JPH0837896A - Lift for working machine - Google Patents

Abstract

PURPOSE:To provide a lift for working machine excellent in operability, which is equipped with a detector for detecting whether the working unit is operating or not, thus can avoid operation mistake. CONSTITUTION:In a certain set time after the detector 50 detects that the working unit is switched from the state in working to the resting, the automatic lifting motion is commanded by the switch SW for automatic lifting and the working unit is lifted up to the target height. Further, while the position of the working unit detected by the position sensor 22 is at the target height or near, the automatic falling motion is commanded by the switch SW and the working unit automatically goes down to the target position.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lifting device for a working machine such as a combine, and more specifically, a lifting operation means for driving and lifting the working device, and a control means for controlling the operation of the lifting operation means. Automatic raising / lowering command means for instructing the control means to perform an automatic raising / lowering operation based on a manual operation is provided, and the control means executes the automatic raising / lowering control based on the automatic raising / lowering instruction by the automatic raising / lowering instruction means. The present invention relates to a lifting device for a working machine.

[0002]

2. Description of the Related Art In the lifting device for a working machine described above, conventionally, the control means raises the working device to the target position for lifting each time an automatic raising / lowering command of the automatic raising / lowering instruction device is commanded based on a human operation. There has been a configuration in which the elevating operation means is controlled so that the state and the state of descending to the descending target position appear alternately. Moreover, such a control is configured to be executed regardless of the work status of the work device.

In the above-mentioned structure, for example, when the work device is lifted from the work lowering position to the non-working raising position after the work in a certain work process is completed, or when the work device is started in the next work process, When lowering to the work lowering position, the work device can automatically move up and down to the target position in response to a command from the automatic elevating and lowering command means. Compared with the structure in which the position is manually adjusted, the troublesome operation is eliminated and the work device can be easily moved up and down.

[0004]

However, in the above-mentioned conventional structure, when the automatic lifting operation means is erroneously operated, for example, when a non-working state continues for a long time due to ridge crossing or the like, There was a disadvantage that the working device was lowered to the contrary to the intention of the operator, and the working device might come into contact with ridges and be damaged. Further, in the case of adopting a configuration in which the automatic raising / lowering commanding means and the manual type raising / lowering adjusting means for artificially adjusting the raising / lowering position are employed, for example, the working device is lowered to the target based on the instruction of the automatic raising / lowering commanding means. When the working device is raised to a desired position by the manual elevating / lowering means after being lowered to the position, and when the automatic elevating / lowering command means then instructs to lower the working device. However, there is a disadvantage that the working device rises to the target rising position against the intention of the operator, and there is room for improvement.

The present invention has been made by paying attention to such a point, and an object thereof is to perform an ascending operation and a descending operation on the basis of an instruction of an automatic ascending / descending instruction means. Although it is possible to easily perform the lifting and lowering operation of the device, by limiting the operating conditions, it is possible to prevent the occurrence of malfunctions contrary to the operator's intention. The point is to provide a lifting device.

[0006]

The features of the first invention are as follows:
Elevating operation means for driving and elevating the working device, control means for controlling the operation of the elevating operation means, and automatic elevating command means for instructing the control means to perform an automatic elevating operation based on human operation are provided. The control means is an elevating device for a working machine configured to execute automatic elevating control based on an automatic elevating command issued by the automatic elevating command means, wherein the working device is in a working state or a non-working state. And a lifting position detecting means for detecting the lifting position of the working device, and the control means detects the working status from the working status to the non-working status. When the automatic elevating / lowering command is issued by the automatic elevating / lowering command means while the set time elapses or while traveling the set distance from the time when
It is configured to execute an automatic raising operation for automatically raising the working device to a raising target position, and an elevating position of the working device detected by the elevating position detecting means is
When an automatic raising / lowering command is issued by the automatic raising / lowering command means in the state of being at or near the ascending target position, an automatic lowering operation for automatically lowering the working device to the lowering target position is executed. In point.

A characteristic configuration of the second invention is to specify a configuration suitable for carrying out the first invention, wherein the control means comprises:
While the working state detecting means is detecting the working state, when the automatic raising / lowering instruction means issues an automatic raising / lowering instruction, the automatic raising operation is executed.

[0008]

According to the characterizing feature of the first aspect of the invention, the work state detecting means operates from the time when the work state is switched to the non-work state until the set time elapses, or while the work state travels for the set distance, that is, If the automatic lifting / lowering command is given by the automatic lifting / lowering command means until the set time elapses after the work in a certain work stroke is completed, or until the vehicle travels for the set distance, the working device is lifted to the target lifting position. The control is executed.

