JPH0220207A - Lift controller - Google Patents

Abstract

PURPOSE:To provide the title controller so designed that a speed-reducing means to decrease descending speed is provided at a timing when a ground working unit descended to a low level formed on the higher level side based on a level- to-car body stored in a memory, thereby preventing the engine from being overloaded due to dashing of the car body. CONSTITUTION:The objective lift controller A is provided with an automatic plowing-depth control means E to make a lifting operation for a ground working unit and a forced lifting means C to forcedly lift said ground working unit prior to controlling the above means E. A memory means D stores level-to-car body for the ground working unit in control with the means E. A speed reduction gear G decreases the descending speed at a timing when the ground working unit 5 descended to a level L formed on the higher level side based on the level-to-car body stored in the memory means D when the unit 5 descends following release of the control of the forced lifting means C.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides an automatic plowing depth system that raises and lowers a ground work device in order to maintain the relative distance between the ground work device and the ground behind the ground work device at a target set value. Regarding an elevation control device equipped with a control means and a forced raising means for forcibly raising a ground working device with priority over the control of the automatic plowing depth control means, in detail, When making
Related to technology for controlling descending speed.

[Conventional technology]

Conventionally, a lifting control device equipped with an automatic plowing depth control means and a forced raising means as described above is disclosed in Japanese Patent Laid-Open No. 6
There are those shown in Publication No. 2-236403, and
A technique for controlling the descending speed when lowering ground work equipment in an elevated state is disclosed in Japanese Patent Application Laid-Open No. 56-169501.
There is one shown in the publication No.

[Problem to be solved by the invention]

Now, considering the latter of the above-mentioned references, in this reference a ground-type plowing depth detector is provided to detect the vertical displacement of the ground-working equipment, and when lowering the ground-working equipment, When the plowing depth sensor contacts the ground, the plowing depth sensor rapidly descends until it detects the ground, and when the ground is detected, the descending speed is reduced to prevent the vehicle body from dancing and overload the engine. It is configured.

In addition, as described above, in the case of a structure that reduces the descending speed, deceleration starts almost at the same time as the plowing depth sensor touches the ground, so it takes an appropriate amount of time for the ground work device to be decelerated to the desired speed. , this means that the plowing depth sensor has descended some distance from the ground contact timing.

Therefore, as in the above reference, if the ground contact timing of the ground work equipment and the ground contact timing of the plowing depth detector are made to approximately match, the ground work equipment will not have reached a sufficient deceleration state when it enters the ground. For example, if the ground is extremely hard, the reaction force from the rotor of the ground work equipment may cause the vehicle body to dance or the engine may become overloaded, or if the vehicle body is lightweight. for,
There is room for improvement, as the front part of the car body is raised and the plowing depth is sometimes increased.

In order to solve this problem, the vertical dimension of the plowing depth detector has been increased so that when lowering the ground work equipment, the deceleration is performed at an earlier timing (higher level) than the ground contact timing of the ground work equipment. Although it is conceivable to do so, if it is attempted to increase the dimensions of the plowing depth detector in this way, the ground working device must be modified, which would be difficult to implement.

A first object of the invention is to configure, through reasonable modification, a control system that reduces the descending speed of a ground working device from a level higher than the level at which the ground working device contacts the ground, as simply as possible.

In addition, when decelerating the descending speed from a level higher than the ground contact level of the ground work equipment as in the first purpose, if the level at which this deceleration is started is too far from the ground, work efficiency will be reduced. It also leads to this. especially,
If the plowing depth is set relatively shallow, the work efficiency will decrease as a result of lowering at a low speed, even though it is difficult to cause the car body to dance or to overload the engine. Sometimes.

A second object of the invention, in addition to the first object described above, is to construct a control system that can rationally set the timing of this deceleration and maintain high work efficiency.

In addition, even if the structure is configured to reduce the descending speed from a level higher than the ground contact level of the ground work equipment as in the first purpose, there are cases where the vehicle body tilts back and forth due to rough ground conditions. In such cases, even if the control system is configured as in the first and second objectives, it may not be possible to make the vehicle body dance as described above. It may cause some inconvenience.

A third object of the invention, in addition to the first or second object, is to provide a control system that can reduce the descending speed as reliably as possible when a ground work device touches the ground, even when the ground is rough. The point is that it is easy to configure.

[Means to solve the problem]

A feature of the present invention is that, in the lift control device having the above configuration, a memory means is provided for storing a bell for the vehicle body of the ground working device during control by the automatic plowing depth control means, and a memory means is provided for storing a bell for the ground working device during control by the automatic plowing depth control means. When the control is released and the ground work equipment descends, the descending speed is adjusted at the timing when the ground work equipment descends to the deceleration level formed on the high level side based on the level against the vehicle body stored in the storage means. A deceleration means gear is provided, and the deceleration level is based on the level relative to the vehicle body of the ground working device at the time of control by the automatic plowing depth control means, as the target set value is changed to a deeper side. A deceleration level adjusting means is provided to change the deceleration level in conjunction with the target setting value so that the deceleration level is shifted to a higher level side, and the ground work device includes a ground-type plowing depth detector. and the timing at which the grounding of the plowing depth detector is detected when the control of the forced lifting means is released and the ground working device is lowered, or
A selective deceleration means is provided to reduce the descending speed at the earlier timing when the ground work device reaches the deceleration level, and its operation and effects are as follows.

