JPS5826927B2 - Safety equipment for ground-based work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is capable of automatically raising and lowering a ground work device, which is equipped on this machine so that it can be raised and lowered by driving, based on a control command issued in accordance with a work load detection result or a height detection result of the work device above the ground. It is possible to switch between an automatic control work mode that stabilizes the work load or the height of the work equipment above the ground, and a manually operated work mode that raises and lowers the ground work equipment based on manual lifting commands issued by operator operations. The present invention relates to a ground-based work machine configured as follows.

In the above configuration, as soon as the onboard engine is started while the work mode 75 is still switched to the flip-motion control work mode, the ground work equipment may unexpectedly descend or move based on the automatic elevation control command. Ta.

Further, a similar phenomenon was observed when the work mode switching mechanism was switched to the manually operated work mode and the ground work device was raised, and then the work mode was switched to the automatic mode.

The present invention aims to improve safety by preventing unexpected automatically controlled lowering of a ground work device when starting an engine or changing a work mode.

Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 1 shows a ground working machine in which a rotary tilling device 1 as a ground working device is attached to the rear of a tractor main machine 2 so as to be able to rise and fall freely, and the rear propulsion wheels 4, 4 and the By the operation of a hydraulic control pulp (described later) which drives the tilling device 1 and also drives a hydraulic pump (not shown) and is switched and operated as appropriate by an electric control signal,
The single-acting hydraulic cylinder 5 serving as the lifting mechanism of the tilling device 1 is telescopically operated to cause the lift arm 6 connected to the cylinder 5 to swing up and down.
The tilling device 1, which is suspended and supported by the tiller 1, is driven up and down.

The hydraulic cylinder 5 is configured to be automatically controlled based on changes in the load of the engine 3 and changes in the relative height of the tilling and cultivating device 1 with respect to the tractor 2, details of which are shown in the block diagram of FIG. explain.

A signal E1 from the detector 7 that detects the actual rotational speed of the engine 3 and a signal A from the rotational speed setting device 8 that sets the maximum engine rotational speed according to the accelerator setting are applied to the subtractor 9, The configuration is such that the load is detected as the amount of decrease A-E in the engine rotational speed.

Further, the signal from the first subtractor 9 and the signal H from the plowing depth setting device 10 for adjusting the relative level of the tilling device 1 with respect to the tractor to change the target plowing depth are applied to the adder IHC, The output signal from the adder 11 and the signal from the level detector 12 for detecting the relative level of the tilling device 1 with respect to the tractor 2 are applied to a second subtractor 13, and the respective detection and setting devices 7.8.10 Based on the balanced relationship between the signals from 1 and 12, a signal for determining whether to raise or lower the tilling device 1 is taken out from the second subtractor 13 in view of the change in engine load and the set plowing depth value.

First, the signal voltage A-E from the first subtractor 9 increases as the engine speed decreases, and the signal voltages H and L from the plowing depth setter 10 and level detector 12 increase as the plowing depth increases. If the tilling device 1 is located shallower than the set plowing depth position while the engine rotation speed is decreasing, the rotation speed decrease amount (engine load)
A-E>0 and deviation amount H-L from the set tilling depth of the tilling device 1 (
If they are equal to 0, the output voltage from the second subtractor 13 becomes zero, and it is determined that the tilling device 1 does not need to be raised or lowered.If the engine speed reduction amount A-E increases from this state, the output voltage from the second subtractor 13 becomes zero. The first discriminator 14 determines that the tilling device 1 needs to be raised because the output voltage becomes positive, and conversely, when the engine speed reduction amount A-E decreases, the second subtractor 13 determines that the tiller 1 needs to be raised. The output voltage becomes negative, and the second discriminator 15 determines that the tilling device 1 needs to be lowered.

The tiller 1 is then adjusted so that the balance relationship is established based on the change in engine speed reduction as the tiller 1 is raised and lowered and the change in the signal from the level detector 12.
Elevation control is performed.

In other words, if the output voltage from the second subtractor 13 is positive,
The lifting valve 16 of the hydraulic cylinder 5 is opened to drive the lift arm 6 in an upward swing motion, and conversely, the lift valve 16 of the hydraulic cylinder 5 is opened so that the lift arm 6 and the tilling device 175 whose output voltage is negative are moved downward. It is configured to open the descending valve 17.

Further, a switch 19 is provided in the output circuit of the tilling depth setting device 10, and can be connected to the setting device 18 to which a sufficiently large positive constant signal is set.
By inputting the fixed signal from the setter 18 into the adder 11 in place of the signal H from the setter 10 through the operation of The tilling device 1 can be raised even during automatic control, and if the switch 19 is returned to its original state, the control can be returned to.

1. This switch 19 is configured as a manual operation mechanism for pulling out the tilling device 1 from underground when turning the machine during automatically controlled tilling work, and returning it to automatically controlled tilling work after turning. -ing

Note that this switch 19 is operated by a snap lever 21 provided on the support of the steering bundle 20.

Further, the tilling device 1 can be controlled to rise and fall to a predetermined height by the structure described below, in addition to being automatically controlled to rise and fall by the structure described above.

That is, between the adder 11 and the second subtracter 13, between the level detector 12 and the second subtracter 13, and between the power supply V and the valves 16 and 17, there are interlocking switches 22a for circuit switching. , 22b, 22c are provided respectively, and when these switches 22a are connected to the contact R as shown in the figure, the above-mentioned automatic raising/lowering control mode is applied, and when connected to the contact P, the tilling depth setting device 10 The second subtractor 13 subtracts and compares only the signal H from the level detector 12 with the signal H from the level detector 12, and the tilling device 1 is controlled to move up and down based on the result.

