JPH09121615A - Working machine elevation control unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject control unit designed to rapidly lift a ground working machine connected to a mechanical power vehicle when the machine is to be subjected to elevation. SOLUTION: This control unit is so designed that the controller on the master side and a subcontroller are mutually connected via a harness, an interrupt input port and a working machine lift output port are provided on the master side and the subcontroller side, respectively, and when the sensor on the subcontroller side detects a mode necessary for lifting the working machine, a lift output command is given from the working machine lift out put port 38 to the interrupt input port on the master side.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working machine lifting control device for lifting and lowering a working machine mounted on a power vehicle such as a tractor and a combine.

[0002]

2. Description of the Related Art A mobile agricultural machine such as a tractor or a combine is equipped with a working machine such as a rotary cultivator and a reaper, which can be manually operated or automatically controlled. is there. In the case of automatic control, for example, when raising or lowering the work implement in conjunction with the turning operation of the steering wheel, a steering angle sensor for detecting the steering operation angle is provided in the steering wheel turning portion, and when it is detected that it exceeds a predetermined angle. A command for raising the work implement is output from the controller to the control valve for raising and lowering the work implement.

[0003]

By the way, in such a conventional apparatus, since the sensor / signal input processing is performed in a program, the steering angle sensor detects a predetermined steering operation angle. However, the rising output was not immediately output from the controller to the control valve, and the control operation was determined during the program processing of a fixed cycle (10 msec), so it took too long to issue the output command. The control was sometimes delayed.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and the following technical measures have been taken. That is, in a case in which the main unit controller 26 that controls the working machine lifting control and the sub-controller 25 that controls other controls are provided, and both controllers 25 and 26 are connected via the harness 30. , An interrupt input port 29 is provided on the controller side of the machine, and a working machine lift output port 38 is provided on the side of the sub controller 25.
When a sensor connected to the sub controller 25 detects a state necessary for raising the work implement, the sub controller 25
The working machine lifting control device is characterized in that the working machine lifting output is sent from the side to the machine side controller 26.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. Here, the structure will be described using a tractor. Reference numeral 1 is a tractor, which is provided with front wheels 2 and rear wheels 3, and transmits the rotational power of an engine 5 mounted on the front part of the machine body to a mission case 6
It is configured to appropriately reduce the speed via an internal speed change device and to transmit this to the front wheels 2 and the rear wheels 3.

In the transmission case 6, there is a main transmission 6a formed by synchro and capable of four-speed shifting, an auxiliary transmission 6b capable of switching between high and low speeds, and a hydraulic pressure capable of switching between forward and reverse. A type forward / reverse switching device 6c is provided. Reference numeral 7 denotes a reverse operation lever for operating the forward / reverse switching device 6c, which is provided on a handle post portion that supports the steering handle 4. The machine body is configured to move forward when the reversing lever 7 is rotated forward, and the machine body is retracted when rotated reversely. The main transmission 6a is operated by an acceleration / deceleration button (not shown). When the acceleration / deceleration button is pressed, the main transmission 6a is switched from the first speed to the fourth speed, and when the deceleration button is pressed. The main transmission 6a is switched from the 4th speed to the 1st speed. In either case, switching is performed without operating the clutch pedal, and when shifting, the hydraulic forward / reverse switching device 6c is temporarily switched to the neutral state.

When the main transmission 6a is shifted to the target shift position, the forward / reverse switching device 6c is connected while so-called boost control is performed to gradually increase the pressure and connect the clutch. A hydraulic cylinder case 8 is mounted on the upper rear part of the mission case 6, and the hydraulic cylinder case is installed.
Lift arms 9 for raising and lowering the work machine are provided on both left and right sides of the space 8.
9 is rotatably and pivotally attached.

When the working oil is supplied to or discharged from the single-acting hydraulic cylinder 10 in the hydraulic cylinder case 8, the lift arms 9 and 9 rise or fall. 12
Is a hydraulic control valve for raising and lowering the lift arms 9 and 9, and this hydraulic control valve 12 is a proportional solenoid 1 for raising.
3 or the proportional solenoid 14 for descending.

