JPS63160506A - Rising and falling control apparatus - 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] [Field of Industrial Application] The present invention provides position control for arbitrarily setting the level of a ground work device relative to a vehicle body in accordance with the operating position of an operating tool;
A lifting control device configured to allow the ground working device to be raised and lowered in at least two control modes, including automatic tillage depth control that arbitrarily sets the level of the ground working device relative to the ground in accordance with the operating position of the tilling depth setting device. In particular, the present invention relates to a technique for switching control modes.

[Conventional technology]

An example of an elevator control device configured like this is shown in Japanese Unexamined Patent Application Publication No. 61-25404, and the control device of this reference switches the control mode by determining the set position of the operating tool. It is configured.

[Problem that the invention seeks to solve]

Here, considering the situation where plowing work in a field where the plowing level is higher than the wheel level, such as plowing work, is performed using a control device configured as in the above reference, the above reference The control device cannot switch to automatic tillage depth control mode unless the operating tool for position control is set outside the position control range. If the switching position is set, by operating the operating tool to switch the control mode, the ground working device will be lowered to a position lower than the tillage level, and then The plowing depth will be returned to the set plowing depth level by activation.

Also, as mentioned above, when switching from automatic plowing depth control mode to position control mode in a field where the plowing depth level is higher than the wheel level, the ground working device must be lowered once and then raised. become.

Therefore, in a control system that switches the control mode based only on the position of the operating tool as in the above reference, the level of the ground work equipment may not only be lower than the desired level when switching the control mode, but also the engine load may increase. There is room for improvement.

An object of the present invention is to utilize the advantageous aspect of switching control modes by operating only a single operating tool, and to improve the elevation control device as much as possible to prevent unnecessary elevation of ground work equipment that occurs when switching control modes. The point is that it is easy to configure.

[Means for solving problems]

A feature of the present invention is that, in a lifting control device with a raised configuration, each of the control signals from the position control system and the control signals from the automatic tillage depth control system is composed of three types (ascend, stop, and descend), and these three The control signals of the species are set in a state in which it is possible to determine that a stop signal has priority over a descending signal and a rising signal has priority over a stop signal, or the reverse relationship. If a superior-inferior relationship is recognized as a result of determining the superiority of each control signal in a state in which automatic plowing depth control and automatic plowing depth control are operated simultaneously, control is performed on the priority side, and if no superior-inferior relationship is recognized, that control is performed. The present invention is provided with a control mode switching means for switching the control mode, and its functions and effects are as follows.

[For production]

If the above characteristics are configured as shown in FIG. 1, and the operation is set as shown in the flowchart of FIG. 2, the numbers obtained by the control direction determination means (P) for position control and the automatic plowing depth control The control mode switching means (E) compares the numbers obtained by the lateral direction determination means (A) and determines the magnitude relationship. At least three types of control states are determined.

In other words, for example, when the operating tool (5) for position control is operated in the downward direction of the ground work device (9), before the ground work device (9) reaches the lowest level set by the position control. When a stop or rise signal is output from the automatic plowing depth control system, the ground work device (9)
The lowering operation of the machine is stopped and the automatic plowing depth control mode is set.

If the priority relationship is set to the opposite relationship, the control mode will be switched by operating the plowing depth setting device (16).

〔Effect of the invention〕

Therefore, for example, even in fields where the plowing depth level is higher than the wheel level, there is no need to raise or lower the ground working equipment unnecessarily when switching control modes, and the control mode can be switched using a single operating tool. A lift control device that can be operated with

In particular, the present invention not only eliminates the need for dedicated switches for switching control modes, but also achieves the effects described above simply by setting the control program when the control system is configured with a microprocessor. This is an extremely effective means of reducing costs.

〔Example〕

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

As shown in Fig. 3, a lift arm (3) that swings up and down by the operation of a hydraulic cylinder (2) is provided at the rear of a vehicle body (1) equipped with an engine (not shown), and a lift arm (3) is installed on the vehicle body (1). The lift arm (3) is located on the right side of the driver's seat (4) equipped with
) is provided with a lever-type operating tool (5) for raising and lowering the
A control box (7) for controlling the operation of the lift arm (3) is provided on the upper surface of the rear fender (6) to constitute an agricultural tractor.

