JPS63169901A - Working machine control apparatus of 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 the opening/closing time of an electromagnetic valve in automatic tillage depth control, inclination angle control, etc. of a working machine mounted on a tractor.

(B) Prior art The automatic plowing depth control and inclination angle control of a tractor's work equipment are conventionally known technologies, and the control device uses an electromagnetic valve to open and close the electromagnetic valve by pulse drive, and detects the There is also a known technique for changing the pulse interval depending on the magnitude of the deviation between the value and the set value.

(c) Problems to be solved by the invention However, in the case of conventional pulse driving, the period of the pulse is first determined to be constant, and the ON time is varied to lengthen or shorten within the one period. The opening/closing time of the electromagnetic valve was changed by changing the OFF time to a shorter length and changing the duty ratio.

Therefore, if there is a deviation between the set value and the detected value, regardless of the outside temperature, engine rotation, or hydraulic pump discharge amount,
The ON time and OFF time were constant and there was no room to take into account differences in the viscosity of the hydraulic oil, so if the viscosity of the hydraulic oil changes or the discharge amount changes, the speed at which control converges will change even though the deviation is the same. There was a problem with this.

The present invention improves these points.

(d) Means for Solving the Problems The objects of the present invention are as described above. Next, the structure for achieving the objects will be explained.

A sensor is installed to detect the position of the work equipment attached to the tractor, and based on the deviation between the detected value and the set value, the solenoid of the electromagnetic valve is switched by pulse drive to rotate and control the position of the work equipment. , the pulse drive of the solenoid is turned off according to the deviation between the detected value and the set value.
The system is configured to drive the work machine at different times to bring the work machine closer to the set position.

Further, a solenoid provided in an electromagnetic valve of an automatic tillage depth control device is pulse-driven by OFF time control.

Further, a solenoid provided in an electromagnetic valve of a tilt angle control device of a working machine is driven by OFF time control.

(E) Embodiments and Functions The purpose and structure of the present invention are as described above. Next, the structure and functions of the embodiments shown in the attached drawings will be explained.

Fig. 1 is a side view of a portion of a rotary tiller equipped with the work machine control device of the present invention, Fig. 2 is a plan view, and Fig.
The figure is a plan view of the operation panel section, and FIG. 4 is an electric circuit diagram of the automatic control device.

A hydraulic case is placed on the upper part of the transmission case at the rear of the tractor, and the lift arms IL and IR are connected to the hydraulic case from the hydraulic case.
are protruded, and lift links IIL and 1jR are interposed from the lift arms IL and IR to lower links 3L and 3R.

A tilt control cylinder 2 is installed in the middle of the lift link IIR.
is interposed.

Further, the lift arms IL and IR are rotated by an elevation control hydraulic cylinder in the hydraulic case, and the elevation control hydraulic cylinder is controlled to ascend and descend by an electromagnetic valve 40.

The solenoid valves 40 are the solenoids 40a and 40b shown in FIG.
The switching operation is performed by

A switching signal is sent to the electromagnetic valve 40 by a lift switch or a control device, which will be described later.

Further, a lift angle sensor 4 is arranged at the rotation base of the lift arms IL and IR.

A solenoid valve 41 is also attached to the tilt control cylinder 2 interposed in the lift link 11R, and is controlled by solenoids 41a and 41b of the solenoid valve 41.

Further, a rear cover 15 is pivotally connected to the rear end of the tilling cover 7 of the rotary tilling device, and the rear cover 15 also serves as a sensor for automatic tilling depth control. The rotation angle of the rear cover 15 is determined via the feedback wire 8,
This is input to the plowing depth control sensor 5 installed on the side of the hydraulic case.

Further, the tilt control sensor 27 is arranged on the top surface of the tilling cover 7.

Furthermore, a sensor 42 is arranged on the body side of the tractor, and it emits a signal to fix the tractor at a specified position when driving on the road.

