KR100452959B1 - Implement attitude control system - Google Patents

Abstract

The present invention is attached to the three-point link of the agricultural tractor when the agricultural work by rotary and plow work machine widely used for tillage and stop work, the change of working depth or soil hardness due to the hunting of the car body and the sinking of the wheel. The present invention relates to an electro-hydraulic work machine control device which controls a work machine so that the work machine position, traction force, work depth, and work load are constantly maintained at a set value set by the driver despite the change of.

In the work machine control device of the present invention, the hydraulic oil discharge part of the hydraulic pump is connected to the upward direction valve 1 through the priority valve 5 for adjusting the flow rate, and the upward direction valve 1 is the upward line 11. It is connected to the A port of the single-acting hydraulic cylinder through the orifice (4) or the two-way valve (3) through, and the A port of the hydraulic cylinder is also connected to the downward direction valve (2) through the descending line (12) The downward direction directional valve is connected to the hydraulic tank through the T line 14, and a check valve 6 is inserted directly above the upward direction directional valve 1 to prevent oil leakage due to the weight of the working machine. It is.

When the ascending direction valve 1 is neutral, the discharge pressure oil from the hydraulic pump passing through the priority valve is returned to the hydraulic tank through the neutral line 13 and the T line 14, and the work machine does not operate. ,

When the ascending direction valve 1 is operated, the discharge pressure oil from the hydraulic pump is transferred to the A port of the hydraulic cylinder through the ascending line 11 and the 2 speed valve 3, and the work machine is raised at a high speed. ,

When the ascending direction valve 1 and the 2 speed valve 3 are operated, the discharge pressure oil from the hydraulic pump is transferred to the A port of the hydraulic cylinder through the ascending line 11 and the orifice 4. Will rise at low speed,

When the descending direction valve (2) is operating, the hydraulic oil discharged from the A port of the cylinder by the weight of the working machine is discharged into the tank through the 2 speed valve (3), the descending line (12), T line (14) As the work machine descends at high speed,

When the downward direction valve (2) and the second speed direction valve (3) is operated, the pressure oil discharged from the A port of the cylinder by the weight of the working machine is the orifice (4) and the downward line (12), T line (14) By falling into the tank through the work machine is configured to descend at low speed.

Description

Agricultural work machine control device {Implement attitude control system}

The present invention is attached to the three-point link of the agricultural tractor when the agricultural work by rotary and plow work machine widely used for tillage and stop work, the change of working depth or soil hardness due to the hunting of the car body and the sinking of the wheel. The present invention relates to an electro-hydraulic work machine control device which controls a work machine so that the work machine position, traction force, work depth, and work load are constantly maintained at a set value set by the driver despite the change of.

In 1995, a second person from the Institute of Agricultural Mechanization presented the results of a work machine control system capable of horizontal and hard control of a work machine. In this study, they adopt a tilting angle sensor mounted on the working machine and a control method using a proportional control valve.

Abroad ;

1) A lot of researches on position and traction control have been done in Gumi, where plow is mainly used for tillage stop work. In 1980, John Hobbs et al. Researched the results of electro-hydraulic hitch control for agricultural tractors, and Robert Dobrinska et al. In 1981 developed and applied the electro-hydraulic control system for CASE 4WD tractors. In 1989, Thomas E. Boe et al. Reported the results of a tractor three-point hitch control system.

2) A lot of research has been conducted in Japan, where rotary is mainly used for tillage stop operation. In 1979, Kawamura et al. Automatically controlled rotary tillage tractors (driving speed and For the results of the study on the control of the soil, Satoh et al. In 1985 studied the control of the plow with the ultrasonic sensor.In 1992, Yi et al. And posture control).

As a related patent, Iseki Nongki Co., Ltd. in 1995 height control (lift arm sensor), light sensor (detection of angle change of flat plate) and height control is performed by control mode switching switch and single operation lever. In the tractor lifting control device (Specifically disclosed 7-28567), which has a control system configured for the control system, the tractor is equipped with a position control mode and a work machine ascending control mode so that the ascending position of the work machine can be arbitrarily set during the work machine ascending control mode. Position control by the lift arm sensor and the positioner is installed in the tractor's hydraulic lifting control device (Spec. 7-40808), in which a circuit is installed so that the position control is prioritized and the work machine ascending positioner is connected by a relay only when reversing. Control by microcomputer and up / down proportional solenoid valve whose flow rate is controlled in proportion to the magnitude of electric signal In the tractor work lift control device (Special Publication No. 7-59161) in which the selection of the stem and the position control and the center control is performed by the changeover switch, it is necessary to rapidly discharge the oil in the lift cylinder when the pressure in the lift cylinder is at light load. In the hydraulic lifting control device for tractors equipped with a separate lowering valve (Special Publication No. 7-59161), Mitsubishi Farms Co., Ltd., every 1995, when the detection value of the ultrasonic sensor for detecting the distance between the tractor and the ground decreased. A patent has been applied for a tractor work machine control device (Special Patent No. 7-39373) having a lift control means for supplying hydraulic pressure in advance of hydraulic pressure supply means for supplying hydraulic pressure to a hydraulic actuator to raise a work machine.