As shown in the figure, a low-client type ground work device (9) is connected to the rear end of the vehicle body (1) via a three-point link mechanism (8) that is controlled to raise and lower by the lift arm (3). The lift arm (3) is equipped with a lift arm sensor (10) that detects the level of the ground work device (9) relative to the vehicle body from its swing angle, and the ground work device (9) includes:
A cover sensor (1) detects the plowing depth of the ground working device (9) from the swing angle of the rear cover (9a) of the ground working device (9).
1), and the operating tool (5) further includes an operating tool sensor (12) for detecting the amount of operation thereof.

As shown in FIG. 1, the control box (7) includes a control means (C) comprising a microprocessor (CPU), and an output signal from the control means (C) is amplified to control the hydraulic cylinder ( 2) solenoid valve (1
3), and a dial (15) for setting the plowing depth of the ground work device (C). Further, the control means (C) includes an operating tool sensor (12
), lift arm sensor (10), cover sensor (11)
), a plowing depth setting device (1) operated by the dial (15)
Input interface (1) where the voltage signal from 6) is input manually
7), a memory (18) in which are set the microprocessor (CPU), a control program, a program constituting a control mode switching means (E) to be described later, etc., and an output interface (19).

Further, the control means (C) operates according to the flowchart shown in the second part.

In other words, when the elevation control device of the ground work device (9) is started, the control means (C) inputs signals from the operating tool sensor (12) and the lift arm sensor (10). The control direction is determined by calculation based on the signal (#2 Stefka).

The result obtained by this calculation is the direction of elevation control of the ground work device (9) in position control, and in order to raise the ground work device (9) at high speed, the electromagnetic valve (13)
) and ground work equipment (9).
intermittent lifting in which the electromagnetic valve (13) is intermittently driven in order to raise the ground work device (9) at a low speed; intermittent lowering in which the solenoid valve (13) is driven intermittently to lower the ground work device (9) at low speed; and intermittent lowering in which the solenoid valve (13) is driven intermittently to lower the ground work device (9) at high speed. This is done by selecting one of the five types of driving continuous descent (#3, #4
．． 115 steps, and if the control state selected in this way is a continuous increase, the microprocessor (CPU)
The number ``4'' is held in a register (not shown) built in the , and if the selected control state is intermittent rise, the number ``3'' is held in the register, and the number ``3'' is held in the register if the selected control state is If the control state is stopped, the number "2" is held in the register, and similarly, if the selected control state is an intermittent fall, the number "1" is held in the register, and if it is a continuous fall, the number "0" is held in the register. (
16, #7, I8, s9, #10 stepbu).

Incidentally, the lifting and lowering of the ground work device (9) is performed using the operating tool (5).
) for the control target level set by the ground work equipment (
Continuous lifting is performed when the ground work equipment (9) is far apart, and the ground work equipment (9) is located in the area formed near the control target.
) is located, intermittent lifting is performed, and lifting is stopped when the ground work device (9) is located within the so-called dead zone based on the control target.

Next, input the signals from the plowing depth setting device (16) and cover sensor (9a). 7. Calculate the control direction based on the signals from both of these (#
12 stefka.

The result obtained by this calculation is the vertical direction of the ground working device (9) in automatic plowing depth control, and as with the position control described above, five types of control states are discriminated (#13,
+114, #15, step), if the selected control state is continuously increasing, the number "
If it is an intermittent rise, it holds "3" in the register, if it is stopped, it holds "2" in the register, if it is an intermittent fall, it holds "1" in the register, If it is a continuous fall, "0" is held in the register (+116,
#17, 111B, 119, 1120 Stefka.

Note that these five types of control states are also determined by the amount of separation of the ground working device (9) from the control target set by the plowing depth setting device (16), similarly to the position control described above.

Next, perform a comparison operation on the magnitude of the two numbers held in the two registers (Step #21), and if the results of this operation indicate that the respective numbers are equal (Step #22), determine the compared numbers. 23 If so, stop the lifting and lowering of the ground work device (9) and press the number “1”.
If so, lower the ground work device (9) intermittently until the number is "
0'', the electromagnetic pulp (13) is driven to continuously lower the ground work device (9) (#24, $125, #
26th, #27th, #22nd Steve.

