JPH0763245B2 - Monitor device for draft control of ground work machine - Google Patents

Description

Detailed Description of the Invention

[Industrial field of application] The present invention relates to draft control of a ground working machine such as a plow towed by a towing vehicle such as a tractor, and is capable of draft cutting and so-called "pruning control". When working to perform plow work, plowing depth (plowing)
The present invention relates to a monitor device in draft control of a ground work machine which warns when the designation by a setting device is inappropriate. [Problems to be Solved by Conventional Technology and Invention] Conventionally, a draft control device for a ground work machine of this type has a ground work machine so that a working depth (drag force) set by an operator is maintained. Is automatically moved up and down, and a deviation value that is the difference between the draft setting value that sets the working depth (drag) and the detection value by the draft detection sensor that detects the working depth (drag) is calculated. However, the hydraulic lifting mechanism is controlled to move up and down according to the deviation value, and the lift arm is moved up and down to perform the plow work by the draft control. In addition, when such a plow operation is performed, when the plow connected to the towing vehicle by the link mechanism is raised and then lowered, when the draft control side plow is lowered extremely slowly. Therefore, the plow slowly dipped into the soil, and it took a long time for the plow to dive near the depth corresponding to the plowing depth (drag) set by the plowing depth (drag) setting device. Since the mileage is required, a long mileage, that is, a long time is required before starting the draft control. Therefore, in order to eliminate the problem, when raising the plow and then lowering it,
The draft control is cut to operate the so-called "plow-in control" to perform the plow work, whereby the plow descends in an uncontrolled state, and impactingly falls on the ground, so that the plow tip is sucked. Since the biting during travel is not restricted, a short travel distance is required to sneak in the vicinity of the plowing depth (drag) corresponding to the plowing depth (drag) setting device. Then, in such a case, there is a state in which the depth corresponding to the plowing depth (drag) due to the plowing depth (drag) setting device is improper due to an erroneous operation of the operator, and the draft control is not operating. Sometimes. Therefore, there arise problems that must be solved in order to solve such a problem. [Means for Solving Problems] The present invention has been proposed in order to solve the above problems, and detects the plowing resistance of a ground work machine that is vertically movable by a hydraulic lifting mechanism. A draft sensor,
Equipped with a drag force setting device for setting the drag force, the deviation value, which is the difference between the detection value of the draft sensor and the set value specified by the drag force setting device, is calculated, and the raising / lowering operation according to this deviation value is performed. In order to do so, an automatic draft control device is configured to control the lifting / lowering of the hydraulic lifting mechanism, and is configured to move to the draft control after lowering the ground work machine from the maximum position by the draft control cut. When the set value by the drag setter is too shallow, and when the lowered ground work implement rises again, a constant depth position for performing draft automatic control is stored in the CPU, and Provided is a monitor device for draft control of a ground work machine configured such that an operation command for issuing an alarm is output from a control unit when the position of the ground work machine exceeds the position.

[Action]