The work machine control systems have a disadvantage of being expensive to be applied to a domestic agricultural tractor by using a flow control method using a proportional control valve.

The technical problem to be achieved by the present invention is the price that can be applied to a domestic agricultural tractor through the development of a controller capable of smoothly controlling the work machine according to the configuration of the hydraulic circuit by the solenoid valve, etc., which is cheaper than the proportional control valve, the setting and operation of the driver This is to develop a cheap work machine control device.

In the work machine control apparatus of the present invention, the controller is configured or manipulated by the operation panel, the working condition is directly or through a detection circuit, the detection unit composed of various sensors is directly input to the input port of the microcomputer, the microcomputer is the operation panel and After processing the input signal from the detector and performing various calculation processing, it outputs the control signal da0, da1 to the comparison circuit through the output port. The comparison circuit composed of logic circuit is analog from the microcomputer. After comparing the signals da0 and da1 with the signals from the lift arm sensor, the control signal is output to the upward direction valve drive circuit and the downward direction valve drive circuit to drive the up / down direction valves. The deviation between the control signal da0 and da1 from the variable is variable depending on whether the 2-speed valve is driven, that is, low speed operation or high speed operation. It is possible to improve the control accuracy by adjusting to. The operation of the 2-speed valve (high speed / low speed operation) is performed by the output signal a of the logic element and the micro by the control signals a0 and a1 from the comparison circuit. The digital control signal D0 from the computer is input to the logic element, and is performed by controlling the two-way valve driving circuit by the output signal of the logic element, and the external circuit between the comparison circuit and the up / down direction valve driving circuit. The NO terminal of the control ON / OFF switch is connected to the COM terminal of the UP / DOWN switch of the external control switch. When the external control ON / OFF switch is ON, the NO terminal of the control ON / OFF switch turns ON / OFF by the ON / OFF switch of the external control switch. / Down direction directional valve drive circuit is controlled.When external control ON / OFF switch is OFF, up / down directional valve drive circuit is controlled by control signal from comparison circuit, not up / down switch of external control switch. As far as possible Characterized in that the sex.

BRIEF DESCRIPTION OF THE DRAWINGS The figure which shows the whole structure of the work machine control apparatus of this invention.

2 is a hydraulic circuit (valve block assembly) constituting a control device of the present invention.

3 is a circuit diagram showing the configuration of the controller of the present invention;

4 illustrates an algorithm of the control system of the present invention.

<Description of Symbols in Drawings>

1: Upward Directional Valve 2: Downward Directional Valve 3: 2-Speed Directional Valve

4: orifice 5: priority valve 6: check valve

11: ascending line 12: descending line 13: neutral line

14: T line P: Hydraulic pump T: Tank

The present invention will be described in detail with reference to the accompanying drawings.

The work machine control apparatus of the present invention is as shown in FIG. 1) an operation panel 100 for setting and operating various working conditions by the operator, and 2) a detecting unit 120 configured with various sensors for detecting the position, traction force, working depth, and workload of the working machine during operation. ) , 3) controller 110 consisting of microcomputer which performs signal processing from sensor, various calculation processing and control signal output in real time, and 4) control signal from controller. The hydraulic circuit (valve block assembly) 140 and the single-acting hydraulic cylinder 150 constituted by various solenoid valves, valve blocks, and the like are largely configured for the control of the mounted work machine.

When tilling or stopping work by rotary or plow work machine, the operator sets the position, traction force, work depth and work load according to the type of work machine and work condition by setting dial on the control panel, and it is composed of microcomputer. The controller 110 analyzes the current state of the work machine based on information from various sensors, calculates a deviation from the set value set by the driver, and then outputs a control signal to turn off the solenoid valve on the hydraulic circuit. / OFF control. By the ON / OFF operation of the solenoid valve, the discharge oil from the hydraulic pump 130 flows into the hydraulic cylinder, or the hydraulic oil in the cylinder is discharged to the hydraulic tank and connected to the three-point link 160 to which the work machine is mounted. The work machine is controlled by indirectly controlling the position of the piston in the hydraulic cylinder. The flow rate of the hydraulic oil flowing into the hydraulic cylinder is controlled by a priority valve on the hydraulic circuit or a flow control part composed of an orifice and a two-way valve according to the use environment, deviation from a set value, and the like.

