment mode state is maintained for a certain period of time by the operation of a timer or the like. The operation tool is operated for the full stroke within this fixed time, and at this time, the value indicated by the sensor is taken. As the numerical value to be taken in, the value indicated by the sensor in correspondence with the operating positions at both ends that define the lower limit and the upper limit of the operating range of the operating tool is appropriate. Based on
It is possible to convert or determine the detection value of the sensor in the actual working state into the target operation amount set by the operation tool. That is, for example, when the detection value of the sensor changes linearly with respect to the operation amount of the operation tool, the following equation (i) (actual detection value-minimum) based on the maximum and minimum values taken in the storage means is used. Value) / (maximum value-minimum value) ... (i) The ratio of the target manipulated variable actually set by the operating tool to the total stroke is judged by the discriminating means, and this ratio is taken as the designed maximum value. The value calculated by multiplying the minimum value can be used as the control reference value. In addition, the actual set amount can be considered by using the maximum value and the minimum value.

〔The invention's effect〕

Therefore, by performing the entire stroke of the operation tool in the adjustment mode state before performing the actual work, the correspondence between the operation amount of the operation tool and the detection value of the sensor can be corrected by software in the control device. Even if there is a mounting error of the potentiometer, it is not necessary to correct the mounting state. In addition, since it is possible to make corrections based on the maximum and minimum values obtained by the sensor at that time in response to operating the operating tool for the entire stroke, the range corresponding to the entire stroke indicated by the potentiometer as a sensor (for example, 5V ~ 35
Even if V) has an error with respect to the design value, it is not necessary to replace the sensor itself or correct the mounting state.

〔Example〕

As shown in FIG. 6, an engine (4) is provided in front of a traveling vehicle body (3) equipped with front and rear wheels (1) and (2), and a belt type continuously variable transmission as the engine (4) and a traveling transmission device. A transmission case (6) that is transmission-coupled via a device (5), a control section (7) provided in the middle of the machine body, and a lift link mechanism driven by a lift cylinder (32) behind the control section (7). A riding-type rice transplanter, which is an example of a working machine, is configured by including a seedling planting device (9) that is vertically movable through (8). Reference numeral (34) in FIG. 4 is a cylinder for rolling the seedling planting device (9) with respect to the elevating link mechanism (8).

As shown in FIG. 1, the belt type continuously variable transmission (5) divides the output pulley on the engine (4) side into a split pulley (5).
a) and (5b), the belt tension wound between the split pulleys (5a) and (5b) and the transmission case (6) side input pulley (5c) is switched by the actuator (11). The winding angle can be changed to continuously change gears. Main clutch (12) for the input shaft of the mission case (6)
Is provided and is operated by the foot pedal (13). Further, as shown in FIG. 5, a main speed change lever (14) is provided at the foot of the control section (7), and the first forward speed used during the planting traveling and the second forward speed used during the road traveling. ,
Also, it is possible to switch to three stages of the first speed march. Therefore, the number of stages of the continuously variable transmission (5) is superimposed at each shift position. A planting lever (25) for forcibly raising and lowering the seedling planting device (9), a plowing depth setting device (16), and the like are provided on the upper control panel of the main speed change lever (14).

Further, below the seedling planting device (9), there is provided a grounding sensor (15) which moves up and down due to fluctuations in grounding pressure.
An encoder-type plowing depth setting device (16) is provided on the display panel of the control section (7), and in order to maintain the set value of this plowing depth setting device (16), the detection result of the ground contact sensor (15) is displayed. Based on this, a raising / lowering control device for raising and lowering the seedling planting device (9) to maintain a constant planting depth is provided.

For the main clutch pedal (13), a limit switch type first clutch sensor (S ₁ ) for detecting the clutch engaged state and a limit switch type second clutch sensor (S ₂ ) for detecting the clutch disengaged state. When the second clutch sensor (S ₂ ) detects the disengaged state of the clutch, a predetermined value is set regardless of the gear shift operation position of the shift operation lever (17) as an operation tool which will be described later. Forcibly switches to the lowest speed position (LOW) as the deceleration position of.

Another operation mechanism will be described. A shift operation lever (17) for setting the shift position of the belt type continuously variable transmission (5) is provided, and a potentiometer as a sensor (17A) for detecting the shift operation amount is provided. Therefore, by receiving a signal from the potentiometer, the actuator (1
1) is actuated to shift the belt type continuously variable transmission (5) to a predetermined shift position. An electromagnetic pickup type rotation detector (18) for detecting the rotation speed of the engine (4) is provided, and signals from the rotation detector (18) and the potentiometer of the shift operation lever (17) are sent. The configuration is such that it is input to the control device (27) to control the actuator (11) and the like.

