JPH08256516A - Lift controlling apparatus for working machine - Google Patents

Abstract

PURPOSE: To dispense with the work to turn a lift switch (a position control lever for the lifting and lowering of a working machine) toward the operation position from the neutral position in the lifting of the machine and constantly keep the lift switch at the operation position and to enable the long-time work even by a woman or aged person. CONSTITUTION: The lift switch of this controlling apparatus has four operation directions (up, down, right and left) and automatically returns to the neutral position. The operation of the lift switch 11 has a self-retaining function by a lifting operation self-retaining means operated by the programmed control of a microcomputer 8. A switch 21 for the switching between automatic mode and manual mode is inserted between a controller 10 and the lift switch 11.

Description

Detailed Description of the Invention

[0001]

[Field of Industrial Application] The present invention relates to the working machine posture and working position (plowing depth, working depth) of an agricultural working machine (cultivating work machine, grooving machine, etc.) attached to an agricultural work vehicle (tractor, combine, etc.). And the like) to a working machine lifting / lowering control device for automatically controlling the height of the work machine to a set value.

[0002]

2. Description of the Related Art In a work equipment lifting control device of this type, a hydraulic lifting device (4) including a hydraulic cylinder (2) for driving a work machine lifting lift arm (1) and a solenoid valve (3) is provided. ,
The solenoid valve drive circuit (7) for driving the solenoid valve (3) and the solenoid valve drive circuit (7) are provided with a detector (5) and a setter (6).
A control device (10) having a microcomputer (8) for controlling the microcomputer based on the input signal from
An elevating switch for selectively operating the elevating operation of the control device (10) is provided.

[0003]

The elevating switch (position control lever for elevating the working machine) described above must be tilted from the neutral position to the operating position during the elevating operation to maintain the operating position at all times. There was a drawback that the operating force could not be ignored and it made working difficult for a long time.

[0004]

In order to eliminate the above-mentioned drawbacks of the conventional device, the present invention is provided with an elevating switch having four operating directions of up, down, left and right and automatically returning to a neutral position, and is controlled by a microcomputer program. Elevating switch (11) by microcomputer (8) that functions as self-holding means (12)
In addition to having a self-holding function for the operation of
Automatic manual changeover switch between 0) and lift switch (11)
(21) is provided to provide a working machine lifting control device.

[0005]

[Function] When the elevating switch is moved up and down and then returned to the neutral position (OFF → ON → OFF, once), it goes up to the highest position for ascending and descends to the working machine lowering setting position for descending. If the up / down switch is reversely operated during the ascending or descending operation, the reverse operation is immediately performed. By operating the automatic manual changeover switch (21) to set it to the manual position, it is possible to stop the elevator at any position during the ascending operation or the descending operation.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In FIG. 1, a working machine position detector (lift arm position sensor) is attached to a predetermined position of the machine body as a detector (5), and a relative position of the working machine to the main body is set as a setting machine (6). It shows a case where the present invention is implemented in a work machine attitude control device by providing a work machine-to-machine position setter for setting a position.

Analog switch (13) and A / D converter
Attach the controller (10) equipped with (14), microcomputer (8) and solenoid valve drive circuit (7) to the work machine or this machine in the proper place. The detector (working machine position detector) (5) is
The attitude of the working machine (cultivator) against the machine (tractor) is detected, and the detection signal is an analog voltage signal, which is sent to the A / D converter (14) via the analog switch (13) in the controller (10). Are converted to digital signals and taken into the microcomputer (8). Setting device (work equipment vs. machine position setting device) (6)
Is also captured by the microcomputer (8) in time division.

The hydraulic lifting device (4) is a hydraulic pressure for connecting the machine and the working machine and for rotating the working machine lifting lift arm (1) for lifting and lowering the working machine with respect to the machine. As shown in FIG. 4, including a hydraulic mechanism having a cylinder (2), a hydraulic pump (16), a choke valve (17) as well as a solenoid valve (3) for raising and lowering the working machine and a slow return stop valve (15) are provided. ), A relief valve (18) and a safety valve (19).

The microcomputer (8) in the control device (10) is composed of one chip, monitors the detection data from the detector (5), compares it with the set value of the setter (6), and by the program of the microcomputer, It has a function as signal comparison calculation control means (9) for outputting a control signal to the solenoid valve drive circuit (7).

In carrying out the present invention, as shown in FIG. 3, a spring built in the switch is normally maintained in the neutral position (switch OFF operation) when the switch is not operated, and the rising side is held.
The microcomputer (8) of the controller (controller) (10) is the lift switch (11) that is structured so that the driver operates the switch to (α) or to the descending side (β) so that it is in the operating position (switch ON operation) only during operation. The chattering absorption circuit (CR integration circuit) (2
0), and the microcomputer (8) is programmed according to the flowchart shown in FIG. 2 so that the microcomputer (8) functions as the signal comparison operation control means (9) as described above. 11) is attached to the control device (10), and even if the microcomputer (8) of the control device (10) returns to the neutral position after raising or lowering the elevating switch (11), the maximum position or setting is set. The solenoid valve drive circuit should be maintained in the ascending operation state or the descending operation state up to the lower limit position, and by immediately operating the ascending / descending switch (11) in the opposite operation direction during the ascending operation or the descending operation to immediately reverse the operation.
It also functions as a lifting / lowering operation self-holding means (12) for controlling (7).

