JPS62186704A - Method for controlling rising and falling of working machineof tractor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a method for controlling the elevation and descent of a working machine for a tractor, in which a working machine is mounted on the body of the tractor so that it can be raised and lowered.

(B) Prior art Conventionally, when an operator sets a position lever with an angle sensor to a desired position, a microcomputer controls the work equipment to move the work equipment up and down until the detected value of the angle sensor of the work equipment reaches the set value of the position lever. For tractors that are designed to raise and lower the machine, if the setting value of the position lever and the detection value of the work equipment detection sensor differ when starting position lever operation, set the position lever so that the work equipment does not rise or lower unexpectedly when the engine is started. The work machine was not allowed to move up or down until the value was matched with the detected value of the work machine.

(c) Problems to be Solved by the Invention In the above-mentioned method for controlling the elevation of a tractor work equipment, it is troublesome to operate the position lever to match the height of the work equipment. If the machine is at an intermediate height, the position lever may go too far, and in this case, the work machine suddenly moves up and down, causing trouble when the work machine should not be moved upward or downward.

Furthermore, during work interruption, a third party may set the position lever above the work equipment position, or the work equipment may be raised and placed in a non-automatic control state, causing the work equipment to descend due to a leak phenomenon in the hydraulic system. If you try to raise the work equipment in such a case, you will have to operate it in the lower direction to align the position lever in the opposite direction to the intended direction, as described above, which will cause a strange feeling in operation. Ta.

(d) Means for Solving the Problems The present invention provides a position lever with an angle sensor on the operation part, an angle sensor on the lift arm, and uses the detected values of the angle sensors to move the work machine to the position lever by a lifting device. In a tractor that is controlled to raise and lower to the setting of the position lever, after detecting the set position of the position lever at engine start, the angle of the lift arm, and the situation in which the position lever is operated, the lifting device adjusts the work equipment to the set value of the position lever. When starting the engine and raising and lowering the work equipment,
Even if the height of the work equipment and the set position of the position lever are different, the work equipment does not go up or down, but the position lever can be operated in the direction you want to raise or lower, and the microcomputer detects this and then automatically controls it. The above-mentioned problem was solved by making it possible.

(e) Operation When the engine is started, that is, when automatic lifting control of the work equipment becomes possible, the set position of the position lever/S- and the height of the work equipment do not match, and the angle of the position lever Even if the set value of the sensor and the detected value of the angle sensor attached to the work equipment are different, if the work equipment does not move up or down immediately and the operator operates the position lever in the direction in which he/she wants to adjust the up/down adjustment, the status of the operation will be checked. Only after the detection is detected, the lifting device is activated to raise or lower the working machine.

(F) Embodiment To explain an embodiment of the present invention with reference to the drawings, an engine 2 is mounted on the front part of the main body 1 of a tractor, and a fender 4 on the right side of a cockpit 3 provided at the rear has a lever at its front part. It is formed on the panel and pivotally supports the position lever 5.
An angle sensor 6 consisting of a potentiometer is attached to the support shaft of the position lever 5.

Further, a rotary tilling device 7 is installed at the rear of the main body 1 as a working machine so that it can be raised and lowered by a three-point link consisting of an upper link 8 and a lower link 9.9. lift arm 10
．． 10 is connected to the lower link 9 by the lift rods 11, 11.
9, one of the lift rods 11 is connected to a hydraulic cylinder 12 so that the rotary tiller 7 can be tilted left and right with respect to the main body l, and the support shaft of the lift arm 10 has an angle formed by a potentiometer. A sensor 15 is attached.

Furthermore, the angle sensor 6 of the position lever 5 and the angle sensor 15 of the lift arm 10 are input to the one-chip microcomputer 1G as shown in FIG.
, 10 are inputted to the ascending solenoid 17 and descending solenoid 18 of the electromagnetic valve of the hydraulic cylinder 12, which tilts the hydraulic cylinder 12 up and down.

