JPH11187705A - Work control device of tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work control device for lifting or lowering a work device so that the traction load of the work device pulled with a tractor becomes a set load, capable of maintaining a work depth to a set depth, even when the speed of the tractor is changed. SOLUTION: A tractor speed sensor 14 for detecting the speed of a tractor and a load-setting means 15 for setting a traction load instead of a work depth are linked to a target load control means 18. When a tractor speed detected with the tractor speed sensor 14 is larger than the minimum tractor speed for works, the target load control means 18 controls a set control target load with the load-setting means 15 to an enlarging side and outputs the controlled target load to a work depth control means 19 as a set control target load FA with the load-setting means 15. The work depth control means 19 operates a lifting cylinder 6 to lift or lower the work device so that a load F detected with a load sensor 13 for detecting a traction load coincides with the set control target load FA from the target load control means 18.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load sensor for detecting a towing load of a working device for ground work, which is connected to a self-propelled body so as to be able to move up and down, a load setting means for setting a control target load, and the load. The present invention relates to a work control device for a tractor, provided with work depth control means for raising and lowering a work device so that a load detected by a sensor reaches a set control target load set by the load setting means.

[0002]

2. Description of the Related Art The above-mentioned tractor operation control device sets a desired working depth as a traction load by a load setting means when a plow device is connected to perform a tilling operation, and tilts the tractor forward and backward. Even if there is, the operation can be performed while the operation depth is maintained at a desired depth by the operation of raising and lowering the operation device by the operation depth control means. In this type of tractor, when the vehicle speed changes, the towing load on the tractor changes because the speed at which the work equipment is towed changes even if the connection height of the work equipment to the tractor is constant and the work depth is the same. I do. Even in this case, conventionally, the lifting / lowering control of the working device is performed based on the actual towing load applied to the tractor and the set control target load set by the load setting means.

[0003]

Conventionally, when the vehicle speed is changed, for example, when the vehicle is operated at a high speed, the steering wheel is hard to be released and the accelerator is raised, or when the vehicle is easily slipped, the accelerator is lowered. There was a change. That is, when the vehicle speed is changed to the ascending side, since the towing load applied to the tractor increases, the ascending control of the working device is executed, and the working depth may be smaller than the desired depth, and the vehicle speed is changed to the descending side. if you did this,
Since the traction load applied to the tractor is reduced, the lowering control of the working device is executed, and the working depth may be deeper than a desired depth. An object of the present invention is to provide a tractor operation control device that can operate while maintaining the operation depth as desired as possible even when the vehicle speed is changed.

[0004]

The structure and operation of the invention according to claim 1 are as follows.

[Structure] A load sensor for detecting a towing load of a ground work device connected to a self-propelled body so as to be able to move up and down freely, a load setting means for setting a control target load, and a load detected by the load sensor. A tractor operation control device provided with a work depth control means for raising and lowering the work apparatus so as to reach a set control target load set by the load setting means; a vehicle speed sensor for detecting a vehicle speed; A target load adjusting unit that operates based on information from the vehicle speed sensor, and when the vehicle speed detected by the vehicle speed sensor is higher than a set vehicle speed, the target load adjusting unit adjusts the set control target load by the load setting unit to an increasing side. A configuration in which a lever control target load is output to the work depth control unit as a control target load set by the load setting unit. And Aru.

[Operation] When working with the working device,
The minimum speed among the traveling speeds that must be provided to the tractor so that the work can be performed is set as the set vehicle speed. Then, when the vehicle speed is changed by an accelerator operation or the like and the vehicle speed becomes higher than the set speed, the load detected by the load sensor increases from the load detected when the vehicle is running at the set speed. At this time, the target load adjusting means adjusts the set control target load set by the load setting means to the increasing side, and outputs the adjusted control target load to the work depth control means. The working device is moved up and down so that the increase detection load due to the load becomes the adjustment control target load by the load setting means. Thus, when the target load adjusting means adjusts the target load appropriately according to the vehicle speed change, even if the vehicle speed is changed and the load detected by the load sensor changes, the lifting / lowering operation of the working device is not executed. Or the lifting stroke is small so that the working depth does not change significantly even if executed.