That is, the tilling device 1 is configured to be automatically controlled to move up and down at a height set by the setting device 10 and then stopped.

Furthermore, when the switches 22a, . . . Only the unit will be in operation.

This switch 23 is disposed on the front panel 24 of the control section together with the tilling depth setting device 10.
The tilling device 1 is configured to be able to be moved up and down as desired and fixed in accordance with the switching direction of No. 3 and the operating time thereof.

In summary, the switch 22a... has (a) continuous automatic lifting control work mode [connected to contact R], (b) automatic lifting control work mode according to plowing depth setting [connected to contact P],
and (b) a work mode switching mechanism for switching to the manual operation mode [connected to contact M].

In addition to the above configuration, the present invention further includes the following configuration.

Furthermore, a similar switch 22a is linked to the switch 22a, and the contacts R and P of this switch 22a and the changeover switch 19 are connected to a memory circuit 25, and this circuit 25 is also connected to the switch 22a. It is connected to the control circuit 26 of the descending pulp 17.

This memory circuit 25 is configured to allow the lowering pulp 1T to operate while the memory is activated, and to stop the operation of the lowering valve 11 when the memory is canceled, and the switch 22a is connected to contact R or P. When the selector switch 19 is connected to the setting device 18 while the work mode is switched to the automatic lifting control mode (A) or (A), the memory operation starts and the switch 22d is connected to the contact M. It is configured so that the memory is canceled when

Therefore, the switch 22a for switching the work mode...
・22d75 Lifting motion control work form (a) or (a')
Even if the engine 3 is started with the second subtractor 1 selected as
Even if there is a descending command from 3, the descending valve 17 will not operate, and the changeover switch 19 must be consciously connected to the setting device 18 (forcibly raising the tiller) to set it to the memorized operating state. Otherwise, descending control will not be performed.

Also, if the switches 22a...22d are switched to the manual operation mode (B), the memory operation is canceled, so even if the switch is switched to the automatic lifting control mode (A) or (A) again, the descending control will not continue. In this case as well, descending control becomes possible after the switch 19 is once operated (forced upward operation).

As described above in detail in the embodiments, the present invention provides a work mode in which the ground work device 1, which is attached to the machine body 2 so as to be able to be raised and lowered by driving, is raised and lowered based on an automatic raising/lowering control command, and in a work mode in which the ground working device 1 is mounted on a machine body 2 so as to be able to be raised and lowered by driving. Mechanism 22a for switching to a working mode of raising and lowering...
. . 22d, and a ground work machine having a forced lift operating tool 19 capable of transmitting a forced lift operation command to the lifting mechanism 5 of the ground work device 1 in the automatic control work mode, the work mode is in the automatic control work mode. The forced lift operating tool 19 performs a memory operation based on the switch to the forced lift operation command transmission state in the state where the working form is changed to the working form switching mechanism 22a...
A memory circuit 25 whose memory is cleared when the automatic control work mode is switched to the manual operation mode by 22d is provided, and during the memory operation of the memory circuit 25, an automatic lowering control command is transmitted to the lifting mechanism 5, and the non-operating operation mode is The system is characterized in that the automatic lowering control command is not transmitted during the memorization operation, so even if the automatic lifting control work mode is in operation, the forced raising operation command by the forced raising operating tool is not consciously transmitted once. Automatic descending control is not performed unless the engine is started, so the ground work device 1 is not unexpectedly controlled to descend as soon as the engine is started, and the work mode can be changed from a manual operation mode to an automatic control operation mode. By simply switching, there is no longer any need for unexpected downward control, making it possible to improve safety when starting the engine or switching work modes.

In other words, the present invention enables automatic elevation control through a forced elevation operation command using a forced elevation operation tool that does not involve any danger, thereby making the automatic descent control operate under the driver's awareness, thereby increasing safety. It is characterized by the fact that it was able to increase the

[Brief explanation of drawings]

The drawings show an embodiment of the safety device for a ground-based work machine according to the present invention, and FIG. 1 is an overall side view of the riding tillage work machine, and FIG. 2 is a block diagram of the control mechanism. 1...Ground work device, 2...This machine, 1
5... Lifting mechanism, 19... Forced lifting operation tool, 22a... 22d... Working mode switching mechanism, 25... Memory circuit .

Claims (1)

[Claims] 1 Mechanism 22 a t 22 d for switching the ground work device 1 attached to the aircraft body 2 so that it can be driven up and down into a work mode in which it is raised and lowered based on an automatic lift control command and a work style in which it is raised and lowered based on a manual lift command. and a forced lift operation tool 19 capable of transmitting a forced lift operation command to the lifting mechanism 5 of the ground work device 1 in the automatic control work mode.
In the ground-based work machine having
The memory is activated based on the state being switched to the forced lift operation command transmission state, and the memory is activated when the work style is switched from the automatic control work style to the manually operated work style by the work style switching mechanisms 22a and 22d. A memory circuit 25 that is released is provided, and the automatic lowering control command is transmitted to the lifting mechanism 5 when the memory circuit 25 is in memory operation, and the automatic lowering control command is not transmitted during non-memory operation. Features safety equipment for ground-based work equipment.