A travel speed change lever and a position lever for manually setting the height of the rotary tilling device by the operator are arranged on the side of the seat 24, and at the base of the travel speed change lever there is a back switch that detects when the speed has been changed to the reverse position. E9
is arranged, and a position sensor 6 for setting the setting value is arranged at the rotation base of the position lever.

Further, an operation box 26 is arranged at the rear of the dash board 25, and above the operation box 26, as shown in FIG. A tilling depth setting dial 9, a lift switch 10 for manually raising and lowering the rotary tiller, a rising lamp 31 to indicate that the rotary tiller is being raised, a sensitivity setting dial 32 for setting the sensitivity of the raising and lowering speed, an automatic slope control A manual changeover switch 33, a manual lever 34 for manually controlling the inclination, a swing dial 35 for setting the inclination angle, a mode changeover switch 36 for selecting various control modes, and displaying the selected mode. A mode display lamp 37 is provided.

An auto changeover switch 28 is provided at the "off" position when the tilling depth setting dial 9 is turned all the way to "deep", and when the tilling depth setting dial 9 is turned to this position, manual operation is performed.

These switches, sensors, etc. are connected to a controller 16 as shown in FIG.
Solenoids 40a and 40b and tilt control cylinder 2
Solenoids 41a and 41b of the electromagnetic valve 41 that control the
A signal is being sent to.

The present invention provides the following when the solenoid is pulse-driven.
This relates to control based on ON time and OFF'F time.

Fig. 5 is a drawing showing a flowchart in the case of OFF time control of the present invention, Fig. 6 is a drawing showing the states of OFF time and ON time, and Fig. 7 is a drawing showing lift angle deviation and OFF time in the automatic tillage depth control device. Figure 8 is a diagram showing the relationship between swing angle deviation and OFF time of automatic tilt control, Figure 9 is a diagram showing a comparison between ON time control and OFF time control, and Figure 10 is a diagram showing the relationship between ON time and OFF time. 7 is a drawing showing the shape of a pulse in the case of control.

Conventionally, as shown in FIG. 10, the period is constant,
The ON time was changed in accordance with the magnitude of the angular deviation. Therefore, the OFF time was supposed to change in inverse proportion.

In contrast, in the present invention, as shown in FIG. 6, the period is not constant, but the OFF time is changed according to the angular deviation.

The ON time is constant, and the ON time is set to a time during which the lift arms IL and IR move by a predetermined angle, for example, 2 degrees.

Further, the angle at which the lift arms IL and IR rotate by a predetermined angle is calculated within the controller, and an appropriate ON time is instructed to the solenoid of the electromagnetic valve. Therefore, in reality, the ON time is not always constant,
Subtle changes occur depending on the viscosity of the hydraulic oil, the weight of the work equipment, the outside temperature, etc. However, the amount of change is not inversely proportional to the OFF time.

In the case of automatic tillage depth control, the width of the OFF time is as follows:
As shown in Figure 7, depending on the difference between the detected value of the lift arms IL/IR and the setting value that will be moved from now on by the setting signal, that is, the size of the lift angle equivalent deviation, the range from 0 degrees to about 20 degrees is 4 degrees. A depending on the size of each lift angle equivalent deviation.

It is defined in four ways: B, C, and D.

ii A, B, C, D (7) The corresponding OFF time for the four types is m1m1 seconds - m 2u + seconds - m 3 tm seconds m4N
As shown in the flowchart of FIG. 5, which of the four options is selected is determined for each routine, and the OFF time corresponding to the lift angle equivalent deviation is obtained.

The OFF time for the lift angle equivalent deviation is the same for the ascending side and descending side of the lift arms IL/IR, and four types of control modes, A, B, C, and D, are determined for the descending side as well. .