The structure and operation of the invention according to claim 2 are as follows.

[Structure] A load sensor for detecting a towing load of a ground work device connected to a self-propelled body so as to be able to move up and down freely, a load setting means for setting a control target load, and a load detected by the load sensor. A tractor operation control device provided with a work depth control means for raising and lowering the work apparatus so as to reach a set control target load set by the load setting means; a vehicle speed sensor for detecting a vehicle speed; A detection load adjusting unit that operates based on information from the vehicle speed sensor, and when the vehicle speed detected by the vehicle speed sensor is higher than a set vehicle speed, the detection load adjusting unit adjusts the detection load by the load sensor to a decreasing side to perform this adjustment. The detected load is outputted to the work depth control means as a detected load by the load sensor.

[Operation] When working with the working device,
The minimum speed among the traveling speeds that must be provided to the tractor so that the work can be performed is set as the set vehicle speed. Then, when the vehicle speed is changed by an accelerator operation or the like and the vehicle speed becomes higher than the set speed, the load detected by the load sensor increases from the load detected when the vehicle is running at the set speed. At this time, the detected load adjusting means adjusts the load detected by the load sensor to the decreasing side, and outputs the adjusted detected load to the work depth control means. The working device is moved up and down so as to reach the target load. Accordingly, when the detection load is appropriately adjusted by the detection load adjustment unit in accordance with the vehicle speed change, even if the vehicle speed is changed and the detection load by the load sensor changes, the lifting / lowering operation of the working device is not executed. In other words, the elevating stroke is small so that the working depth does not change significantly even when the operation is performed.

The effects of the invention according to claims 1 and 2 are as follows.

[Effect] Even if the vehicle speed is changed to an up side or a down side where the vehicle speed is changed to a higher speed side than the minimum working speed, and the load detected by the load sensor becomes different from that at the minimum working speed, It is possible to work while keeping the working depth unchanged or not significantly changing by appropriately adjusting the set control target load or the detected load, and the working depth can be maintained regardless of the pitching of the vehicle body. Can achieve high-efficiency running at high speed as much as possible at a set depth.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a pair of left and right driving and swinging steerable front wheels 1, 1 and a pair of left and right drivable rear wheels 2, 2 are self-propelled. A pair of left and right lift arms 5, 5 can be swingably operated up and down by a hydraulic lift cylinder 6 at the rear part of an airframe provided with a driving unit having a steering handle 3, a driving seat 4, and the like for steering the wheels 1. The tractor is provided with a power take-off shaft 7 for transmitting rotational power to the connected working device. At the rear of the tractor, a plow device 8 for plowing by a plurality of plows 8a is connected via a link mechanism 9, and a pair of lift arms 5, 5 is connected to one lift arm 5 by a lift rod 10. The link mechanism 9 is configured to swing up and down with respect to the self-propelled body via the plow device rolling operation cylinder 11 connected to the other lift arm 5 to move the plow device 8 up and down. The riding type tilling device is configured so that the tractor performs the plowing operation by running while towing the plow device 8, and the lift cylinder 6 is operated to raise and lower the plow device 8 with respect to the tractor. It is.

A load sensor 13 for detecting a traction load of the plow device 8 and a vehicle speed sensor 14 for detecting a vehicle speed of the tractor are provided inside a traveling and working mission case 12 forming a rear portion of the self-propelled body. A load setting means 15 is provided on the operation panel located in the operation section for setting the plowing depth. As shown in FIG. 2, a control device 16 linked to the sensors 13, 14 and the load setting means 15 is mounted on the tractor. Control valve mechanism 1 for lift cylinder 6
7, a work control device is configured. This work control device sets the desired tillage depth to the load setting means 15.
This makes it possible to work while maintaining the tilling depth of the plow device 8 at a desired depth even if the tractor is tilted back and forth or changes the traveling speed of the tractor. Is configured as follows.

