JPS63146704A - Monitor apparatus in draft control of earth working machine - 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] [Industrial Applications] This invention is directed to draft control of a ground work machine such as a plow that travels in a phantom manner while being towed by a drag vehicle such as a tractor. Draft cut.

A monitor in the draft control of ground work equipment that alerts you when plowing is performed with the so-called "-F plowing control It is related to the device.

[Prior Art and Problems to be Solved by the Invention] Conventionally, the draft control device of this ground-to-ground work machine has been designed to maintain the drag R (resistance) set by the operator. The work equipment should be raised and lowered automatically, and the plowing depth (
The deviation value is calculated as the difference between the draft setting value that sets the plowing depth (drag force) and the value detected by the draft detection sensor that detects the plowing depth (drag force), and the hydraulic lifting mechanism is controlled to ascend and descend according to this deviation value. , by raising and lowering the lift arm,
Plowing is carried out under draft control. However, when the plow is lowered after raising it by connecting it to the towing vehicle with a link mechanism, it is difficult to perform such a complicated plowing operation. falls on the field surface very slowly, and therefore the plow's penetration into the soil is also slow, and the plow reaches a depth corresponding to f + # depth (drag) set by the plowing depth (drag) setting device. Since it takes a long distance to get under the ground, it takes a long distance, that is, a long time, to start controlling the raft. So, to eliminate this - after raising the plow.

When lowering, the draft control is cut and the so-called "plowing control" is activated to perform plowing work in rows 5 and 5,
As a result, the plow descends in an uncontrolled manner and falls shockingly onto the surface, and the suction at the tip of the plow does not prevent the plow from digging into the ground while running, so the plowing depth set using the plowing depth (drag force) setting device (Drag) It is designed so that it only takes a short distance to dive to the corresponding depth. In such a case 1, for example, due to operator error, the plowing depth (drag) corresponding depth by the plowing depth (drag) setting device is inappropriate, and the draft control is not activated. Therefore, in order to solve these five problems, problems arise that need to be solved.

[Means for solving the gap gA point]

When the raft control is not operating effectively due to incorrect operation of the plowing depth (drag) setting device.

A droop monitor device for draft control of a ground work machine characterized by having a CPU equipped with a control unit that outputs an operation command to notify an operator that the plowing depth (drag) setting device is inappropriate. This is what we intend to provide.

[Effect]

This invention allows draft control to be performed by specifying the plowing depth (drag force) setting device even when the plow is forced into the ground by draft cutting during plowing work.

After the plow has once dived to a deep position, it is raised to the balancer position by the automatic draft control.

Therefore, if this rising 1 standing guard is used, if the automatic draft system is in an inappropriate position, it is struck, the shallow pot is put in the dry plowing state, and the CPU is provided with an allowance from the I@ part to the plowing depth (drag). ) An operation command will be output to activate an alarm to notify that the setting by the setting device is incorrect, and - once the alarm is issued, the operator will determine the error and perform the above-mentioned operation. By changing the designation using the plow/7 (drag) setting device, effective draft control can be achieved.

〔Example〕

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings. For convenience of explanation, the conventionally known [film-F7-
) The configuration will also be explained at the same time.

As shown in Figure 2, a tractor (1) as a towing vehicle
At the rear of the ground work machine (2), such as a plow, is attached to a pair of left and right lift arms (3) (31), and left and right lift rods (4).
14) Left and right lower links (5) that swing up and down through the
) (5) and the top link (6) at the upper center (connected by force, and this work equipment connection mechanism (7) is - its lift arm (3i (31) is connected by a hydraulic lift). The lift cylinder (8) is made to move up and down using hydraulic pressure (8) which is rotated up and down by the cylinder (8).Furthermore, the supply and discharge of oil to the II lift cylinder (8) is controlled by a microcomputer. The operation command of CPUn11, which is made up of kimono, is amplified by the moving part for raising or the driving part for lowering tI21, and is activated by the ascending proportional solenoid valve 0 or the descending proportional solenoid valve (1).
4) Open and close the lift cylinder (
Pressure oil from pump Q5 is also supplied to lift arm (8).
3) The lift arm f31 (3) is configured so that the pressure oil in the lift cylinder (8) is discharged and the lift arm f31 (3) is lowered.

Furthermore, the position lever (II) installed near the cockpit
and a lift arm angle sensor (81) formed by connecting the detection shaft of a potentiometer or the like to the lift arm (3), respectively, are connected to the CPU and set by operating the position lever (II). -cpU (1
From 01, the lifting command is output to the lifting drive unit (1υ) or the lowering drive unit α2, which performs lifting control.Also, it is connected to the front part of the plowing resistance detection value uplink (6). Illustrated raft rod Q6
1 detects the rearward KIIItJ<traction resistance 1- by the force moving forward due to the plowing resistance force against the raft spring (171) and the weight of the ground working machine (2). I am using something-
Draft Se/Su (S2) is not limited to this.