According to the present invention, during the plow work, the position lever or the elevating switch is manually operated to raise the plow to the highest position, and the draft automatic control is cut so that the plow is lowered to dive into the ground. After that, when performing the draft automatic control by designating with the drag setting device, the plow that once dived to the deep position rises to the position where it is balanced by the draft automatic control.
That is, when the set value by the drag setter is too shallow,
In the empty tilling state, the plowing work by the draft automatic control is not performed, but in the present invention, when the set value by the drag setting device is too shallow, the lowered plow rises again. When, a certain depth position for making the draft automatic control is stored in the CPU, and
When the plow crosses this position, the control unit provided in the CPU outputs an operation command to activate the alarm device to notify that the specification by the drag setting device is incorrect, and the alarm is issued. The operator can change the designation by the drag setting device and effectively perform the draft automatic control. [Embodiment] An embodiment of the present invention will be described below in detail with reference to the accompanying drawings. For the sake of convenience of description, a configuration which is conventionally known will be described at the same time. As shown in FIG. 2, the tractor (1) as a towing vehicle.
A ground work machine (2) such as a plow is attached to a pair of left and right lift arms (3) and (3) at the rear part of the rear, and left and right lift rods (4)
The left and right lower links (5) and (5) swinging up and down via (4) are connected by a working machine connecting mechanism (7) including a top link (6) in the upper center, and this working machine is connected. The connecting mechanism (7) has its lift arms (3) (3).
It is configured to be moved up and down by a hydraulic lifter (9) that lifts and lowers by a lift cylinder (8) using hydraulic pressure. The pressure oil supply / discharge control to / from the lift cylinder (8) is controlled by an operation command of the CPU (10), which is configured by a microcomputer such as an ascending drive section (11) or a descending drive section ( 12) Amplified by the proportional solenoid valve for rising (13) or the proportional solenoid valve for falling (1)
4) is opened / closed, whereby the pressure oil of the pump (15) is supplied to the lift cylinder (8) to lift the lift arms (3) (3), or the pressure oil of the lift cylinder (8). Is discharged and the lift arms (3) and (3) descend. In addition, a position lever (I ₁ ) installed near the cockpit
And a lift arm angle sensor (S ₁ ) formed by connecting the detection axis of a potentiometer such as a potentiometer to the lift arm (3) is connected to the CPU (10), and the position lever is connected to the position lever. The lift command is issued from the CPU (10) for lifting so that the height detection value detected by the lift arm angle sensor (S ₁ ) matches the setting value set by the operation of (I ₁ ). Section (11), or drive section for lowering (1
It is output to 2) and the lifting control is performed by this. Further, as a draft sensor (S ₂ ) for detecting the plowing resistance, for example, a draft rod (16) ′ connected to the front part of the top link (6) is set against the draft spring (17) ′. A draft sensor is used, which detects the amount of forward movement by force and the amount of traction resistance moving backward by the weight of the ground work implement (2) by, for example, a potentiometer (18). (S ₂ ) should not be limited to this. Furthermore, a plowing resistance (drag) setting device (I ₂ ) was installed near the cockpit, and the draft sensor (S ₂ ) detected the plowing resistance set value that was set by operating it. From the CPU (10) to the ground work machine (2) so that the plowing resistance detection values match.
In order to perform the ascending / descending operation, an operation command is output to the ascending drive section (11) and the descending drive section (12), and the draft control is performed accordingly. The ascending solenoid valve (13) and the descending solenoid valve (14) may be those commonly used. Thus, when the tractor (1) having such an electro-hydraulic mechanism is run while setting a draft load by draft control and performing work, for example, a ground lever (I ₁ ) is used. Place the implement in a constant raised position (for example,