The load sensor 13 rotatably supports the front ends of a pair of left and right lower links 9a, 9a constituting the link mechanism 9.
2 through the fuselage in the lateral direction
Each of the lower links 9a, 9a is constituted by a strain sensor acting on a link support shaft 18, which is connected to be vertically swingable. That is, when the traction load of the plow device 8 acts, the link support shaft 18 is bent. The displacement of the link support shaft 18 due to the deflection is detected by a change in output voltage generated in the strain sensor due to the displacement. That is, the load sensor 13
The displacement caused by the deflection of the link support shaft 18 is detected as a traction load, and the detected load is output to the control device 16 as an electric signal.

The vehicle speed sensor 14 is a rotation sensor acting on an output shaft provided in a traveling transmission provided inside the transmission case 12 so as to transmit a rotation output to a rear wheel differential mechanism. The running speed of the tractor is detected based on the rotation speed of the output shaft, and the detected vehicle speed V is output to the control device 16 as an electric signal.

The load setting means 15 includes a dial 15a.
Is constituted by a variable resistor whose electric resistance changes by rotating. That is, the desired tillage depth is set by rotating the dial 15a. Then, the load setting means 15 sets a traction load corresponding to the desired tillage depth as a control target load, and outputs the set control target load as an electric signal to the control device 16.

The control valve mechanism 17 includes a lift cylinder 6
And a down electromagnetic proportional flow control valve that controls the plow device 8 on the descending side, based on an electric signal as a command from the control device 16. The lift cylinder 6 is controlled by operating the proportional flow control valve.

The control device 16 is composed of a microcomputer and is configured to operate based on information from the sensors 13, 14 and the load setting means 15 and a control flow shown in FIG. That is, step # 1
As shown in FIGS. 3 to 3, the detected vehicle speed V detected by the vehicle speed sensor 14 is set as the lowest one of the traveling speeds that must be provided to the tractor so that the plowing device 8 can perform plowing. A certain vehicle speed V
A is determined whether the detected vehicle speed V is higher than the set vehicle speed VA.
If it is determined that the speed is faster, the set control target load FA set by the load setting means 15 is changed and adjusted by an amount corresponding to the difference between the detected vehicle speed V and the set vehicle speed VA to an increase side,
The adjustment setting control target load FA is compared with the detected load F detected by the load sensor 13. If it is determined in step # 1 that the detected vehicle speed V is not higher than the set vehicle speed VA, the set control target load FA set by the load setting means is adopted without being changed, and the set control target load FA and the load sensor are used. 13 is compared with the detected load F detected. If it is determined in step # 3 that the load F detected by the load sensor 13 is equal to the set control target load FA, a signal to stop the lift cylinder 6 is output to the control mechanism 17 as shown in step # 4. Lift cylinder 6
To stop. If it is determined in step # 3 that the load F detected by the load sensor 13 is larger than the set control target load FA, the control mechanism 17 should control the lift cylinder 6 to the ascending side as shown in step # 5. By outputting a signal, the load sensor 1
The lift cylinder 6 is operated on the ascending side of the plow device 8 until the load F detected by the control unit 3 becomes equal to the set control target load FA. If it is determined in step # 3 that the load F detected by the load sensor 13 is smaller than the set control target load FA, as shown in step # 6, the control mechanism 1
By outputting a signal for controlling the lift cylinder 6 to move downward on the lift 7, the lift cylinder 6 is operated to move downward on the plow device 8 until the load F detected by the load sensor 13 becomes equal to the set control target load FA.