Further, referring to FIGS. 1 and 4, a solenoid valve (3) for raising and lowering the working machine is constituted by two solenoid valves for raising (3a) and for lowering solenoid (3b), The solenoid valve drive circuit (7) is also composed of two circuits, an ascending solenoid valve drive circuit (7a) and a descending solenoid valve drive circuit (7b). When operating the work implement control apparatus embodying the present invention, it operates as shown in FIG. 5 based on the microcomputer program according to the flowchart of FIG. That is, when the up / down switch (11) is set to the “up” position at the timing of (a) and then returned to the neutral position, td (number + m sec
) Response delay and then the rising solenoid valve at the timing of (a)
(3a) activates and raises the work implement.

When the working machine upper limit position is reached, at the timing of (b), the detection signal of the detector (5) in the signal comparison calculation control means (9) of the microcomputer (8), the setter (6) and the setting signal Based on the calculation result of
The control signal to (7) is stopped, the drive of the solenoid valve (3a) for raising is stopped, and the raising of the working machine is stopped. When the elevating switch (11) is set to the “down” position at the timing of (c) and then returned to the neutral position, the solenoid valve for descending (3b) is activated at the timing of (c) after the response delay of td. Lower the work implement and continue lowering until it reaches the work implement setting lower limit position of timing (d). When the raising / lowering switch (11) is set to the “up” position at the timing of (e) and then returned to the neutral position, and the raising solenoid valve (3a) is operating, the raising / lowering switch is moved at the timing of (f). When changed to the "down" position, the ascending solenoid valve (3a) is deactivated and the descending solenoid valve (3b) is activated. When the raising / lowering switch (11) is set to the opposite "up" position again at the timing of (g), the operations of the ascending solenoid valve (3a) and the descending solenoid valve (3b) are reversed again.

FIG. 6 shows an embodiment of the present invention, in which an automatic manual changeover switch (21) is inserted between the elevating switch (11) and the control device (controller) (10). Also,
Move the lift switch (11) down (a) and up as shown in Fig. 6.
(b), right down (c) and right up (d) in four directions, the control device (10) can be freely operated in four modes of selection, and the upward direction is neutral (all contacts open) and the solenoid valve Connect the solenoid (23) of (3) to the descending solenoid (23A), ascending solenoid (23B),
Right down solenoid (23C) and right up solenoid (23D)
And 4 of them. In addition, as shown in FIG. 8, the hydraulic lifting device (4) includes a work machine lifting lift arm (1), a work machine lifting control lift arm (1a) and a work machine attitude control lift arm (1b). This is a book, and the solenoid valve (3) consists of two solenoid valves, a first solenoid valve (31) for raising and lowering the work machine and a second solenoid valve (32) for controlling the attitude of the work machine. Lift arm for machine lift control
Supply hydraulic oil to the first hydraulic cylinder (2a) acting on (1a) to selectively act in the descending direction [the descending solenoid (23A) operates] or the ascending direction [the ascending solenoid (23B) operates]. , The second solenoid valve (32) is in the right downward direction [the right lower solenoid (23C) is activated] or the right upward direction [right] with respect to the second hydraulic cylinder (2b) that acts on the work machine attitude control lift arm (1b). The up solenoid (23D) is configured to supply hydraulic oil to actuate selectively.

Solenoid (23A) of the solenoid valves (31) (32) described above
The + side of (23B), (23C) and (23D) is commonly connected to the + power supply (12V) of the solenoid valve drive circuit (7) via the common terminal (Q), and one side of each is connected to the output terminal (Qa ) (Qb) (Qc) (Qd) and their corresponding solenoid valve drive circuit (7) transistors (Ta) (Tb) (T
c) It is connected to the ground terminal (E) of the control unit (10) via (Td). Operation terminals (Pa) (Pb) (Pc) (Pd) of control device (10)
Is the automatic contact (Sa1) (Sb1) (Sc1) of the automatic manual changeover switch (21).
1) (Sd1) and then each switch (Sa2) (Sb)
2) It is connected to (Sc2) (Sd2). Operation terminal (Pa) (Pb) (P
c) (Pd) is the microcomputer via the contact input circuit (22)
It is connected to (8). Ground terminal (E) of control unit (10)
Is grounded through the automatic contact (Se) of the automatic manual changeover switch (21) and the ground wire (25).

