JPS6359802A - Working machine rising and falling control system of tractor - 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 applications The present invention relates to a working machine lifting/lowering control system for a tractor.

Conventional technology By operating a position lever, the working machine is raised and lowered, giving priority to plowing depth control, drag control, etc. of the working machine.

Problems that the invention aims to solve: When the tractor is temporarily stopped, there is a lift arm for raising and lowering the work equipment relative to the vehicle body.

It is often dangerous for workers if they suddenly start moving up and down. This kind of risk is especially common when the state of automatic lifting control that automatically raises and lowers the work equipment, such as plowing depth control or drag control, is maintained while work is stopped. .

Means for Solving the Problems This invention provides a work machine (2) connected to a vehicle body (11).
a position lever (4) for raising and lowering a lift arm (3) which can be raised and lowered; and an upper limit position 1i of the lift arm (2). (A), and by operating the position lever (4), the lift operation angle by this position lever (4) is temporarily set by the lift arm (
After matching the lift angle of 3), this lift arm (
3) and a notification device (6) to notify that the lift angle of the lift arm (3) is higher than the lift operation angle by the position lever (4). This is the structure of the tractor work equipment elevation control system.

When the upper limit position (a) is set by the upper limit setting device (5) of the invention, when the lift arm (3) is raised or lowered by operating the position lever (4), the lift operation angle by this position lever (4) is adjusted. Even if the lift arm (3) is operated far above the upper limit position (A), the lift arm (3) remains in this upper position! i'! It will not rise above (a).

When the lift operation angle by the position lever (4) is at a higher position than the lift angle of the lift arm (3), move this position lever (4) downwards to make the lift operation angle match the lift angle. By doing so, the lift arm (3) can be raised or lowered within the range below the upper limit position (a) by operating the position lever (4) upward or downward. Also, when the lift operation angle by the position lever (4) is lower than the lift angle of the lift arm (3), operate this position lever (4) upward to make the lift operation angle match the lift angle. By doing so, the lift arm (3) can be raised or lowered within the range below the upper limit position (a) by operating the position lever (4) upward or downward.

The position lever (
When the lift angle of the lift arm (3) exceeds the lift operation angle according to 4), this state is notified by the notification device (6).

Effects of the Invention As described above, the position lever (4) is lower than the upper limit position (a) set by the upper limit setting device (5).
When the lift arm (3) is raised beyond the lift operation angle specified by 1, the lift arm (3) is raised by the position control (A) and is notified. ), and the lifting of the work equipment (2), and can perform safe operations.

Embodiment In the illustrated example, the vehicle body (1) has a steering wheel of +7
) has a front wheel (8) that can be steered freely, a rear axle (IIn) that transmits power from an engine (9), and a driver's seat (10, etc.), and a lift arm (3) is installed vertically at the rear end of the vehicle body (1). Rotatably installed, each proportional solenoid (SU) for lifting and lowering (
The solenoid valve (SD) is operated by a hydraulic circuit, hydraulic cylinder, etc. with a solenoid valve (1.delta.) to move up and down.

The work equipment (2) is connected to the lower link (1) at the rear end of this vehicle body +11.
31, top link (14, etc.) so that the lift arm (3) is connected to the lower link (1
'5 is connected with a rond (19) to interlock the lifting and lowering. The working machine (2) is, for example, in a tilling device, a power take-off shaft (Illil) at the rear end of the vehicle body (1), which is installed to transmit and rotate the tilling shaft. , (1 is a leveling plate for leveling this tillage mark, and a tilling depth sensor (I [l) is provided for controlling the tilling depth by detecting the vertical movement angle of this leveling plate (1 force).

The automatic control device is a microcomputer (CPU) or A
/D converter (191 etc. is used. 12CI is a switch for this automatic control system, and can be turned on at the same time as the start switch of the engine (9). G!+1 is a lift angle sensor, which is a switch for the lift arm (3). It detects the rising angle and is provided by a potentiometer.

The position lever (4) is the plowing depth setting dial (2,
Work mode selection switch (to) and upper limit setting device (5
), etc., on the side of the cockpit seat fi + The valve (1211) is operated to move the lift arm (3) vertically and vertically.

The tilling depth setting dial and δ are used to set the target tilling depth of the tilling depth control (B) in relation to the tilling depth sensor fill. The target drag force is set in the drag control (C) for raising and lowering the lift arm (3) via the zero position.The work mode selection switch (to) switches automatic control to position control (A), # Either one of the F depth sub-control B) or the drag control (C) is selected for control, and the position control (A) is normally set.

The upper limit setting device (5) sets the upper limit position (a) of the lift arm (3), and when the lift angle detected by the lift angle sensor 21) reaches this upper limit position (a), the proportional solenoid ( S U) is not activated, and the lift arm (3) is controlled so as not to be raised above this upper limit position (a) by hitting the solenoid valve.