That is, since the work device is in the work lowering position within a preset time after the end of the work or while traveling the set distance, it is possible to execute an appropriate automatic raising operation. . Then, after the set time has elapsed, or after traveling the set distance, that is,
After the non-working state is continued for a long time, the raising operation based on the instruction of the automatic raising / lowering instruction means is not performed, and it is possible to prevent an unexpected raising operation due to an operation error.

Further, when the ascending / descending position of the work device is at or near the ascending target position, when the automatic ascending / descending command means issues an automatic ascending / descending command, the automatic descending operation is executed. Therefore, for example, in the case of adopting a configuration in which the manual lifting adjustment means is also used, and even after the lifting position of the working device is manually adjusted by the manual lifting adjustment means, the lifting position of the working device is If it is at or near the ascending target position, the automatic descending operation is executed based on the command from the automatic ascending / descending command means, and if the ascending / descending position of the working device is not at or near the ascending target position, but is in the ascending / descending position, it is automatically descended. The operation is not executed.

According to the characteristic construction of the second invention, the following operation is provided in addition to the operation of the characteristic construction of the first invention. Before the end of the work process, it is possible to start the automatic raising operation based on the automatic raising / lowering commanding means even in the working state.

[0012]

According to the characterizing feature of the first invention, the automatic ascending operation and the automatic descending operation can be performed on the basis of the command of the automatic elevating / lowering command means, and the elevating / lowering operation of the working device can be simplified. Although it has the advantage that it can be done with things, it is always possible to properly use ascending and descending in an appropriate state, and it is possible to prevent the working device from going up and down in the direction against the intention of the operator. Became.

According to the characterizing structure of the second invention, in addition to the effect of the characterizing structure of the first invention, there are the following effects. For example,
Even if there is a risk that the work device may come into contact with external objects such as ridges unless the work device is raised quickly, the non-work area on the lower side in the traveling direction of the work process is narrow, and the work is performed in the work process. When the above is finished, it is possible to execute the automatic raising operation based on the automatic raising / lowering command means in a state in which it is possible to avoid a disadvantage such as the working device coming into contact with an external object.

[0014]

Embodiments will be described below with reference to the drawings. Figure 6
A combine, which is an example of a working machine, is shown in FIG. In this combine, a traveling machine body 2 including left and right crawler traveling devices 1R and 1L is provided with a threshing device 3, a driving unit 4, and the like, and a front portion of the traveling machine body 2 swings up and down around a horizontal axis X. A mowing work unit 5 as a working device is freely provided.

The reaping work section 5 includes a raising device 6 for raising a planted stem culm as a crop to be trimmed to a standing posture, a clipper-type reaper 7 for cutting a root of the culled stem, and a raised posture. And a vertical transport device 8 for transporting the stem culm to the starting end of the threshing feed chain 3a in the rear threshing device 3 while gradually changing its posture to a sideways posture, and a lifting hydraulic cylinder as a lifting operation means. 9 is configured to be freely driven up and down.

A stock origin sensor S0 as a work state detecting means for detecting whether or not there is a cutting culm to be conveyed is provided at a conveying start end of the vertical conveying device 8.
Further, a threshing switch 25 is provided which detects that the on / off clutch lever of the threshing clutch, which intermittently supplies power to the threshing device 3, is operated to the clutch engaged position (the threshing operation state). Near the engine 10, the engine 10
A rotation speed sensor 24 is provided to detect the output rotation speed of the.

As shown in FIG. 1, in the traveling transmission system of the airframe, the power of the engine 10 is transmitted to the transmission case 12 via the transmission 11, and the left and right steering clutches 13R provided in the transmission case 12 are provided. , 13L, and power is supplied to the left and right crawler traveling devices 1R, 1L, respectively. Then, the transmission 11 is shifted based on the operation of a shift lever (not shown) to set the machine traveling speed, and the left and right steering clutches 13R, 13
It is configured to perform the steering operation of the airframe by the intermittent operation of L.

The operation structure of each of the steering clutches 13R and 13L will be described. Each steering clutch 13R, 13L
Are configured to be intermittently operated by the hydraulic cylinders 14R and 14L, respectively, and the hydraulic control of the hydraulic cylinders 14R and 14L is executed by switching the electromagnetic control valve 15, respectively. The operating lever 16 is provided in the operation unit 4 so as to be capable of swinging in the cross direction in the longitudinal direction and the lateral direction of the machine body.
The electromagnetic control valves 15 are configured to be switched based on the operation in the left-right direction. That is, as shown in FIG. 2, when the operation lever 16 biased back to the neutral position is oscillated in either the left or right direction and the steering switches 17R and 17L are turned on, control provided with a microcomputer is performed. The control device 18 as means is configured to control the electromagnetic control valve 15 corresponding to the operated direction to disengage the corresponding steering clutches 13R and 13L to perform the turning traveling.