In contrast to the automatic contacts (Sa1) (Sb1) (Sc1) (Sd1) (Se) of the automatic manual changeover switch (21) described above, the manual contacts (Ra) (R)
b) (Rc) (Rd) are the corresponding solenoids (23A) (23B) (2
3C) (23D) is connected to one side via bypass lines (24a) (24b) (24c) (24d), and the manual contact (Re) is an empty contact and the ground terminal (E) of the control unit (10). Is not grounded.

In the working machine lifting / lowering control device of FIG. 6 described above, in the operating state of FIG. 7 in which the automatic manual changeover switch (21) is set to the automatic position, the lifting / lowering switch (11) is operated to move upward.
(b), raising right (d)], and lowering operation [lowering (a), lowering right (c)], the operation of the control device (10) is selectively instructed, and the operation shown in FIG. Similar to the operation illustration of
By the function of the lifting / lowering operation self-holding means (12) of (8), the first solenoid valve (31) or the second solenoid valve (32) is operated to control the working depth of the working machine or the posture control of the working machine.

If the controller (10), the detector (5), the setting device (6), etc. is out of order and the operator desires, the automatic manual changeover switch (21) is changed to the manual position to change the contact input circuit.
(22), microcomputer (8), solenoid valve drive circuit (7) are short-circuited, and each solenoid (23a) is connected by bypass line (24a) (24b) (24c) (24d).
A) (23B) (23C) (23D) is connected to the up / down switch (11) via the automatic manual changeover switch (21) and the control device (10)
The ground terminal (E) of is in the non-grounded state, and the control device (10) is in the inactive state. Therefore, it is possible to freely lower, raise, lower right, and raise the working machine based on the operation of the lifting switch (11) [However, the lifting operation self-holding means (12) of the microcomputer (8) does not function. Therefore, the operator needs to maintain the elevating switch (11) at a desired operation position].

In carrying out the present invention, the lifting switch (11)
Can use an appropriate switch as long as it has a structure that has "up" and "down" operation positions centered on the neutral position, but a joystick type spring return switch (when the hand is released, the spring returns to the neutral position. It is convenient to use "Return" because it reduces the burden of long-time work for women, women, and the elderly.

Effect of the Invention According to the present invention, since the lifting / lowering operation holding function is added to the operation of the lifting / lowering switch for operating the operation of the microcomputer in the working machine lifting / lowering control device, it is not necessary to maintain the lifting / lowering switch in the operating position. The work machine can be raised and lowered with a light operation, which has the effect of facilitating long-term work. Further, it is possible to reproduce a plurality of operating directions of the manual switch (up, down, left, right). The operability is good because the manual switch can be operated in the cross direction.
The work machine up / down / tilt operation switch (used during automatic operation) is also used as an emergency manual switch. Therefore, the work machine can be positioned by the same operation of the same operation switch (four-way joystick type) both in the automatic operation and the manual operation, and the normal switch operation can be performed even when the automatic control system fails. .

[Brief description of drawings]

FIG. 1 is a block diagram of a working machine lifting / lowering control device according to the present invention, which corresponds to a complaint, and FIG. FIG. 3 is a front view of the lifting switch. FIG. 4 is a hydraulic circuit diagram of the hydraulic lifting device. FIG. 5 is an operation explanatory view of the lifting operation holding means. FIG. 6 is an electric circuit diagram of a working machine lifting control apparatus showing an embodiment of the present invention. 7A and 7B show an elevating switch, FIG. 7A is a plan view, and FIG. 7B is a front view. FIG.
FIG. 3 is a hydraulic circuit diagram of a hydraulic lifting device.

[Explanation of symbols]

 1 Lifting Arm for Lifting Working Machine 2 Hydraulic Cylinder 3 Solenoid Valve 4 Hydraulic Lifting Device 5 Detector 6 Setting Device 7 Solenoid Valve Drive Circuit 8 Microcomputer 10 Controller (Controller) 11 Lifting Switch 12 Lifting Operation Self-Holding Means

Claims (1)

[Claims] 1. A hydraulic lifting device including a hydraulic cylinder (2) for driving a work machine lifting lift arm (1) and a solenoid valve (3).
(4), a solenoid valve drive circuit (7) for driving the solenoid valve (3), and the solenoid valve drive circuit (7) for input signals from the detector (5) and the setter (6). A work machine lifting control device including a control device (10) having a microcomputer (8) for originally controlling the microcomputer, and a manually operated lifting switch (11) for controlling the operation of the control device (10). Is attached to the control device (10) and has four operating directions of up, down, left, and right, and even if it is returned to the neutral position after raising or lowering the up / down switch (11), it goes up to the highest position or the set lower limit position. The signal self for controlling the solenoid valve drive circuit to maintain the operating state or the descending operating state and immediately to the reverse operating state by operating the up / down switch (11) in the reverse operating direction during the ascending or descending operation. Lifting operation of holding state, holding release function Self-holding hand (12) equipped with the control device (10), between the control device (10) and the elevating switch (11), an automatic manual changeover switch (21) working machine characterized by inserting Lift control device.