That is, steps # 1 and # 2 constitute the target load adjusting means 18 which automatically operates based on the information from the vehicle speed sensor 14, and steps # 3 to # 6 constitute the work depth controlling means 19. The target load adjusting means 18 adjusts the set control target load set by the load setting means 15 based on the vehicle speed V detected by the vehicle speed sensor 14 as follows, and adjusts the adjusted control target load by the load setting means 15. It is output to the work depth control means 19 as the set control target load FA. That is, the vehicle speed sensor 14
Is set by the load setting means 15 when the detected vehicle speed V is equal to or less than the set vehicle speed VA preset as the minimum speed among the tractor traveling speeds necessary for performing the tilling work by the plow device 8. The non-adjusted set control target load is output to the work depth control means 19 as the set control target load FA by the load setting means 15 without changing the set control target load which has been increased or decreased. When the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed FA, the set control target load set by the load setting means 15 corresponds to the difference between the vehicle speed V detected by the vehicle speed sensor 14 and the set vehicle speed VA. The load is adjusted by an amount corresponding to the increased load, and the adjusted target load is set as the set control target load FA by the load setting means 15 and the work depth control means 19 is used.
Output to That is, when the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed VA, the detected load detected by the load sensor 13 is higher than when the detected vehicle speed V is the set vehicle speed VA. The load setting unit 1 is configured to prevent the execution of the lift control of the plow device 8 due to the increase in the detected load.
The set control target load set in step 5 is changed and adjusted by the amount corresponding to the increase in the load detected by the load sensor 13 due to the increase in vehicle speed. Then, the work depth control means 19 adopts the control target load FA output from the target load adjusting means 18 as the set control target load FA by the load setting means 15, and uses the set control target load FA and the load sensor 13. The plow device 8 is moved up and down so that the detected load F becomes equal.

FIG. 4 shows a working control device having another embodiment. This work control device also sets the desired tillage depth by the load setting means 15 and adjusts the tillage depth by the plow device 8 to the desired depth even if the tractor is tilted back and forth or the traveling speed of the tractor is changed. It is possible to work while maintaining the same, and is configured in detail as follows.

Each of the load sensor 13, the vehicle speed sensor 14, the load setting means 15, and the control valve mechanism 17 has the same configuration as that shown in FIGS.

The control device 16 comprises a microcomputer, and is configured to operate based on information from the sensors 13 and 14 and the load setting means 15 and a control flow shown in FIG. That is, step # 1
As shown in FIGS. 3 to 3, the detected vehicle speed V detected by the vehicle speed sensor 14 is set as the lowest one of the traveling speeds that must be provided to the tractor so that the plowing device 8 can perform plowing. A certain vehicle speed V
A is determined whether the detected vehicle speed V is higher than the set vehicle speed VA.
If it is determined that the vehicle speed is higher, the detected load detected by the load sensor 13 is set to the detected vehicle speed V and the set vehicle speed VA.
The adjustment detection load FB is compared with the set control target load FA set by the load setting means 15 by changing the adjustment detection load FB to a decrease side by an amount corresponding to the difference between the adjustment control load FB and the set control target load FA. Step # 1
When it is determined that the detected vehicle speed V is not faster than the set vehicle speed VA in the above, the detected load detected by the load sensor 13 is adopted without being changed, and the detected load F is used.
B and the set control target load FA set by the load setting means 15 are compared. In step # 3,
If it is determined that the detected load FB is equal to the set control target load FA, as shown in step # 4, the control mechanism 17
, A signal to stop the lift cylinder 6 is output, thereby causing the lift cylinder 6 to be stopped.
If it is determined in step # 3 that the detected load FB is larger than the set control target load FA, a signal to control the lift cylinder 6 to the ascending side is output to the control mechanism 17 as shown in step # 5. Thus, the lift cylinder 6 is operated on the ascending side of the plow device 8 until the detected load FB becomes equal to the set control target load FA. If it is determined in step # 3 that the detected load FB is smaller than the set control target load FA, as shown in step # 6, a signal for controlling the lift cylinder 6 to be lowered to the control mechanism 17 is output. Thus, the lift cylinder 6 is operated on the lower side of the plow device 8 until the detected load FB becomes equal to the set control target load FA.