Next, the control structure of the raising / lowering operation of the mowing work unit 5 will be described. The electromagnetic control valve 19 for the lifting hydraulic cylinder 9 is configured to be switched and controlled by the control device 18, and the lifting operation is performed based on the operation in the front-back direction of the operation lever 16 that is biased to return to the neutral position. Is configured to be. That is, when the operating lever 16 is rocked in the longitudinal direction of the machine from the neutral position, the lowering switch 20 or the raising switch 21 is turned on, and the control device 18 causes the electromagnetic control valve 19 to be operated while the lowering switch 20 is turned on. Of the electromagnetic control valve 1 while the descending control signal is output to the descending solenoid and the ascending switch 21 is ON.
9 is configured to output a raising control signal to the raising solenoid 9. Therefore, the operation lever 16 corresponds to a manual elevating / lowering command unit, and by swinging the operation lever 16 back and forth, the elevating position of the mowing work unit 5 can be manually adjusted to an arbitrary position.

On the upper surface of the grip portion 16a of the operating lever 16, an automatic lifting switch S as an automatic lifting command means.
W is provided, and this automatic elevating switch SW is composed of a push button switch that can be operated by a finger with a thumb. Then, the control device 18 automatically switches the stock raising / lowering switch S0 from the ON state (the cutting work state) to the OFF state (the non-working state) until the set time elapses. When the SW is operated, the mowing work unit 5 is automatically raised to the target raising position, and thereafter,
When the automatic raising / lowering switch SW is operated, the raising / lowering control is performed so as to automatically lower to the lowering target position. In addition, at the lifting swing fulcrum part of the mowing work part 5,
Relative swing angle with respect to the traveling body, that is, the mowing work unit 5
An elevation position sensor 22 is provided as a potentiometer type elevation position detecting means for detecting the relative elevation position relative to the body.

The control operation of the automatic raising / lowering control based on the command from the automatic raising / lowering switch SW will be described with reference to the control flowchart of FIG. First, it is determined whether or not the operating condition of the automatic lifting control is satisfied (step 1). That is, if the threshing switch 25 is ON, the engine speed detected by the rotation speed sensor 24 is 500 rpm or more, and the output of the lift position sensor 22 is a normal value, the automatic lift control is performed. It is determined that the operating conditions of are satisfied. When the operating conditions are met and the automatic lifting switch SW issues an automatic lifting command,
According to the detection value of the elevation position sensor 22, if the elevation position of the mowing work unit 5 is at the elevation target position or a position in the vicinity thereof (specifically, a position within 150 mm from the upper limit position), the descending flag is set (step 2 , 3, 4), while the stock origin sensor S0 is in the ON state, or when the harvesting work in a certain work process is completed, the stock origin switch S0 is switched from ON to OFF.
To the set time t (4
Until the elapse of seconds, the rising flag is set (steps 5 and 6). If the rising flag is set, the rising output process is executed, and if the falling flag is set, the falling output process is executed (steps 7 to 10).

As shown in FIG. 4, the ascending output process is performed by the ascending solenoid until the ascending / descending position of the mowing work unit 5 rises to “within 15 mm from the upper limit position” or until the output time exceeds 3 seconds. Outputs a rising signal and executes automatic rising operation. When the ascending / descending position rises to “within 15 mm from the upper limit position”, or when the output time exceeds 3 seconds, the raising flag is cleared (steps 81 to 8).
4). As shown in FIG. 5, the descending output process is performed by instructing the descending solenoid to descend the signal until the elevating position of the mowing work unit 5 descends to “450 mm or less from the upper limit position” or until the output time exceeds 2 seconds. Is output and the automatic lowering operation is executed. If the elevating position descends to "450 mm or less from the upper limit position" or if the output time exceeds 2 seconds,
The descending flag is cleared (steps 100 to 103).

Even when the automatic raising control or the automatic lowering control based on the automatic raising command from the automatic raising / lowering switch SW is being executed, the operating lever 16 is swung from the neutral position to the longitudinal direction of the machine body. Then, when the lowering switch 20 or the raising switch 21 is turned on and a manual raising / lowering command is issued (step 11), execution of the automatic raising control or the automatic lowering control is stopped, and the raising flag or the lowering flag is cleared ( Step 12), the manual raising operation or the manual lowering operation based on the ON operation of the lowering switch 20 or the raising switch 21 is preferentially executed.