Based on the configuration described above, a mode in which the vehicle speed is controlled by the traveling load will be described based on the flowchart of FIG. When the engine is started, the control is not started unless the shift operation lever (17) for the continuously variable transmission is once set to the lowest speed position (LOW). Therefore, first, it is confirmed whether or not the shift operation lever (17) is once operated to the lowest speed position (LOW). Then, once operated, check the ON-OFF state of the main clutch (12) and
5) Check whether the position is "planting position" or "up position", "medium position" or "down position" of the seedling planting device. And
The operation lever (17) for the continuously variable transmission is not operated to the lowest speed position (LOW) among the three conditions of the position of the shift operation lever (17), the main clutch (12), and the planting lever (25). If the main clutch (12) is in the disengaged state, or if the planting lever (25) is in the "up position", "middle position" or "down position" of the seedling planting device, The shift target value (OBPBUF) in the software for the transmission (5) is set to the lowest speed position (LOW), and the current operating position (PRERO) of the continuously variable transmission (5) must be the lowest speed position (LOW). For example, the actuator (11) at the lowest speed position (LOW)
Switch by.

In other words, in other words, when the engine (4) is started, the main clutch (12) is in the engaged state, and the shift operation lever (17) is not yet operated to the lowest speed position (OBP), the lowest speed state is maintained. Shiamura rice transplanter starts once. Then, when the driver notices this and once switches the shift operation lever (17) to the lowest speed position (LOW) and further to the desired shift position, the main routine control such as speed control is started. However, even if the shift operation lever (17) is once maintained at the lowest speed position (LOW) and the planting lever (25) is raised, even if it is operated to the lowest speed position (LOW) when turning on the ridge, the main clutch ( If 12) is disengaged and half-clutched, it is determined that seedlings are being supplied, and the vehicle is turned slowly at the lowest speed position (LOW). In either of these cases, the shift operation lever (17) is set independently of the shift instruction position (OBP) as the operation position.

Here, the position of the planting lever (25) is to be determined only when the main speed change lever (14) is set in the gear shift range corresponding to the planting position, that is, when planting work is performed.

The shift operation lever (17) is once in the lowest speed position (LOW).
Further, when the main clutch (12) is in the engaged state, as a starting form, the continuously variable transmission (5) is set to the shift instruction position () of the operation lever (17) when the main clutch (12) is in the engaged state. A method of rapidly shifting to OBP) or gently shifting to the shift instruction position (OBP) or a predetermined deceleration value is adopted. When the main transmission lever (14) is operated to the planting position, the planting work is in progress, so the position of the planting lever (25) is checked and the planting lever (25) is
When it is in the "up position", it is determined that the vehicle is in the corner turn, and the continuously variable transmission (5) is set to the lowest speed position (LOW),
While slowly turning, when the planting lever (25) is in the "planting position", it rapidly moves to the shift instruction position (OBP) of the continuously variable transmission operation lever (17) for performing the planting work. Alternatively, a method of gradually shifting to the shift instruction position (OBP) or a predetermined deceleration value is adopted. Further, when the planting lever (25) is in the "medium position" or the "lower position", it is determined that the seedling is being supplied, and the continuously variable transmission (5) is set to the lowest speed position (LOW).

As described above, depending on the gear position of the main gear shift lever (14), it is determined whether the planting operation is being performed or the vehicle is traveling on the road, and the process proceeds to the next vehicle speed control (step I).

Next, vehicle speed control will be described in which the actuator (11) is controlled to automatically shift gears regardless of the shift instruction position (OBP) of the continuously variable transmission operation lever (17) depending on the engine load. The vehicle speed control mode and the artificial vehicle speed control mode in which the vehicle speed is set based on the operation of the shift operation lever (17) are determined by whether the accelerator lever (24) is in the full accelerator position or not. The vehicle speed control mode is entered. In this embodiment, the vehicle speed control is performed based on the full accelerator position, but the reference position may be other than the full accelerator position.

First, a control reference is set before performing control. If a potentiometer is provided as a sensor for detecting the accelerator position and the accelerator lever (24) is operated to the full accelerator position, first, the no-load engine speed corresponding to the full accelerator position is set as the reference engine speed. This is actually 38
It is set to 00 rpm. Then, as the engine speed as a reference for changing the shift position of the belt type continuously variable transmission (5) according to the running load, the reference engine speed (3800
rm) the first predetermined number of revolutions lower by a predetermined amount (eg 3400rp
m) and a second predetermined rotation speed lower than the first predetermined rotation speed (for example, 3000 rp). In the flow chart, the first predetermined rotation speed is abbreviated as HIGH LIMIT, and the second predetermined rotation speed is abbreviated as LOW LIMIT.