When the engine 2 is started to start work, if the detection value of the angle sensor 6 of the position lever 5 and the detection value of the angle sensor 15 of the lift arm 10 are different, the one-chip microcomputer 16 ``Position setting?'' and then ``Raise the position lever?'' is determined, but in this embodiment, the position lever 5 is moved by a value greater than the amount that the position lever 5 moves due to vibration of the aircraft, for example, the position lever 5 is moved artificially. When it tilts by about 5 degrees, which is an obvious amount of manual operation, the one-chip microcomputer 16 detects that an artificial operation has been performed.
If the operation is a lift operation, the position lever 5 is rotated α degree from the operation start point A as shown in example ① in Fig. 16 raises solenoid 17 to 2
The hydraulic cylinder is turned ON from one point, and the hydraulic cylinder pushes up the lift arm 10, and stops when the detected angle value becomes equal to the set value of the position lever 5.

Further, if the set value obtained by tilting the position lever 5 downward is smaller than the detected value of the angle sensor 15 of the lift arm 10, and the "position setting lift arm" is set as shown in example (2) in FIG. 4, the one-chip microcomputer 16 The one-chip microcomputer 16 outputs an output to the lift solenoid 17 at the 22nd point when the position lever 5 is rotated α degrees from the operation start point B, so the hydraulic cylinder moves the lift arm 10.10.
is pushed up, and when the detected value of the angle sensor 15 of the lift arm 10 matches the detected value of the angle sensor 15 of the position lever 5, the output is turned OFF and stopped.

Example 3 shows another operation method when it is desired to raise the lift arm 10. When raising the lift arm 10 when the lift arm 10 is lower than the set position of the position lever 5, the position lever 5 is lowered by the α degree. When it is rotated and then tilted upward and set at the desired position even if the two detection values do not match, the one-chip microcomputer 1G outputs an output to the lift solenoid 17 at the 23 points and raises the lift arm 10°10. , both angle sensors6.
When the detected values of 15 match, the hydraulic cylinder stops.

This operating method is effective when the position lever 5 is at the highest position and the rotary tiller 7 is at a lower position.

(g) Effects of the Invention As described above, the present invention provides the position lever 5 with the angle sensor 6 on the operation part, and the angle sensor 15 on the lift arm 10, and detects the values of the angle sensors 6 and 15 on the working machine. In a tractor in which the position lever 5 is controlled to rise and fall according to the setting of the position lever 5 by a lifting device, after detecting the set position of the position lever 5, the angle of the lift arm 10, and the operating situation of the position lever 5 at the time of starting the engine, Move the work equipment to position lever 5.
Since the lifting device was configured to raise and lower to the set value of
When the engine is started, even if the set value of the position lever 5 and the detected value of the lift arm 10 are different, the operator operates the position lever 5 and the lift arm 10 is suddenly activated until it is detected. It is safe because there is no lifting or lowering operation.

Moreover, when the set value and the detected value do not match, there is no need to perform an operation to make them match, and the operation can be performed quickly and without any discomfort by simply operating the position lever 5 in the direction in which you want to move the work equipment. I can do it.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which Fig. 1 is a side view of the position lever attachment part, Fig. 2 is a side view of the tractor with the working machine raised, and Fig. 3 is a side view of the tractor with the working machine lowered. 4 is an operation timing chart of the lift arm, FIG. 5 is a control circuit diagram, and FIG. 6 is a flow chart diagram. 2. Engine, 511. Position lever, 6°15
・・Angle sensor, 7・・Rotary tiller, 10・
・Lift arm

Claims (1)

[Claims] A position lever 5 with an angle sensor 6 is provided on the operation part, an angle sensor 15 is attached to the lift arm 10, and the work machine is controlled to move up and down to the setting of the position lever 5 using a lifting device based on the detected values of the angle sensors 6 and 15. In such a tractor, the set position of the position lever 5 and the lift arm 1 at the time of starting the engine are
A method for controlling the elevation of a working machine for a tractor, characterized in that, after detecting the zero angle and the operating situation of the position lever 5, the working machine is raised and lowered by a lifting device to the set value of the position lever 5.