JPS6344803A - Draft control device of earth working machine - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a draft control device for ground work such as a plow that is towed by a towing vehicle such as a tractor. This is related to "raft cutting" of ground-based work equipment.

[Prior Art] Conventionally, the draft control device of this type of ground-based work machine automatically raises and lowers the ground-based work machine so that the plowing depth (drag force) set by the operation is maintained. With the draft setpoint set by the draft sensor which sets the plowing depth (drag force).

Based on the difference between the plow R (resistance) and the value detected by the draft detection sensor, the hydraulic lifting mechanism is controlled to move up and down, thereby causing the lift arm to move up and down.

This means that plowing operations and the like are carried out using draft control.

[Problem that the invention seeks to solve]

However, when working with the draft control mentioned above,
After the lift arm of the link mechanism has risen above a certain angle - when the ground work machine connected to the towing vehicle by a link mechanism descends - the ground work machine is moved very slowly to the field surface by the draft control. As a result, ground-working equipment such as plows penetrates into the soil slowly, and it takes a long distance for the ground-working equipment to penetrate near the plowing depth (pile force) set by the draft setting device. - It required a long travel distance, ie, a long time, until draft control was started. Therefore, when raising and then lowering the ground-based work equipment to eliminate this problem, the draft control is cut and the so-called "plow control" is activated to perform plowing. The plane descends uncontrolled, resulting in a shocking fall to the ground.

The reason for this is that - as the initial bite of the plow tip becomes larger - the suction of the plow tip will restrict the bite when running - the plowing depth (drag) set by the draft setting device will be close to the corresponding depth. To get under the surface - it will take a short distance to drive.

However, when lowering the work equipment that has been raised, if the "plow control" is activated all the time, the work equipment that has been raised automatically by draft control will go down as the load decreases, and the amount of plowing will increase. If more resistance than necessary occurs, the plow will automatically rise again under draft control, and when descending, plow control will be activated, impeding the smoothness of the plowing operation. Therefore, to overcome such deficiencies - trough) control v
Therefore, problems arise that need to be solved in order to efficiently carry out the construction work.

[Means for solving problems]

This invention was proposed as a solution to the above-mentioned problem, and it detects the plowing depth (drag force) of a ground work machine such as a plow that is installed to be able to rise and fall freely using an electro-hydraulic lifting mechanism. a draft sensor to set the plowing depth (drag force), a plowing depth (drag force) setting device to set the plowing depth (drag force), and a control configured to lift and lower the hydraulic lifting mechanism so as to perform lifting and lowering operations according to the difference between the above two values. In the automatic raft control device that is part of the unit, the plow control is activated only when the lift arm is raised to a predetermined raised position and then lowered by the position lever or lift changeover switch. It is an object of the present invention to provide a pilaft control device for a ground-based work machine that can be controlled by a CPU (control unit) to perform the following operations.

[Effect]

When performing plowing work etc. using draft control, when a ground work machine is raised manually by a position lever or a lift changeover switch 5, for example, the lift arm is moved at a predetermined angle (approximately 5 degrees) from the upper limit. ) - and only when lowering the lift arm from that position, cut the raft control and activate the digging control for about 2 seconds.

Therefore, when raising and lowering a ground work machine based on automatic control, the above-mentioned draft control is not necessary. Since the draft control is not cut even when the plow is not raised to a certain raised position, the plowing operation using the draft control can be carried out efficiently without being interrupted.

Also, normally there is a plowing depth setting dial for simply raising and lowering the ground plowing machine to operate only shallow plowing depths. Even if the above-mentioned ground-based work equipment is raised by a person who is not aware of the above,

Since the raft control is not cut, the ground work machine descends extremely slowly. Therefore, there will be no words that could put people in the vicinity at risk.

〔Example〕

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings. For convenience of explanation, conventionally known configurations will also be explained at the same time.

As shown in Figure 2, a tractor (1) serves as a towing vehicle.
At the rear of the ground work equipment (2) such as a plow is attached to a pair of left and right lift arms (3H31) and one left and right lift rod (41 (
4) Left and right lower links (5) that swing up and down through
(5) and a top link (6) at the upper center of the work equipment connection mechanism (7). The hydraulic elevator (9) is raised and lowered by a lift cylinder (8). In addition, the supply and discharge control of pressure oil to the lift cylinder (8) is controlled by the operation command of the control section aI, which is configured by a microcomputer, etc., by the lift drive section (11).
) or the lowering drive unit 02 is amplified by opening and closing the lifting proportional solenoid valve 03 or the lowering proportional solenoid valve a4, thereby supplying the pressure oil of the pump t19 to the lift cylinder (8). lift arm (3) (3
) is raised, or the pressure oil in the lift cylinder (8) is discharged and the lift arms (3) (3) are lowered.