That is, steps # 1 and # 2 constitute a detection load adjusting means 20 which automatically operates based on information from the vehicle speed sensor 14, and steps # 3 to # 6 constitute a work depth control means 19. The detected load adjusting means 20 adjusts the detected load detected by the load sensor 13 based on the vehicle speed V detected by the vehicle speed sensor 14 as follows, and works as the detected load FB detected by the load sensor 13 as follows. Output to the depth control means 19. That is, the vehicle speed V detected by the vehicle speed sensor 14 is
If the vehicle speed is equal to or less than the set vehicle speed VA which is set in advance as the minimum speed of the tractor traveling speed necessary for performing the tilling work by the plow device 8, the load sensor 13
The non-adjusted detected load is output to the work depth control means 19 as the detected load FB by the load sensor 13 without changing the detected load detected by the load sensor to the increasing side or the decreasing side. When the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed FA, the detected load detected by the load sensor 13 is reduced by an amount corresponding to the difference between the vehicle speed V detected by the vehicle speed sensor 14 and the set vehicle speed VA. The adjustment detection load is output to the work depth control means 19 as the load FB detected by the load sensor 13. That is, when the vehicle speed V detected by the vehicle speed sensor 14 is higher than the set vehicle speed VA, the detected load detected by the load sensor 13 is higher than when the detected vehicle speed V is the set vehicle speed VA. Then, the detected load detected by the load sensor 13 is changed and adjusted by the amount increased by the increase of the vehicle speed to the decrease side so as to prevent the lifting control of the plow device 8 from being executed due to the increase in the detected load. Then, the work depth control means 19 adopts the detected load FB output from the detected load adjusting means 20 as the detected load FB by the load sensor 13, and this detected load FB becomes the set control target load FA by the load setting means 15. The plow device 8 is moved up and down in such a way as to achieve the desired condition.

The lower limit setting sensor 21 shown in FIGS.
Consists of a rotary potentiometer interlocked with the lift arm 5 so as to detect the mounting angle of the lift arm 5 with respect to the transmission case 12, and when the plow device 8 is lowered and reaches the limit, the further rotation of the plow device 8 A signal for stopping the lowering operation is output to the control device 16. Lifting device 22 shown in FIGS. 2 and 4
Is composed of a variable resistor whose electric resistance changes by rotating the dial 22a.
To the control device 16 to output a signal to raise the plow device 8 to the original lowering position, to the control device 16, Is what you do. That is, for example, when turning the machine at the field end, the dial 22a is rotated to raise the plow device 8 from the lowering work position to the ascending non-working position, or to lower the plow device 8 from the ascending non-working position to the lowering work position. Things.

[Alternative Embodiment] The present invention can be applied to a case where a subsoiler for creating a culvert is connected instead of the plow device 8. Therefore, the plow device 8, the subsoiler, and the like are collectively referred to as a ground work device 8.

[Brief description of the drawings]

FIG. 1 is a side view of the entire riding cultivator.

FIG. 2 is a block diagram of a work control device.

FIG. 3 is a flowchart of a plow device lifting control.

FIG. 4 is a block diagram of a work control device having another embodiment.

FIG. 5 is a flowchart of a plow device lifting / lowering control of a working control device having another embodiment.

[Explanation of symbols]

 Reference Signs List 8 Working device 13 Load sensor 14 Vehicle speed sensor 15 Load setting means 18 Target load adjusting means 19 Work depth control means 20 Detected load adjusting means

Claims (2)

[Claims] 1. A load sensor for detecting a traction load of a ground work device connected to a self-propelled vehicle so as to be able to move up and down, a load setting means for setting a control target load, and a load detected by the load sensor. A work control device for a tractor provided with a work depth control device for raising and lowering the work device so as to reach a set control target load set by the load setting device, a vehicle speed sensor for detecting a vehicle speed, A target load adjusting unit that operates based on information from the vehicle speed sensor, and when the vehicle speed detected by the vehicle speed sensor is higher than the set vehicle speed, the target load adjusting unit adjusts the set control target load by the load setting unit to an increasing side. The adjustment control target load is output to the work depth control means as the set control target load by the load setting means. Work for the control device of the tractor. 2. A load sensor for detecting a traction load of a ground work device connected to a self-propelled vehicle so as to be able to move up and down, load setting means for setting a control target load, and a load detected by the load sensor. A work control device for a tractor provided with a work depth control device for raising and lowering the work device so as to reach a set control target load set by the load setting device, a vehicle speed sensor for detecting a vehicle speed, A detection load adjusting unit that operates based on information from the vehicle speed sensor, and when the vehicle speed detected by the vehicle speed sensor is faster than a set vehicle speed, the detection load adjusting unit adjusts the detection load by the load sensor to a decreasing side, and For the operation of the tractor configured to output the adjustment detection load as the load detected by the load sensor to the work depth control means. Control device.