Further, a steering angle sensor 11 for detecting the rotation angle of the steering handle 4 is provided at the rotation base of the steering handle 4, and the steering handle 4 can be rotated at a predetermined angle in the auto lift mode. When the steering angle sensor 11 detects that the turning operation has been performed,
The lifting proportional solenoid 13 is excited to lift the lifter.
When the steering wheel 4 is returned to its original straight-ahead position after the steering wheel 4 turns up and turns, the proportional solenoid 1 for descending 1
4 is excited so that the lift arm 9 is rotated downward.

Further, a lift arm angle sensor 17 for detecting the rotation angle of the lift arm 9 is provided at the rotation base of the one-side lift arm 9, and a rotation base of the hydraulic operation lever 18 is provided. Is provided with a position setter 20, and control is performed so that the lift arm 9 is rotated to the ground height set by the hydraulic operation lever 18, and a position control system is configured here.

This tractor-1 is constructed so that a brake on the inside of the turning is also applied during turning, and in order to make it possible, a brake for operating the hydraulic brake devices 21, 21 is used. Solenoids 22L and 22R are provided near the rear wheels 3 and 3. Further, this tractor-1 drives only the rear wheels 3 in a constant speed 4WD state in which the peripheral speeds of the front and rear wheels 2 and 3 are substantially equal, in a front wheel speed increasing state in which the peripheral speed of the front wheels 2 is faster than that of the rear wheels 3. Then, the rotation of the front wheels 2 is configured to be switched to the rear wheel drive state which is a free (rolling state).

By appropriately operating a traveling mode changeover switch 32, which will be described later, it is possible to switch between a rear wheel drive state suitable for road traveling and a constant speed 4WD state suitable for work in a field. In the four-wheel drive state, when the steering handle 4 is largely turned at the edge of the wheel, the front wheel is accelerated. Next, the circuit configuration will be described with reference to the block diagram of FIG. Reference numeral 25 is a sub controller that controls traveling-related control, and 26 is a master controller that controls hydraulic lifting control. Both 25 and 26 are connected via a harness 30.

The sub controller 25 includes a steering angle sensor 11 for detecting the steering angle of the steering wheel 4, an H speed sensor 31 for detecting the high speed position of the auxiliary transmission 6b, and a mode switching for switching the running mode. Switch 32, ALB switch 33 for switching to auto lift / auto break mode, front wheel speed increasing solenoid 34, constant speed 4WD solenoid 35, constant speed 4WD monitor 36, brake solenoid 22L, 22R is connected.

On the other hand, on the master controller 26 side, a lift arm angle sensor 17, a position setter 20, proportional solenoids 13 and 14 for raising and lowering the working machine, and a hydraulic system for performing rolling control of the ground work machine S. The lift rod extension solenoid 37a and the shortening solenoid 37b are connected. When raising the ground work implement S mounted on the rear part of the tractor-1, when the hydraulic operation lever 18 is operated to the raising side, the raising proportional solenoid 13 is excited by a command from the master controller 26 side to perform the ground work. Although the machine S rises, when a raising command is issued from the sub controller 25 side during the automatic control mode (for example, during the plowing depth control or rolling control), the sub controller does not depend on the manual operation. A rising signal is sent from the working machine lifting output port 38 on the la 25 side to the interrupt input portion 39 of the master controller 26, the lifting proportional solenoid 13 is excited, and the ground working machine S moves up. .

In this embodiment, the sub controller 2
The working machine rising output from the 5 side to the master controller 26 side is sent as a pulse signal via the harness 30. More specifically, this pulse signal is composed of ON and OFF signals having a cycle of 1 msec as shown in FIG. 3, and when three pulses are input to the master control 26 side, this pulse signal rises normally. The output is judged and the ground work implement S is raised.