Furthermore, a plowing depth (drag) setting foot I2) is installed near the control @Ig, and the plowing resistance set value set by operating the - plowing resistance detected by the draft sensor (S2) In order for the detected values to match, an operation command is output from the CPU (IG) to the ascending drive unit Ol and the descending drive unit 0z in order for the anti-vehicle working device (2) to perform an ascending and descending operation.

The structure is such that draft control is performed by this. Furthermore, the ascending lenoid valve (13) and the descending lenoid valve I may be those commonly used.

Therefore, a tractor (1) having such an electro-hydraulic mechanism
), set the draft load to 1 using draft control, and when traveling while performing 1 work, use 1, for example, the position lever [
+HC allows ground work equipment to be raised to a certain position (e.g. -I
+ within 5 degrees below the upper limit of 65 degrees for the movement of the foot arm), and even if the ground work equipment is lowered from that position, the draft control is activated and the ground work equipment such as a plow (2 ) descends to the surface of the field extremely slowly, and therefore the ground-facing implement such as a plow digs into the soil slowly. The long running car Wf sneaks into the neighborhood! Therefore, it required a long travel distance, that is, a long time, before starting the raft control. Therefore, the position lever (II) and the elevation changeover switch (S3)* are manually operated to reach the fixed elevation position 1if.
Raise the lift arm (3) at t.

Only when the lift arm (3) is lowered from that position, the draft control is cut and a command is incorporated in advance into the program so that the -'F thrust control is activated.
ptl(m). Then, in order to execute this command v - in this example - J: '1 as shown.
m Manually raise I+foot arm 13 to a certain raised position.
The idea is to raise + one step and lower it from that position, e8
The plow is set to 8' for 2 to 3 seconds and is cut to rows 5 and 5. Therefore, this draft control cut for about 2 to 3 seconds causes the plow to dig into the soil with no resistance and lower. After the set time has elapsed since the operation, the -1 plow operation can be effectively carried out using the specified draft control.However, the cutting and plowing control of the draft control is limited to this. It's not about that.

When the operator specifies "PI + deep drag force for automatic draft control" with the tillage depth (drag force) setting device (I2) under such "plow i control medium pressure", the draft Even if the plow goes underground for cutting, it will go deep once, but then it will rise to the position where it is balanced by the automatic draft control.
When the # depth (drag force) setting by the drag force setting device (I2) is too shallow, the plowing operation will not be performed by the automatic draft control. Therefore, we decided to introduce automatic draft control.
The fixed drop size for FVc should be memorized by the CPU controller.

When the plow crosses this position, the control unit (1o:I) outputs an operation command to issue a warning.

The operating procedure of this embodiment will be explained in accordance with the flowcharts in Appendix W, Figures 3 and 4.

First, the 2g3 diagram shows the path (a) during -F injection control.
descend at full speed through the When the draft cut is finished, use the plowing depth (drag) setting device (I) at the step.
2) Determine whether the depth (drag) setting is currently being changed. If it is determined that the plowing depth (drag force) setting has not been changed, the lift arm angle is stored in the memory of CPU001 in step 5.
to judge. This lift arm angle is the lift arm angle at the deepest point (lowest descent) when the plow (2) goes underground. In other words, the lift arm angle at the lowest point - means the maximum depth position when the plow (2) goes underground by the aforementioned draft cut, but the plow (2) Depending on the depth, the automatic draft control operates and the automatic draft control rises to a balanced position.

Therefore, in step (2), the difference between the current lift arm angle at the elevated position and the lift arm angle determined in step (2) is determined, and whether this difference exceeds a certain level is determined. It is to judge whether Therefore, this certain difference has been incorporated into the CPU (IQI) in advance, and the Toki that pures this certain difference is - Plow (2) is a draft self-control @
This indicates that the location is too shallow to be suitable. Therefore, if the difference exceeds the above-mentioned minus foot difference, in step (2), the control unit (1 (
') The notification flag of a) is sent, and it is determined whether the control unit (103) outputs an operation command for the alarm to the alarm unit (step ■) - At step ■ The alarm device of the W alarm device ub+ is activated and no alarm is issued. Therefore, operator i learned of the inappropriate circumstances of the plowing depth (drag) setting by the y + depth (drag) setting device (I2), and made various efforts to accurately change this setting and perform automatic draft control. be. If it is determined in step (2) that the lift arm angle is not stored in the memory, the lift arm angle is stored in step (2).