Even if the lift arm is lifted to within 5 degrees below the upper limit of the movement allowance of 65 degrees, and the ground working machine is lowered from that position, the draft control is activated and the ground working machine such as a plow (2 ) Is extremely slowly dropped to the surface of the field, and accordingly, the plow and other ground working equipment are not slowly engulfed in the soil, and the working depth (drag) corresponding to the depth set by this ground working equipment is set by the draft setting device. Since it takes a long mileage to dive into the vicinity, a long mileage, that is, a long time is required until the draft control is started. Then, the lift arm (3) is manually moved up to the above-mentioned constant rising position by using a position lever (I ₁ ) and an up / down switching switch (S ₃ ) and the lift arm (3) is lowered from that position. Only in this case, the draft control is cut off, and an instruction is incorporated in the program in advance so that the plucking control is activated and is inserted into the CPU (10). Therefore, in order to execute this command, in the case of this embodiment, when the lift arm (3) is manually raised to a certain raised position as described above, and when it is lowered from that position, it is approximately two. It is designed to set a timer for ~ 3 seconds, so the plow is a non-resisting samurai due to this draft control cut for about 2 ~ 3 seconds. After the elapse of the set time, the plow work can be effectively performed by the predetermined draft control. However, the cut and the cut-in control of the draft control should not be limited to these. Thus, in such "during pruning control", the operator specifies the plowing depth (drag) for automatic draft control with the plowing depth (drag) setting device (I ₂ ). When the plow is submerged in the ground while the draft cut is in progress, the plow dives once to a deep position, but rises to a position where it is balanced by automatic draft control. Then, if the plowing depth (drag) setting by the plowing depth (drag) setting device (I ₂ ) is too shallow, the plowing work by the automatic draft control will not be performed. Therefore, a certain depth position for automatic draft control is stored in the CPU (10), and an operation command for issuing an alarm when the plow crosses this position is output from the control unit (10a). Is done. Then, the operation procedure of this embodiment will be described with reference to FIGS.
A description will be given according to the flow chart in the figure. First, as shown in FIG. 3, if sweeping control is in progress, the vehicle descends at full speed through the route (a). Then, when the draft cutting is completed, it is determined in step whether the tilling depth (drag) setting by the tilling depth (drag) setting device (I ₂ ) is currently being changed.
If it is determined that the plowing depth (drag) setting has not been changed, the lift arm angle is set to the CPU (1
It is determined whether the data is stored in the memory of 0). Thus, this lift arm angle is the lift arm angle at the deepest time (the lowest descent) when the plow (2) sunk into the ground. That is, the lift arm angle at the time of the lowest descent means the maximum depth position when the plow (2) sunk into the ground by the above-mentioned draft cut. From the depth position, the automatic draft control is activated to the position where the automatic draft control is balanced. Therefore, the difference between the current lift arm angle corresponding to the elevated position in step and the lift arm angle determined in step is judged, and it is judged whether or not this difference exceeds a certain value. is there.
Then, this constant difference is built into the CPU (10) in advance, and when this constant difference is exceeded, it indicates that the plow (2) is too shallow for automatic draft control. is there. Therefore, if the predetermined difference is exceeded, the notification flag of the control unit (10a) provided in advance in the CPU (10) is set at step, and the alarm unit is issued from the control unit (10a). It is judged whether or not an operation command for alarm is output to (16) (step), and the alarm device of the alarm device (16) is activated in step and an alarm is issued. Therefore, the operator is the relevant working depth (drag).
When the operator knows the improper circumstances of setting the working depth (drag) by the setter (I ₂ ), he / she will correctly specify the setting and perform draft automatic control. If it is determined in the step that the lift arm angle is not stored in the memory, the lift arm angle is stored in the step, and the lift arm angle is stored in the step. Set the flag. The memory flag of the set lift arm angle is controlled as described above (10
The operation command from a) is output, the notification flag of the notification device (16) is turned on, the notification device is activated, and an alarm is issued (step). Then, when the setting of the working depth (drag) is changed by the working depth (drag) setting device (I ₂ ) in the step and it is determined that it is not constant, the notification flag is reset (step). The lift arm angle memory flag is also reset (step) so that the alarm device does not operate when the step is reached from step to step. The operating procedure of another embodiment will be described with reference to FIG. First, it is judged whether or not the plow (2) is being controlled in the step, and if the plow (2) is being lowered in the step, the plow (2) is lowered when the plow (2) is lowered in the step. When is grounded, the load on the draft sensor (S ₂ ) increases rapidly. Therefore, the lift arm angle corresponding to this suddenly increased position is stored in the memory of the CPU (10) as the ground (step and step). And
