JPS6379509A - Operational control of working part - 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 [Field of Industrial Application] The present invention relates to a method for controlling the operation of a working part of a tractor, a rice transplanter, a combine harvester, and other various working machines for controlling the state of the working part.

[Problems to be solved by the prior art and the invention] In general, in this type of working machine, for example, if this is an agricultural tractor, a working part is provided on the body of the machine so as to be movable up and down, and the height of the working part is detected. The position lever (operating tool) is activated based on the detection results of the height detection means (state detection means) to detect the set position of the position lever (operating tool) and the lever position detection means (set state detection means) to detect the set position of the position lever (operating tool) to set it at the set position. It has become. In this case, when the working part moves up and down following the lever set position, it may not be possible to accurately position the working part at the lever set position due to excessive movement of the working part or a delay in the operating system. This is actually difficult, and if the lifting movement is controlled in this state, a so-called hunting phenomenon will occur in which the working part swings up and down unintentionally.

Therefore, a dead zone is set within a certain range for the target set state without impairing the accuracy of state control, and the range of this dead zone is set as a non-operating area of the working part to prevent the hunting phenomenon from occurring. I have to. However, conventionally,
Since this dead zone was constant, if the working part became inactive just near the border of the dead zone, there would be a slight voltage fluctuation due to some reason such as noise entering the input from the detection means. There is a habit of the working part being out of the inoperative area, and in such a case, the working part will suddenly start working, which is extremely dangerous and problematic.

[Means for solving the problem of opening and closing] In view of the above-mentioned circumstances, the present invention was devised for the purpose of providing a method for controlling the operation of a working part that can eliminate these drawbacks. Setting the working part to the set state based on the detection results of the state detecting means for detecting the operating state of the part and the set state detecting means for detecting the set state of the operating tool, the working part is set to the target set state. After setting the range of the first dead zone that is set for The present invention is characterized in that the state of the working section is controlled using the first dead zone as the inactive area again.

With this configuration, the present invention can stop the operation of the working part even if there is a slight voltage fluctuation in the input from the detection means, thereby improving safety by eliminating inadvertent operation. This is what I did.

[Embodiment] Next, an embodiment of the present invention will be described based on the drawings. In the drawings, reference numeral 1 denotes a traveling body of an agricultural tractor, and a working section (rotary plowing section) 3 is connected to the traveling body 1 via an elevating link mechanism 2 . and hydraulic case 4
A lift arm 5 extending from the lower link 2a of the elevating link mechanism 2 is interlocked with the lower link 2a of the elevating link mechanism 2 via a lift rod 6, and when the lift arm 5 swings up and down by hydraulic operation, the working part 3 moves up and down. Everything else is the same as before. Here, 7 is a front wheel, 8 is a rear wheel, and 9 is a fender that covers the rear axle 8.

Reference numeral 10 denotes a position lever provided on the one fender 9 (on the left side in the embodiment), which corresponds to the operating tool of the present invention. A lever angle detection sensor (corresponding to the set state detection means of the present invention) 11 that detects the
is provided. - On the other hand, an arm angle detection sensor 12 is provided at the base end of the lift arm 5 to detect the swing angle of the lift arm 5, that is, the height state of the working part 3, and the state detection sensor 12 is provided at the base end of the lift arm 5. Each of these sensors 11, 12 is formed of a member such as a potentiometer, and in the embodiment, the angles are detected in a one-to-one relationship so that the corresponding angle change rates are equal. It is supposed to be done.

Detection signals from both sensors 11 and 12 are passed through an analog-to-digital converter (A/D converter) 15 to a control unit 13 configured by a microcomputer or the like.
The control unit 13 performs calculations based on these input detection signals, and based on the results, outputs a control command to the lift arm lifting solenoid 14.14a to switch the hydraulic switching valve. 1. The lifting and lowering movement of the working section 3 is controlled, and the control procedure will be explained in detail below using a flowchart and a timing chart.