The above explanation is based on the pulse m! of the solenoids 40a and 40b of the electromagnetic valve 40 for automatic tillage depth control. The explanation was about I'< wholesale, but next, as shown in FIG.
41b, four types of modes At, C1, C1, [)l are determined depending on the deviation between the swing angle of the detection value and the swing angle of the set value, when the deviation is from 0 degrees to about 5 degrees. -ing The Δ1. B1. The OFF time of C1 and DI is n2mm seconds・n31 in the case of upward movement to the right.
It is defined in four stages: seconds, n41a1 seconds, and n51111 seconds.

In the case of tilt control, since the tilt control cylinder 2 is only on the right side, the OFF times of the four modes are different depending on whether the cylinder is up to the right or down to the right. .

In case of right down, A2. B2. For the C2 and B2 modes, the OFF time is changed to four stages: nlax seconds, n2m1 seconds, B3 seconds, and B4 dragon seconds.

(F) Effects of the Invention Since the present invention is constructed as described above, it has the following effects.

First, the solenoid of the electromagnetic valve that performs automatic plowing depth control and tilt angle control has been changed from the conventional method of changing the ON time at a constant cycle to changing the ON time to the time it takes for the lift arm to rotate by a predetermined angle. On the other hand, the OFF time can be changed depending on the magnitude of the angular deviation between the current position and the designated control position. Since the amount of oil passing through the solenoid valve does not change due to changes in the temperature of the hydraulic oil or changes in the outside temperature, the lifting speed can be set to the specified speed to achieve the optimal convergence time for controlling the position of the work equipment. This is what I was able to obtain.

Second, since the lifting speed changes depending on the deviation angle,
When the deviation angle is small, it moves slowly, and when the deviation angle is large, it moves quickly, so the control can be performed smoothly without impact.

[Brief explanation of the drawing]

Fig. 1 is a side view of a portion of a rotary tiller equipped with the work machine control device of the present invention, Fig. 2 is a plan view, and Fig.
The figure is a plan view of the operation panel section, Figure 4 is an electric circuit diagram of the automatic control device, Figure 5 is a flowchart for OFF time control of the present invention, and Figure 6 is the state of OFF time and ON time. FIG. 7 is a drawing showing the relationship between lift angle deviation and OFF time in the automatic tillage depth control device, and FIG.
The figure also shows the relationship between swing angle deviation and OFF time in automatic tilt control, Figure 9 shows a comparison between ON time control and OFF time control, and Figure 10 shows the pulse shape in ON time control. FIG. IL/IR...Lift arm 2...Inclination control cylinder 40...Solenoid valves 40a and 40b for automatic tillage depth control
... Solenoid 41 ... Hydraulic valve for tilt angle control Applicant Yanmar Diesel Co., Ltd. Agent Patent attorney Hisashi Yano轡のIT Figure 9 Procedural Amendment, Form. 1. Indication of the case 1986 Patent Application No. 2100 2 Name of the invention Tractor work machine control device 3 Person making the amendment Relationship to the case Applicant Address 1-32 Chayamachi, Kita-ku, Osaka Name ( 678
) Yanmar Diesel Co., Ltd. Representative Atsuo Yamaoka 4, Agent address 1-11-9 Minamisenba, Minami-ku, Osaka 1982
March 4, 2016 (Shipping date: March 31, 1986) 6.
Target of correction

Claims (3)

[Claims] (1). A sensor is provided to detect the position of a working machine attached to a tractor, and a solenoid of an electromagnetic valve is switched by pulse drive based on the deviation between the detected value and a set value, and the position of the working machine is rotated and controlled. , depending on the deviation between the detected value and the set value, the solenoid pulse drive O
A work equipment control device for a tractor, characterized in that it is configured to drive the work equipment while changing the FF time to bring the work equipment close to a set position. (2). A work equipment control device for a tractor, characterized in that a solenoid provided in an electromagnetic valve of an automatic tillage depth control device is pulse-driven by the OFF time control according to claim 1. (3). A working machine control device for a tractor, characterized in that a solenoid provided in an electromagnetic valve of a tilt angle control device for a working machine is driven by the OFF time control according to claim 1.