In vehicle speed control, the engine speed detector (1
The actual engine speed is detected by the output from 8),
This actual engine speed (ER) is the second predetermined speed (LO
If it is less than WLIMIT), the running load is larger than the engine output, so the belt type continuously variable transmission (5) is switched to the low speed side, and the actual engine speed (ER) is the second predetermined speed. If the rotational speed is equal to or higher than (LOWLIMIT) and equal to or lower than the first predetermined rotation speed (HIGHLIMIT), the running load is balanced with the engine output, so the belt type continuously variable transmission (5).
Is maintained at the current shift position, and the actual engine speed (ER)
If the rotational speed exceeds the first predetermined rotational speed (HIGHLIMIT), the running load is smaller than the engine output, so that the belt type continuously variable transmission (5) is switched to the high speed side (step II). ).

Next, as shown in FIG. 4, adjustment of the shift operation lever (17) sensor (17A) will be described.

First, the desired setting switch (1
9) Operate. Then, the timer is activated, the adjustment mode state is set, and a predetermined time is counted.

Within this time, the shift operation lever (17) is operated over the entire stroke.

Then, among the values output by the sensor (17A) at this time, the minimum value and the maximum value are taken into the RAM as the storage device (20) in the control device (27). This RAM
The sensor (17) corresponding to the entire stroke of the shift operation lever (17) is based on the numerical value taken in the (20).
A) Display range (4V to 33V) is different from design range (5V to 35V), and difference in total range amount (33V-4V = 29V) (35V
-5V = 30V) is corrected by the judgment means provided in the control device (27). Here, the initial setting switch (19) and the control device (27) constitute an adjustment mode setting means.

Then, the following method can be considered as a correction method different from the method described in [Operation]. That is, (minimum value +
(Maximum value) / 2, calculate the average value, find the deviation between this average value and the average value obtained by design, store this deviation in the storage device (20), and use the sensor (17A) during actual work. It is also possible to adopt a method of adding the correction corresponding to this deviation to the detected value of.

Therefore, since it is possible to make a software adjustment within the control device (27), it is not necessary to make a fine adjustment of the attachment of the sensor (17A), and the adjustment work can be performed easily and quickly.

A stroke sensor (23) for detecting the movement of the split pulley (5a) is provided, and the stroke sensor (23)
If the output value from exceeds the upper and lower limit values expected in advance, the electric cylinder (11) is forcibly stopped and a large current flows due to the electric cylinder (11) overextending or contracting too much. Problems such as burning out can be avoided.

Further, the adjustment procedure may be adopted in the feedback system in the electric cylinder (11). That is, limit switches (S ₃ ) and (S ₄ ) are arranged at both ends of the shift stroke of the electric cylinder (11), and the desired setting switch (19) is set.
Is operated to enter the adjustment mode, the electric cylinder (11) automatically operates, and the output of the stroke sensor (11A) at the time when both the limit switches (S ₃ ) and (S ₄ ) operate respectively. A value can be stored in the RAM (20) to correct the installation error of the electric cylinder (11) and the like by software.

[Other Embodiment] The configuration of the present invention can be applied not only to the riding type rice transplanter shown in the above embodiment but also to other agricultural machines and other working machines.

The configuration of the present invention sets not only the shift operation lever for shifting shown in the above embodiment, but also the working position of the working device (9) such as the working depth setting device (16) shown in the above embodiment. It may be used to adjust the operation tool,
It is not limited to any working system.

A non-volatile memory may be used as the storage device (20).

The sensor (17A) may be a rotary encoder and is not limited to the potentiometer type.

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 control device for a working machine according to the present invention,
FIG. 1 is an overall configuration diagram, FIG. 2 is an operation diagram showing a speed change structure of a belt type continuously variable transmission, FIG. 3 is a travel control flow chart, FIG. 4 is a travel control lever adjustment control flow chart, and FIG. FIG. 5 is a plan view showing the control section, and FIG. 6 is a side view of the riding type rice transplanter. (5) …… Traveling transmission, (9) …… Working device, (11)
...... Actuator, (17) …… Operating tool, (17A) ……
Sensor, (20) ... Memory device.

Claims (1)

[Claims] 1. An actuator (11) for determining a work position of a work device (9) or a gear shift position of a traveling transmission (5) based on a detection result of a sensor (17A) for detecting an operation amount of an operation tool (17). A control device for a working machine provided with a control means for switching by means of an adjustment mode in which an adjustment mode state is set for adjusting the correspondence between the operation amount of the operation tool (17) and the detection value of the sensor (17A). Setting means and a storage device for storing a value detected by the sensor (17A) in response to an operation over the entire stroke of the operation tool (17) when the adjustment mode setting means sets the adjustment mode state ( 20) is provided and is set by the operation tool (17) based on the detected value of the sensor (17A) when the operation tool (17) is operated in an actual driving state with reference to the stored value. Judgment to judge the target manipulated variable Control device for working machine which is provided with a stage.