Furthermore, there is a position lever (11) installed near the cockpit.
and a lift arm angle sensor (81) formed by coupling a detection shaft of a position meter such as a potentiometer to the lift arm (3) are connected to the control unit a, respectively, to operate the position lever (b). The control unit 0I so that the height detection value detected by the lift arm angle sensor (Sl) matches the set value set by the
The lifting command is sent from the lifting drive unit aυ or the lowering drive unit Q.
3, and the elevation control is performed by the thorns. Additionally, there is a raft sensor (S2) that detects tillage resistance.
For example, the amount of force moving forward due to the plowing resistance force against the draft control draft spring (17), which is connected to the front of the top 11 link (61), is detected by, for example, a potentiometer 1181. Although I am using something,
The draft sensor (S2) should not be limited to this. .

Furthermore, a plowing depth (drag force) setting device Iz) is provided near the cockpit, and the plowing resistance detected by the draft sensor (S2) is adjusted to the plowing resistance setting value set by operating the plowing depth (drag force) setting device Iz). If the values match, select 5 from the control section to ground work equipment (2).
performs a lifting/lowering operation, and an operation command is output to the lifting drive unit αD and the lowering drive unit (121).

The structure is such that the raft control is performed by this. In addition, the ascending solenoid, the downward solenoid valve (13) and the descending solenoid valve I may be ones that are not commonly used.

Therefore, a tractor (1) having such an electro-hydraulic mechanism
), run while setting the draft load using draft control and perform one operation.For example, use the position lever (I +
) to raise the ground work equipment to a certain raised position (for example, within 5 degrees below the upper limit of 65 yen for the VLH clearance of the lift arm) - even if the ground work equipment is lowered from that position.

The draft control is activated, and ground work equipment such as a plow (2
) fall very slowly to the surface of the field, and therefore.

The penetration of ground-based work equipment such as plows into the soil is also slow, and it takes a long distance for the ground-based work equipment to penetrate close to the depth corresponding to the plowing depth (drag force) set by the raft setting device. Therefore, it required a long distance, that is, a long time, before starting draft control. Therefore, position lever (If), elevation changeover switch (S3), etc.
Manually move the lift arm (3
), and only when the lift arm (3) is lowered from that position, a command is incorporated into the program so that the draft control is cut and the plow control is activated. Insert it into II.

In order to execute this command, in this embodiment, the lift arm (3) is manually raised to a certain raised position as described above, and then lowered from that position using a 2 second timer. and set it to line 5,
Therefore, due to this 2 second draft control cut, the plow digs into the soil at a speed with no resistance, and from the lowering operation,
After the set time of seconds has elapsed, the plowing operation can be carried out effectively through predetermined raft control. However, the cutting and plow retraction control of the raft control is not limited to this, but is not an illusion.

In addition, a plowing depth (drag) setting device (I2) (commonly known as a plowing depth setting dial 5) is provided, which is manually set by an operator when performing plowing work using such draft control. Therefore, the plowing depth setting dial (-) is used only to perform shallow and deep operations of the ground work equipment (2) such as a plow, but this plowing depth setting dial may be manually operated by a person other than the operator. May be operated. If such a sharpener were to cut the draft control, the ground work machine would descend without any resistance, which could endanger people nearby. Since the draft control is maintained in an activated state, the above-mentioned danger can be prevented.

[Effects of the Invention] As will be described in detail in the first embodiment, the present invention allows the user to manually operate the position lever, elevation changeover switch, etc.
Draft control can only be cut when the foot arm is raised to a certain raised position and then lowered from that position, so the ground work equipment such as a plow will immediately dig into the ground, and after that, the load will not be applied to the top link. Load-draft control has made it possible to perform plowing operations more effectively.

Therefore, even in the manual sharpening, if the lift arm is not raised to the fixed raised position, or if the lift arm is raised by automatic draft control, the draft control will not be cut. Therefore, due to the draft control, a foot of resistance is applied to the lift arm, so that the lift arm descends extremely slowly. Therefore, during plowing work using the draft system #, in cases other than the above-mentioned manual raising to the raised position, + plowing control is not set, so plowing work can be performed using resistance due to draft control, and for example, Even if a person other than the operator were to touch the tilling depth setting dial and operate it without knowing it, the one-to-ground operation would descend extremely rapidly, which could cause accidental harm to the operator. TC anxiety can now be prevented as much as possible.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which FIG. 1 is a control circuit, FIG. 2 is a side view of the tractor, and FIG. 3 is a flowchart. Code explanation

Claims (1)

[Claims] A draft sensor detects the plowing resistance of the ground work equipment, which can be raised and lowered by an electrohydraulic lifting mechanism, and a plowing depth (drag force) setting device that sets the plowing depth (pile force). In an automatic draft control device that has a control unit configured to control the elevation and descent of a hydraulic lifting mechanism so as to perform lifting and lowering operations according to the difference, the lift is controlled by a position lever or a lifting/lowering switch. A ground work machine characterized in that a control unit can control the plowing control so that it is activated only when the arm descends after rising to a predetermined raised position. Draft control device.