2 shows a configuration of a hydraulic circuit constituting a control device.

The hydraulic oil discharge part of the hydraulic pump is connected to the upward direction valve 1 through the priority valve 5 for flow rate control, and the upward direction valve 1 is connected to the orifice 4 through the upward line 11. It is connected to the A port of the single acting hydraulic cylinder through the two-way valve (3). The A port of the hydraulic cylinder is also connected to the descending direction valve 2 through the descending line 12, the descending direction valve is connected to the hydraulic tank through the T line (14). In addition, a check valve 6 for preventing oil leakage due to the self-weight of the work machine is inserted directly above the upward direction valve 1.

When the ascending direction valve 1 is neutral, the discharge pressure oil from the hydraulic pump passing through the priority valve is returned to the hydraulic tank through the neutral line 13 and the T line 14, so that the work machine does not operate.

When the ascending direction valve (1) is operated, the discharge pressure oil from the hydraulic pump is transferred to the A port of the hydraulic cylinder through the ascending line (11) and the two-way valve (3), the working machine is raised at a high speed, When the ascending direction valve (1) and the 2 speed valve (3) are operated, the discharge pressure oil from the hydraulic pump is transferred to the A port of the hydraulic cylinder through the ascending line (11) and the orifice (4). Will rise.

When the downward direction valve (2) is operated, the hydraulic oil discharged from the A port of the cylinder by the weight of the working machine is discharged into the tank through the two-way valve (3), the downward line (12), T line (14) The work machine descends at high speed, and when the descending direction valve (2) and the two-way valve (3) are operated, the pressure oil discharged from the A port of the cylinder by the weight of the work machine is the orifice (4) and the descending line (12). By falling into the tank via T line 14, the work machine descends at low speed.

The hydraulic circuit of the present invention can be configured to remove the orifice (4) and the two-way valve (3) to configure the hydraulic circuit when the operating environment, that is, to perform the up / down of the work machine at one speed, or two types In order to perform at high speed (high speed / low speed), the hydraulic circuit can be configured after inserting the orifice (4) and the two-way valve (3), removing the priority valve (5), and thus flexibility in the construction of the hydraulic circuit. Have Thus, the flexibility of the hydraulic circuit configuration according to the use environment can have many advantages in terms of cost.

3 shows a configuration of a controller constituting the control device of the present invention. The working condition or the like set or operated by the operation panel 100 is directly or through a detection circuit 43, and a detection unit composed of various sensors is directly input to an input port of the microcomputer 44. The microcomputer 44 processes the input signals from the operation panel 100 and the detection unit and performs various arithmetic operations, and then outputs the control signals da0 and da1 to the comparison circuit 45 through the output port.

The comparison circuit 45, which is composed of a logic circuit or the like, compares the analog signals da0 and da1 from the microcomputer 44 with the signals from the lift arm sensor, and then the direction for the rise 46 and the fall 47. The control signal is output to the valve driving circuit to drive the up / down direction valve, and the deviation between the control signals da0 and da1 from the microcomputer 44 is whether the 2-way valve is driven, that is, low speed operation or high speed. It is possible to improve the control accuracy by being adjusted variably depending on the operation.

The operation of the 2-way valve (high speed / low speed operation) is performed by the control signal a0, a1 from the comparison circuit 45 and the output signal a of the logic element 21 from the microcomputer 44. The digital control signal D0 is input to the logic element 22 and is performed by controlling the two-way valve driving circuit by the output signal of the logic element 22.

The NO terminal of the external control ON / OFF switch (31, 32) between the comparison circuit 45 and the up / down directional valve drive circuit is the COM terminal of the up / down switch (9, 10) of the external control switch (41). When the external control ON / OFF switch is ON, the up / down direction valve drive circuit is controlled by the ON / OFF of the up / down switches 9 and 10 of the external control switch 41. When the external control ON / OFF switch is OFF, the up / down directional valve drive circuit is controlled by a control signal from the comparison circuit, not the up / down switches 9 and 10 of the external control switch 41.

4 shows a control algorithm of the control system of the present invention.