Also, if a relationship in size is recognized by comparing the two numbers, the larger number can be determined (129 step), and if the larger number is "4", the ground work device (9) is raised continuously and the number is If the number is "3", the ground work device (9) will be raised intermittently, and if the number is "2", the ground work device (9) will be raised intermittently.
If the number is 1, the ground work device (
9) intermittently lowers the solenoid valve (13) (#30, #31, #32, #33, steps).

In other words, by configuring the control system in this way,
To start automatic plowing depth control, simply change the setting of the operating tool (5) from the higher operating position (II) to the lower operating position (L) shown in Figure 1. Since the number "0" is output from the side to continuously lower the ground working device (9), even when the ground working device (9) is being lowered by Posisilon control, "0" is output from the automatic plowing depth control side. When the above numbers are output, the ground working device (9) is raised and lowered by the signal from the automatic plowing depth control side.

In addition, when switching from the automatic plowing depth control state to the position control state, even in the middle of work, simply operate the operating tool (5) in the direction of the higher operating position (11), and the ground work can be started. The device (9) can now be lifted, and furthermore,
When the rear cover (9a) of the ground work device (9) separates from the ground, the rear cover (9a) swings to the end on the lowering control side, so from the automatic plowing depth control side, the numbers are As a result of outputting "0", position control is performed to raise and lower the ground work device (9) in accordance with the operating position of the operating tool (5).

In addition, #3 to #10 step bars are referred to as control direction determination means (P) for position control, and step knobs 113 to 20 are referred to as control direction determination means (A) for automatic plowing depth control.
, +122, #23, and #29 steps are referred to as control mode switching means (E).

[Another example]

In addition to the embodiments described above, the present invention can also set the priority relationship for control in the opposite direction, and when set in the opposite direction, switching to position control can be performed by setting the plowing depth setting device to the upward side. That will happen.

The present invention can be configured without using a microprocessor in the control system, and it is also possible to configure the control system by providing means for generating at least three types of voltage signals: rising, stopping, and falling to set the control priority relationship. It is also possible to use a comparator or the like to compare these voltage signals in order to determine the priority relationship.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the elevation control device according to the present invention, and the first embodiment
2 is a block diagram showing the configuration of the elevation control device, FIG. 2 is a flowchart showing the operation of the control means, and FIG. 3 is a side view showing the rear part of the tractor. (1)... Vehicle body, (5)... Operating tool,
(9)...Ground work equipment, (16)...
- Tillage depth setting device, (E)... Control mode switching means.

Claims (2)

[Claims] 1. Position control that arbitrarily sets the level of the ground working device (9) relative to the vehicle body (1) in accordance with the operating position of the operating tool (5), and position control that arbitrarily sets the level of the ground working device (9) relative to the vehicle body (1) in accordance with the operating position of the operating tool (5), and An elevation control device that is configured to be able to raise and lower a ground working device (9) in at least two control modes, including automatic plowing depth control that arbitrarily sets the level of the ground working device (9), the position control system The control signals from the automatic plowing depth control system and the control signals from the automatic plowing depth control system are each composed of at least three types: ascent, stop, and descent, and these three types of control signals are such that the stop signal has priority over the descent signal, and , a relationship in which rising signals have priority over stop signals, or
In addition to setting it in a state where it is possible to judge that the relationship is the opposite of this,
When position control and automatic plowing depth control are activated simultaneously, if a superiority relationship is recognized as a result of determining the superiority or inferiority of each control signal, the priority side control is performed, and if no superiority relationship is recognized, that control is performed. An elevator control device equipped with a control mode switching means (E) that switches control modes by performing the following steps. 2. The numbers consisting of "5", "3", and "1" corresponding to the control signals of rise, stop, and fall are used as the state for setting the priority relationship of the control signals of rise, stop, and fall, respectively. At the same time, when position control and automatic plowing depth control are operated simultaneously, the superiority of each control signal is determined by comparing the magnitude of the numbers, and if a magnitude relationship is found, control corresponding to the larger number is performed. The elevation control device according to claim 1, wherein the control mode switching means (E) is configured to perform control corresponding to the number if the relationship is not recognized.