First, turn on the engine key switch and turn on the control unit 13.
When the controller 13 starts the lever angle detection sensor 12 (starting set state), the control unit 13 determines that the detection value from the arm angle detection sensor 12 is larger than the detection value P from the lever angle detection sensor 11 (L>
P), that is, it is determined whether the working part 3 is higher than the set lever target value, and if the window is determined to be higher (located on the upper side), the arm detection value is (
It is determined whether L>Pd□). If the judgment is NO that it is not large, the working part 3 is located above the target value P, but within the non-operating region within the range of the -th dead value Pd. Therefore, the position stop flag A in the downward direction is set, and the position stop flag B in the upward direction is reset.
Furthermore, a π command is issued to both solenoids 14.14a.

On the other hand, when the arm detection value is compared with the -th dead value Pd□, if the old judgment is made that the arm detection value is larger, the position stop flag B is reset and then It is determined whether or not the stop flag A is set, and if it is determined that the stop flag A is set, the target value P of the working section 3 is set to the first insensitivity@D.
The second insensitivity trD2 is set at a slightly larger price range than the
Second dead value Pd, (Pd,
=P+D2), the arm detection value is large (L>P
d,) is determined. If the school determines that it is not large, the first working section 3 will be in the first dead zone D.
Although it is outside the range of operation, it is in the inactive region within the range of the second dead zone D2, and therefore both solenoids 14.1
A π command will be issued to 4a. - On the other hand, if the window is determined to be large, the working part 3 is located outside the inoperable area set by the second dead zone D2, and the position stop flag A is reset. , an ON command is output to the lowering solenoid 14a, and the working part 3 is lowered. In addition, it is determined whether the position stop flag A is set or not, that is, when the work unit 3 is positioned outside the second dead zone D2 at the time of starting or as described above. Since the stop flag A has been reset, if the determination is NO, an ON command is directly output to the lowering solenoid 14a. After the working part 3 is controlled downward by using the narrow first dead zone Dl as a non-operating area by operating the position lever 10, descending control is performed using the wide second dead zone D2 as a non-operating area. Then, when the second dead zone is exceeded, descending control is performed again using the narrow first dead zone Dl as a non-operating region.

In addition, in the above-described judgment as to whether or not the arm detection value is larger than the lever detection value P, if a NO judgment is made that it is not larger, the working part 3 is positioned below or equal to the target value P. This means that the lower dead zone U1. Similar control will be performed based on U. That is, it is determined whether the arm detection value is smaller than the -th dead value Pu (Pu = pu) obtained by subtracting the first dead zone U from the target value P (L<Pu). , N as not small.

If it is determined that
Therefore, the position stop flag B is set, the position stop flag A is reset, and a π command is issued to both solenoids 14 and 14a.

On the other hand, in the comparison judgment between the arm detection value and the -th insensible value Pu1, if the old judgment is made that the arm detection value is smaller, the position stop flag A is reset and then the position is stopped. It is determined whether or not the flag B is set, and if it is determined that the flag B is set, the target value P of the working section 3 is set to a value range slightly larger than the first dead zone U□. The second dead value Put (Pu, = P-U
z), it is determined whether the arm detection value is smaller (L<Pu2). If the determination is NO because it is not small, the first working part 3 is outside the first dead zone U8 but within the second dead zone 2, and therefore both solenoids A π command will be issued for 14.14a. On the other hand, if the old judgment is made that the working part 3 is small, the working part 3 is located outside the range of the second dead zone U2, the position stop flag B is reset, and the lifting solenoid 14 is
An ON command is output to a, and the working part 3 rises. In addition, it is determined whether the position stop flag B described above is set or not.
That is, at the time of starting or when the working part 3 is located outside the second dead area U2 and a false judgment is made because the position stop flag B has been reset, the control is applied to the lifting solenoid 14 as it is. The ON command will be output. After the working part 3 is controlled to ascend by using the narrow first dead zone Ul as an inoperable region by operating the position lever 10, the ascending control is performed by making the wide second dead zone U2 an inoperable region. Then, when the second dead zone U2 is exceeded, upward control is performed again using the narrow first dead zone U as a non-operating region.