After starting the engine, the microcomputer constituting the controller initializes the system. After entering the system check mode, it checks whether the setting value of the position lever matches the position of the lift arm. System check mode is executed until

When the system check is completed, check the status of the external control switch. If the external control switch is ON, execute the external control mode (manual operation mode). If the OFF state, perform the system check mode if the ON state is OFF. If not, the ON / OFF status of the one-touch lift switch is checked.

If the one-touch up switch is in the ON state, the lift arm upper limit control mode is executed. Otherwise, the ON / OFF state of the additional control (reverse, steering control) switch is checked. When the additional control switch is ON, the lift arm upper limit control mode is executed when the reverse sensor is ON, and the lift arm upper limit control mode is performed when the steering sensor is ON while the OFF sensor is ON. If the additional control switch is OFF, the status of the work machine type selection switch is immediately checked.

If the type of work machine is a plow, it performs position and traction control mode, and if it is rotary and automatic switch is ON, it performs light and load control mode, and if it is OFF, it performs position control mode. As this procedure is repeatedly performed at regular time intervals, the control operation is performed. In addition, as shown above, this control system performs basic functions irrespective of the type of work machine, and selects the type of work machine by a switch and processes the control mode appropriate to the type of work machine by software to rotate and plow. The software has been developed to suit the agricultural environment in Korea, where workers are used together.

The agricultural work machine control device of the present invention configured as described above is an inexpensive work machine that can be applied to a domestic agricultural tractor through the development of a controller capable of smoothly controlling the work machine according to the configuration of the hydraulic circuit by the solenoid valve, the setting and the operation of the driver, and the like. Provide a control device.

Claims (2)

The controller 110 has a working condition set or manipulated by the operation panel 100 directly or through a detection circuit 43, and a detection unit composed of various sensors is directly input to an input port of the microcomputer 44, The microcomputer 44 processes the input signals from the operation panel 100 and the detection unit, and performs various calculation processes, and then outputs control signals da0 and da1 to the comparison circuit 45 through the output port. The comparison circuit 45, which is composed of a logic circuit, compares the analog signals da0 and da1 from the microcomputer 44 with the signals from the lift arm sensor, and then the upward direction valve drive circuit 46 and the downward direction. The control signal is output to the directional valve driving circuit 47 to drive the up / down directional valve, and the deviation between the control signals da0 and da1 from the microcomputer 44 is driven by the 2 speed valve. Depending on whether it is low speed or high speed The control accuracy can be improved by adjusting variably, and the operation of the two-speed valve (high speed / low speed operation) is performed by the control elements a0 and a1 from the comparison circuit 45. The output signal a and the digital control signal D0 from the microcomputer 44 are inputted to the logic element 22 and performed by controlling the two-way valve driving circuit by the output signal of the logic element 22. The NO terminal of the external control ON / OFF switch 31, 32 between the comparison circuit 44 and the up / down directional valve drive circuit is connected to the up / down switch 9, 10 of the external control switch 41. Connected to the COM terminal, when the external control ON / OFF switch is ON, the up / down direction valve drive circuit is controlled by the ON / OFF of the up / down switch 9, 10 of the external control switch 41. When the external control ON / OFF switch is OFF, the control signal from the comparison circuit other than the up / down switches 9 and 10 of the external control switch 41 Agricultural work machine control apparatus is configured so that the control with up / downward direction by the valve driving circuit. The method of claim 1, The microcomputer constituting the controller performs initializing of the system at the same time as the engine is started, enters the system check mode, checks whether the setting value of the position lever matches the position of the lift arm, and operates the position lever. System check mode is executed until it matches. When the system check is completed, check the status of the external control switch. If the external control switch is ON, execute the external control mode (manual operation mode). If the OFF state, perform the system check mode if the ON state is OFF. If not, the ON / OFF status of the one-touch lift switch is checked. If the one-touch up switch is in the ON state, the lift arm upper limit control mode is executed. Otherwise, the additional control (reverse, steering control) switch is checked. When the additional control switch is ON, the lift arm upper limit control mode is executed when the reverse sensor is ON, and the lift arm upper limit control mode is performed when the steering sensor is ON while the OFF sensor is ON. Check the status, and if the additional control switch is OFF, check the status of the work machine type selection switch. If the type of work machine is a plow, it performs position and traction control mode, and if it is rotary and automatic switch is ON, it performs light and load control mode, and if it is OFF, it performs position control mode. And a control operation is performed while the procedure is repeatedly performed at regular time intervals.