In step (2), a memory flag for this lift arm angle is set. With this set lift arm angle memory flag, an operation command is output from the control (10a) as shown in @1E, the notification flag of the aforementioned alarm 11 (9) is turned on, and the notification device is activated. (Step ■).Then, in Step ■, the depth of cultivation (drag) is raised (drag).
If the plowing depth (drag force) setting is changed with the setting device (I2) and it is determined that it is not constant, the notification flag is reset (step ■), and the lift arm angle memory flag is also reset. Illusion (step [phase]) - The notification device is configured so that it does not operate from step (2) to step (2).

Further, referring to FIG. 4, another embodiment of the actuator 1!1 will be explained. First, in step (2), it is determined whether or not the ``F feed control is in progress. If 21F1 is in the feed control, then in step (2), when the plow (2) is lowered from the raised position, the formula is expressed as follows. ``+When the nuclear plow (2) touches the ground, the load on the draft sensor (S2) increases rapidly.

k - Increase the lift arm angle corresponding to this sharply increased position and store it in memo 11 of CPU (101) (step ■ and step ■). Then, in step ■
Set the storage flag. If, in step (2), there is no negative increase in the load of 7.↑ on the draft sensor (s2), the process proceeds to step (2) without completing the path of step (2). In this step (2), the constant lift arm angle is memorized in the step (2) and the storage flag is set, or the plow is not set and the descending flag is set with the plow running at full speed. (7) While the alarm device is stopped in step (2), the lowering valve I is operated in step (2), and the plow (2) sinks to a depth of -5''.

Then, in step ■, when the plowing control is completed and it is determined that the plow (2) is underground, in step ■, the draft operation of the reverse layer is carried out. is determined, and then, at step 0, it is determined whether the II rough tome is performing any of the following movements: ascending, neutral, and descending.
The operation begins in ■. If it is determined in step (2) that the 11th step has reached its peak.

In step @2, it is determined whether the lift arm angle of step Compare the current lift arm angle and store the previous memory tt? , -11 Once it is determined that the lift arm angle is greater than the current lift arm angle, step @
The plow (2) is raised by turning on the raising solenoid valve 3 without activating the alarm device. If it is determined in step (2) that the previously stored lift arm angle is smaller than the current lift arm angle, the control unit (10a) turns on the alarm in step @. In order to issue an alarm, an operation command is output to cause the alarm to be set. Therefore.

Based on this warning, the operator adjusts the plowing depth (pile 77) that was previously set.
) value is corrected, and the core plowing force (drag) setting device (I2
) to correct the settings. However, in step 7, if it is not possible to memorize the lift arm angle in advance according to step 1, for example, if the plow (2) is lowered very slowly in the operation of the operation switch. , # Considering the above-mentioned circumstances in which it may not be possible to memorize the lift arm angle, determine in advance the effective 11 lift arm angle for automatic draft control, and store this in the ROMK. Then, compared to the lift arm angle that is currently being increased, the specified lift arm angle that has been remembered is smaller (step o), and f-1, or so. When the @ki step■ is reached, an alarm is issued, and if the specified lift arm is larger, the plow (2
) will be raised or lowered by automatic draft control.

〔Effect of the invention〕

As described in detail in the embodiment described in #, this invention is applicable to plowing work under draft control during plowing control, and when the plow is submerged underground. When the raft has risen due to the operation of the automatic raft control, and the rise exceeds a certain range (position c), the automatic control of the raft will no longer operate. The problem seemed to be resolved.

That is, either the lift arm angle at which the plow reaches the above position is memorized in advance, or the deepest position where the plow goes underground with the draft cut is memorized as the lift arm angle, and the lift arm angle is set at a certain range from this position. Specify the lift arm angle of CP in advance.
When installed in U and the plow is raised by automatic draft control.

When the predetermined angle f (angle) is exceeded, the control section immediately outputs an operation command to the alarm to issue an alarm, and the alarm is issued.

The operator can change the finger and foot of the tillage depth (drag force) setting device, and does not notice the setting mistake as in the past. 1. Work efficiency was improved.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Figure 1 is a control circuit diagram, Figure 2M is a side view of the tractor and working equipment, and Figures 3M and 4 are flowcharts. Code explanation

Claims (1)

[Claims] A draft sensor detects the plowing resistance of the ground work equipment that can be raised and lowered by an electro-hydraulic elevator, and a draft sensor that detects the plowing depth (
The machine is equipped with a plowing depth (pile force) setting device that sets the plowing depth (drag force), and calculates the deviation value, which is the difference between the detected value of the draft sensor and the set value specified by the plowing depth (drag force) setting device. In the draft automatic control device, which is configured to control the hydraulic lifting mechanism to move up and down in accordance with this deviation value, the draft is controlled by the value set by the plowing depth (drag force) setting device. The ground control device is characterized in that the CPU is provided with a control unit that outputs an operation command to notify an operator that the designation by the plowing depth (drag force) setting device is inappropriate when the control is not operating effectively. Monitor device for draft control of work equipment.