In an embodiment of the invention constructed as described.

The vertical movement of the working part 3 is controlled by operating the position lever 10. In this case, the vertical movement of the working part 3 is controlled by moving the working part 3 toward the lever target position. When the
Elevating movement is controlled using the area of the machine as a non-operating area, and when the position is set within this narrow non-operating area, the elevating movement is controlled using a wider second dead zone U2, D2 as an inactive area. Control will be achieved. Therefore, the first working section 3 has a narrow first dead zone U1. Although the position is set within the range of D, after the position is set, the wide second dead zone U2, which exceeds this, is controlled as the inoperable region. Therefore, when the working part 3 is stopped exactly near the boundary between the first dead zones U1 and Dl, there is a slight voltage fluctuation due to some reason such as signals from the sensors 11 and 12, noise, etc., and the first dead zone υ8 ,
Even if there is an erroneous signal input indicating that Dl has been exceeded, the working part 3 is actually stabilized by being controlled to move upward and downward within the wide range of second dead zones U2 and D2 as a non-operating area. It is possible to reliably prevent the working part 3 from moving inadvertently, resulting in extremely high safety.

Furthermore, in this case, if the position lever 10 is operated and the lever detection value exceeds the range of the second dead zones U, D2, the control that makes the second dead zones U2, D3 a non-operating area is reset. , control is performed again with the narrow first dead zones Ui, D□ as the inactive region, and therefore, highly reliable lifting control is always performed.

It should be noted that the present invention is of course not limited to the above-mentioned embodiment, and it is also possible to switch the dead zone wide and narrow at the same time. Furthermore, the working part is not limited to vertical movement control, but can be performed in various state controls such as left-right control, front-back control, or transformation control. After setting the range of the first dead zone set for the set state as the non-operating area, the range of the second dead zone beyond the first dead zone is set as the non-operating area of the working part, and this second dead zone is set as the non-operating area. Any means may be used as long as the condition of the working part is controlled by using the first dead zone as a non-operating area once the first dead zone is exceeded.

[Operations and Effects] In short, 1. Since the present invention is constructed as described above, the working section first performs state control using the narrow first dead zone as the inoperable region, and then the wide second dead zone. Condition control is performed using the range of the dead zone as a non-operating area. Therefore, even if noise enters the condition detecting means or an erroneous signal that exceeds the first dead zone is input, the wide first dead zone The working part, which is stably controlled with the range of the two dead zones as the inactive area, will not move unexpectedly, making it extremely safe.

Moreover, the state of the working part is controlled within this wide non-operating range, and by operating the operating tool beyond this range,
Condition control is performed again with the narrow first dead zone as the inoperable region, making it possible to perform extremely reliable condition control of the working section.

[Brief explanation of the drawing]

The drawings show an embodiment of the method for controlling the operation of a working part according to the present invention, and FIG. 1 is a side view of an agricultural tractor;
FIG. 2 is a block circuit diagram of the control mechanism, FIG. 3 is a timing chart, and FIG. 4 is a flow chart. In the figure, 3 is a working part, 10 is a position lever, 11 is a lever angle detection sensor, 12 is an arm angle detection sensor, P
is the target value, U and Dl are the first dead zone, and U2 and D2 are the second dead zone.

Claims (1)

[Claims] The work part is set to the set state based on the detection results of the state detection means for detecting the operating state of the work part and the set state detection means for detecting the set state of the operating tool. After setting the range of the first dead zone set for the first dead zone as the inoperable area, the range of the second dead zone beyond the first dead zone is set as the inoperable area of the working part, and the second dead zone is exceeded. A method for controlling the operation of a working part, characterized in that the state of the working part is controlled using the first dead zone as a non-operating area.