The memory flag is set at step. If there is no sudden increase in the load on the draft sensor (S ₂ ) in the step, the step is reached without ending the path of the step. In this step, a constant lift arm angle is stored in the step and its stored flag is set, or the plow is set to the down flag at full speed without being set. Then, when the alarm device is stopped at the step, the descending solenoid valve (14) is operated at the step and the plow (2) sinks to a certain depth. Then, when the plucking control is completed in step and it is judged that the plow (2) is submerged in the other, the operation by the normal draft automatic control is determined in step, and the step is determined. At this point, it is determined whether the lift arm is moving upward, neutral, or downward, and if it is moving downward, the above-described step operation is started. If it is determined in step that the lift arm operation is upward, it is determined in step whether the lift arm angle of the step is stored, and this lift arm angle is stored. At this time, the stored lift arm angle is compared with the current lift arm angle that is rising, and when it is determined that the previously stored lift arm angle is larger than the current lift arm angle, A solenoid valve for raising (1
Turn on 3) and the plow (2) will rise. If it is determined in the step that the previously stored lift arm angle is smaller than the current lift arm angle, the control unit (10a) causes the alarm device (16) to indicate in the step. In order to issue an alarm, an operation command is output to activate the alarm device. Therefore, based on this alarm, the operator will reset the plowing depth (drag) value previously set by the plowing depth (drag) setting device (I ₂ ) again. If the lift arm angle cannot be stored in advance by the step, for example, when the plow (2) is moved down extremely slowly by the operation of the operator, the lift arm described above is used. Since there is a case where the angle cannot be memorized, in consideration of such a situation, an effective lift arm angle in the draft automatic control is determined in advance, the value is stored in the ROM, and the stored stipulation is stored. In contrast to the lift arm angle at which the lift arm angle is currently rising, (step) If the specified lift arm angle is smaller, an alarm is reached at the step and if the specified lift arm angle is reached. Is large, the plow (2) will be raised or lowered by automatic draft control. [Effects of the Invention] As described in detail in the above-described one embodiment, the present invention is provided when the plow work is performed by the draft automatic control after the ground working machine is lowered from the highest position by the draft control cut. And, when the plow lowered by the draft control cut goes deep into the ground and rises by the operation of the draft automatic control, a certain depth position for performing the automatic draft control is set in the CPU. Because it is remembered,
When the plow crosses this position, an operation command is output to the alarm device so that the alarm is issued from the control unit immediately, and the alarm is issued. Therefore, the operator can effectively perform the plow work by the draft automatic control by revising the command of the drag setting device.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a control circuit diagram, FIG. 2 is a side view of a tractor and a working machine, and FIGS. 3 and 4 are flow charts. Explanation of code (1) …… Tractor, (2) …… Ground work machine (3) …… Lift arm, (4) …… Lift rod (5) …… Lower link, (6) …… Toplink (7)… … Work machine coupling mechanism, (8) …… Lift cylinder (9) …… Hydraulic lifting mechanism, (10) …… CPU (10a) …… Control unit, (11) …… Raising drive unit (12) …… Drive unit for lowering (13) …… Proportional solenoid valve for raising (14) …… Proportional solenoid valve for lowering (15) …… Pump, (I ₁ ) …… Position lever (I ₂ ) …… Dip depth (drag force) ) Setting device (S ₁ ) …… Lift arm angle sensor (S ₂ ) …… Draft sensor (S ₃ ) …… Up / down switching switch

Claims (1)

[Claims] 1. A draft sensor for detecting a plowing resistance of a ground work machine, which is provided so as to be vertically movable by a hydraulic lifting mechanism, and a drag force setting device for setting a drag force. The detection value of the draft sensor and the drag force are provided. It is configured to calculate a deviation value that is the difference from the set value specified by the setting device, and to control the hydraulic lifting mechanism to move up and down to perform the lifting operation according to this deviation value. In the draft automatic control device configured to shift to the draft control after being lowered by the draft control cut from the highest position, when the set value by the drag setting device is too shallow, the descent is performed. When the ground work machine rises again, a certain depth position for automatic draft control is stored in the CPU, and when the ground work machine crosses this position, an operation command that issues an alarm is issued from the control unit. In the monitoring device to the draft control of the ground working machine, characterized by being configured so as to force.