Position control (A) is performed by operating the position lever (4), and the lift arm (3) is placed above the upper limit position (A) set by the upper limit setting device (5).
) cannot be raised, and by making the lift operation angle of this position lever (4) match the lift angle of the lift arm (3), the up and down operation of the position lever (4) after this matching is possible. The lift arm (3) is provided so as to be raised and lowered below the upper limit position (a).

In addition, the lift arm (3) is moved by the position lever (4).
) If the lower limit position (b) of ) is set lower than the upper limit position (a), the lift arm (3) will move up and down during control.

It is provided to be performed between the upper limit position (a) and the lower limit position (b).

Reference numeral 1241 is a lift switch, which operates the lift arm (3) to raise the lift arm (3) by pressing the push button the first time, and to lower the lift arm (3) by the second push. Thereafter, each time this push button is pressed, the mode is alternately switched between the ascending side and the descending side.

The notification device (6) is provided to notify the operation when the lift angle of the lift arm (3) is higher than the lift operation angle by the position lever (4). Further, in such a state, the lift arm (3) is provided to stop the upward control output.

When the engine (9) is started, this causes the switch f
2G is ONL, and automatic elevating control is performed.

When performing position control (A), select the work mode changeover switch (j) to position control (A) and raise or lower the lift arm (3) by operating the position lever (4). When the lift operation angle of the lift arm (3) matches the lift angle of the lift arm (3), the lift operation angle is changed by operating this position lever (4).

Change the lift angle at the same time, raise the lift arm (3),
Or you can descend. Also, if the lift angle of the position lever (4) and the lift angle of the lift arm (3) do not match, the lift angle can be adjusted by operating the position lever (4) to make the lift operation angle match the lift angle. By the subsequent operation of the position lever (4), the lift arm (3) can be raised or lowered as described above. However, due to such an operation, the lift arm (3) is placed above the upper limit position (a) set by the upper limit setting device (5).
) cannot be increased. Note that this upper limit position (
Setting a) prevents interference with the raised position and other mechanisms when raising the work equipment (2) from the soil surface action position to a certain height when turning back in the reciprocating work stroke during tractor work. This is done when controlling the ascending position to prevent the aircraft from tipping over.

To perform plowing depth control (B), set the upper limit position (a) using the upper limit setting device (5), set the plowing depth using the plowing depth setting dial I2δ, and set the plowing depth control using the 1 work mode selection switch (to). (B), then position lever (4)
Lower the lever and set it to the lower limit position (b). When the leveling plate (17) comes into contact with the soil surface during tilling, the tilling depth sensor (18) detects the tilling depth and sets the target tilling depth by comparing this tilling depth with the target tilling depth using the tilling depth setting dial (2X5). The plowing depth is controlled so that the plowing depth is in line with the plowing depth.
It will not go deeper than the lower limit position (b) determined by.

In addition, drag control is performed in plowing work, etc., and in this drag control (C), the same operation as in the plowing depth control (B) is performed, but the work mode selection switch is set to drag control (C).
), the setting display by the plowing depth setting dial Q3 is equivalent to setting the target drag force. When the resistance force applied to the work equipment (2) increases, the top link (141) is pushed forward, and when this is detected by a drag sensor etc., the lift arm is activated by the solenoid valve (141) via the proportional solenoid (S U). (3) is raised to reduce the resistance that the work equipment (2) receives, and is controlled to meet the target drag.In this way, the work equipment (2) is controlled under a constant target drag. (2) Perform work while controlling up and down.

In the above control, the lift operation angle by the position lever (4) partially matches the lift angle of the lift arm (3), so that the subsequent position lever (
4), the lift arm (3) is moved up and down with the lift arm (3), but the lift arm (3) is moved up and down by the position lever (4) by operating the plowing depth setting dial 2 When the lift arm is to be automatically raised beyond the lift operation angle, this lift arm (3
) will stop rising, and the alarm device (6) will notify this condition.
output to notify the operator. In such a case, return the work mode selection switch from plowing depth control (B) or drag control (C) to position control (A), or change the setting using the plowing depth setting dial aδ to restore normal operation. You can also make it into a state.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is a side view, FIG. 2 is a side view of a part of the operation, FIG. 3 is a block diagram, and FIG. 4 is a flow chart. In the figure, (1) is the vehicle body, (2) is the work equipment, (3) is the lift arm, (4) is the position lever, (5) is the upper limit setting device, (6) is the notification device, and (a) is Upper limit position, (A
) indicates position control.

Claims (1)

[Claims] A position lever (4) for raising and lowering a lift arm (3) that can freely raise and lower a working machine (2) connected to the vehicle body (1), and an upper limit position (a) of the lift arm (2).
and an upper limit setting device (5) for setting the lift arm (3). (3) a position control (A) that raises the position lever (4);
This system includes a notification device (6) for notifying that the lift angle of the lift arm (3) is higher than the lift operation angle of the tractor.