As described above, based on the operation of the automatic elevating switch SW by a simple operation of pushing with the finger,
The ascending operation of automatically rising from the mowing work position to the upper limit position and the descending operation of automatically descending from the upper limit position to the mowing work position are alternately performed, but the mowing work unit 5 is at or near the upper limit position. If not, the automatic lowering operation based on the operation of the automatic raising / lowering switch SW is prevented so that the mowing working unit 5 is automatically raised / lowered in a direction contrary to the intention of the operator in the state of being in the middle position of the raising / lowering range. It is configured to prevent doing so.

Further, immediately before the end of the work process, the automatic raising operation based on the command of the automatic raising / lowering switch SW can be executed even while the working state is continuing.
Even when the ridges are approaching, the mowing work unit 5
It is possible to prevent the contact with the ridges by raising the wing early.

When the non-working state continues for a long time such as when traveling on the road, if the automatic raising / lowering switch SW is mistakenly operated, the reaping work section 5 is automatically raised / lowered against the intention of the operator. In such a case, the control device 18 does not execute the automatic raising / lowering control based on the automatic raising / lowering switch SW by turning off the automatic on / off switch 23.

[Other Embodiment] (1) In the above embodiment, the automatic lift switch SW as the automatic lift command means is provided in the grip portion 16a of the operation lever 16 so that the finger can be operated. However, the present invention is not limited to this. No
The switch may be a swing operation type switch, or may be provided at a position different from the operation lever 16. (2) In the above-described embodiment, the detection that the working device has reached the target ascending position or the target descending position is detected by the ascending / descending position sensor 22 provided at the ascending / descending swing fulcrum as detection data for the height of the aircraft. Although it is configured to be detected, the target descent position is set as ground height data, the ground height of the work device is detected, and the detection of reaching the target descent position is judged by the ground height detection value. It may be configured to. (3) As the work state detection means of the work device, instead of the stock origin sensor S0 that determines whether stems are present or not, it is detected whether a transport stem is present in the threshing device, and the detection result is obtained. It may be configured to determine whether it is a working state or a non-working state based on, and a means for determining whether the working device is in a low position below the set position, and the mowing device is in a driving state. The work state detection means may be configured by means for determining whether or not there is any, and if both of them are affirmative, it may be determined that the cutting operation state. (4) In the above embodiment, the hydraulic cylinder is used as the lifting / lowering operation means of the working device, but instead of the hydraulic cylinder,
You may use the electric motor etc. with a screw feed mechanism. (5) In the above embodiment, the combine was illustrated as the working machine, but the present invention is not limited to the combine and can be applied to other working machines such as a straw harvester.

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

[Brief description of drawings]

FIG. 1 is a control block diagram.

FIG. 2 is a plan view showing an operation direction of an operation lever.

FIG. 3 is a control flowchart.

FIG. 4 is a control flowchart.

FIG. 5 is a control flowchart.

FIG. 6 is a side view of the front part of the combine.

[Explanation of symbols]

 5 Working device 9 Elevating operation means 18 Control means 22 Elevating position detecting means S0 Mowing work state detecting means SW Automatic raising / lowering command means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Futa Ikeda 64 Ishizukita-cho, Sakai City, Osaka Prefecture Kubota Sakai Factory

Claims (2)

[Claims] 1. A lifting operation means (9) for driving and lifting a working device (5), and a control means (1) for controlling the operation of the lifting operation means (9).
8) and an automatic raising / lowering instruction means (SW) for instructing the control means (18) to perform an automatic raising / lowering operation based on a human operation. The control means (18) includes the automatic raising / lowering instruction means (SW). ) Is an elevating device for a working machine configured to execute automatic elevating control based on an automatic elevating command by the above), and detects whether the working device (5) is in a working state or a non-working state. And a lift position detector (22) for detecting the lift position of the working device (5), and the controller (18) controls the work status detector (S0). When the automatic raising / lowering instruction is issued by the automatic raising / lowering instruction means (SW) during a set time period or a set distance traveling from when the detection state is switched from the working state to the non-working state, The above The working device (5) is configured to perform an automatic raising operation for automatically raising the working device (5) to a target raising position, and the lifting position of the working device (5) detected by the lifting position detecting means (22) is When an automatic raising / lowering command is issued by the automatic raising / lowering command means (SW) in a state in which the working target (5) is at or near the raising target position, an automatic lowering operation for automatically lowering the working device (5) to the lowering target position is executed. Lifting device for work equipment. 2. The control means (18), when the automatic lifting command means (SW) issues an automatic lifting command while the working status detecting means (S0) is detecting the working status. The lifting device for a working machine according to claim 1, wherein the lifting device is configured to perform an automatic lifting operation.