On the other hand, FIG. 4 is not a pulse signal,
In the case where a continuous signal is sent, in such a case, it is considered as an abnormal signal and the ground work implement S is prevented from being raised. The working machine rise output port 38 of the sub controller 25 has failed for some reason, and this port 38
If a continuous output is output from the work machine S, the working machine S may erroneously rise and cause a dangerous state. However, as described above, when only the pulse signal is accepted, the ground work machine S is raised and the continuous signal comes in. In this case, if it is configured to suspend the lifting of the work implement, it will be safe and the operation will be reliable.

FIG. 5 is a flow chart for explaining the control operation.
First, each controller is explained.
The states of sensors and switches connected to the sensors 25 and 26 are read (step S1). Then, it is judged whether the ALB switch (auto lift SW) 33 is pressed to set the auto lift auto break mode (step S2). If the ALB switch 33 is pressed, When the working machine lift output is being output from the sub controller 25, it is determined whether the signal is a pulse signal (step S4).

If it is a pulse signal, control for raising the ground work implement S is started (step S5), and if it is not a pulse signal but a continuous signal, the work implement rise control is suspended (step S6). By making the work machine ascending output by the pulse signal in this manner, it becomes easy to distinguish it from the shortness of the harness, and the machine side controller 26, which is the master side, raises incorrectly. By recognizing the output command, it is possible to prevent the problem that the working machine rises.

Finally, the flow chart of FIG. 6 will be described. In this flow chart, in the mode in which the auto brake operates, there is no brake output from the controller, but when the brake output current is flowing, the brake is abnormal. It is intended to disable the start of the aircraft as well as to notify. Whether or not the break current is flowing is determined by the current detection circuit 42 shown in FIG. The flow of FIG.
The operation is explained according to the chart. First, the control
The states of various sensors, switches, and setting devices connected to the printer are read (step # 1). When the reverse operation lever 7 is switched to the forward drive side or the reverse drive side and the aircraft is ready to start, the current detection circuit 42 operates even though the condition for operating the auto brake is not set. When a break current is detected, no current is passed through the boost control valve of the forward / reverse switching device 6c, and the boost control in which the clutch is engaged while gradually increasing the pressure is not performed (step # 4). Then, only when the break current is not detected, the pressure control of the clutch of the forward / reverse switching device 6c is performed (step # 5). This allows
It is possible to solve the problem that the break current is detected and the one-side break operates even though there is no request for the auto-break output. In this case, the aircraft does not start and it is safe.

[0020]

As described above, the present invention is provided with the main unit side controller that controls the working machine lifting control and the sub controller that controls other controls, and both controllers are connected via the harness. In this connection, an interrupt input port is provided on the controller side of the machine, and a working machine lift output port is provided on the sub controller side, and the sensor connected to the sub controller is When a condition necessary for raising the work implement is detected, the sub controller side is configured to send the work implement rise output to the controller on the machine side.Therefore, when the work implement rise command is detected, the work implement is immediately output. As a result, the problem that the ascending operation is delayed as in the conventional case is solved.

[Brief description of the drawings]

FIG. 1 is a side view of a tractor.

FIG. 2 is a control block diagram.

FIG. 3 is a diagram illustrating a relationship between a pulse signal and a controller.

FIG. 4 is a diagram illustrating a relationship between a continuous signal and a controller.

FIG. 5 is a flowchart.

FIG. 6 is a flowchart.

[Explanation of symbols]

1 tractor 2 front wheel 3 rear wheel 4 steering wheel 5 engine 6 mission case 7 reversing operation lever 10 hydraulic operation lever 13 proportional solenoid for ascending 14 proportional solenoid for descending 25 traveling controller (sub controller) La) 26 Hydraulic lifting controller (Master controller)
La)

Claims (1)

[Claims] 1. A machine comprising a controller on the machine side for controlling the lifting and lowering of a work machine and a sub-controller for controlling other controls, wherein both controllers are connected via a harness. The side controller is provided with an interrupt input port and the sub controller side is provided with a working machine lifting output port, and a sensor connected to the sub controller is required for lifting the working machine. The work machine lifting control device is configured to send a work machine lifting output from the sub controller side to the main body side controller when detected.