[For production]

For example, if the above characteristics are configured as shown in FIG. 1 and the operation is configured as shown in the flowchart in FIG. 2, the forced lifting means (C)
When the ground work device (5) is raised to a predetermined level and then lowered, the ground work device (5) is moved at high speed until it reaches the deceleration level (L), as shown in Figure 4. After reaching the deceleration level (L), it is lowered at a low speed (#12, #13, [4, #17 stickers, and as shown in Figure 5, this deceleration level (L)).
If the ground contact of the plowing depth detector (12) is detected before the ground working device (5) has not descended to the point where the ground working device (5) has descended, the descending speed of the ground working device (5) is reduced at this detection timing.
．． $16. #17 Stetsuka.

Further, the deceleration level (L) is set based on the vehicle body level value of the ground working device (5) during automatic plowing depth control and the plowing depth set value (#10 sticker).

Specifically, the deeper the plowing depth set value (target set value) is changed, the higher the level relative to the vehicle body of the ground work device (5) during control by the automatic plowing depth control means (Ei). Since it is set on the level side, the deceleration level (L) can be maintained at a fixed value regardless of the plowing depth setting value.

In other words, the ground level of the ground working device (5) during automatic plowing depth control is maintained at the set state regardless of the sinking of the traveling device such as the wheels of the vehicle body into the ground. By setting the deceleration level based on the level of the working device (5) relative to the vehicle body, the deceleration level can be set at a level above the ground, and this setting can be offset based on the plowing depth set value (target set value). By doing so, it is possible to accurately set a deceleration level that is a predetermined distance above the ground with the ground as a reference, and also to detect the timing when the ground work device (5) has descended to the deceleration level, or the plowing depth detector (
12) The deceleration of the descending speed is also decreased by determining one of the OR conditions at the timing when the vehicle touched the ground.

〔Effect of the invention〕

Therefore, when lowering the ground work equipment from a high level, by modifying it by providing a storage means that can be easily configured with electrical elements, the descending speed can be changed from high to low at the timing before the ground work equipment contacts the ground. Switch to, and
If the control system is electrically configured, the timing of deceleration relative to the ground can be optimized by providing a program that can be set in a microprocessor or a deceleration level adjustment means that can be easily configured using an operational amplifier. In addition, by providing a selective deceleration means, even when the ground is rough, the ground work equipment can descend reliably without causing any inconvenience such as rushing into the ground while descending at high speed. Now that a control system that can reduce the speed has been simply constructed [Example] An example of the present invention will be described below with reference to the drawings.

As shown in Fig. 3, a pair of left and right lift arms (3) that are moved up and down by the drive of a hydraulic cylinder (2) are provided on the upper part of the transmission case (1) at the rear of the vehicle body. A low-crip type ground work device (5), which is connected to the rear end of the vehicle body via a two-point link mechanism (4) so as to be able to rise and fall, is suspended and supported via a lift rod (6).

Also, on the side of the driver's seat (7) provided on this vehicle body,
As shown in the figure, a control box (8) is provided to control the elevation of the ground work device (5).
The plowing depth setting value set by the dial (9) provided on the top surface of the control box (8) and the rear cover (5), which is swingably supported at the rear of the ground work device (5),
This is carried out using a feedback type lifting control system that lifts and lowers the ground working device (5) until the detected plowing depth value based on the rocking posture in a) is balanced.

In addition, this control operation is called automatic plowing depth control, and in addition to the automatic plowing depth control operation, there is also a push-operated switch ( By turning on the switch (10), the ground working device (5) is raised to the lifting limit with priority over the automatic plowing depth control, and by turning this switch (10) off, it restores the automatic tilling depth control state. C)
At the time of restoration, the ground work device (5) is controlled by an elevator control device (8) having means for lowering the ground work device at high speed until it reaches a deceleration level (C), which will be described later, and lowering it at a low speed when it reaches the deceleration level (L). ) are included.

That is, the outline of the elevator control device (8) and the system linked to this device is shown in FIG.
0), the plowing depth set value (1) operated by the dial (9)
1), a plowing depth detector (
12), signals from the vehicle body level detectors (13) each detecting the vehicle body level of the ground work device (5) from the swing angle of the lift arm (3) are manually input to the lift control device (8). Ru.

The switch (10) is configured to be an ON/OFF operation type, and the plowing depth setting value (11), plowing depth detector (12), and vehicle body level detector (13) are each configured to be a potentiometer type. , the elevation control device (A) is configured with a microprocessor (not shown), and its output signal is sent via a driver (14) to a solenoid valve (15) that controls the hydraulic cylinder (2). The signal system is configured to output the signal.

Further, the operation of the elevation control device (A) is expressed as in the flowchart of FIG.

That is, when the control is started, the state of the switch (10) is determined, and if it is turned on, the ground work device (5) is activated.
Forcibly raise to a predetermined level (#l, $2. #
3 steps), if it is in the OFF state, the plowing depth detector (12 steps) is in the OFF state.
) manually to determine whether the rear cover (5a) is in the hanging position or in the plowing position (#4. 廿5 sticker).

#5 When it is determined that the plowing position is in the tilling position, the plowing depth setting value (11) and the signals from the plowing depth detector (12) are inputted to perform automatic plowing depth control ($61t788stack, next In this automatic plowing depth control state, the ground work device (
5) The vehicle body level is manually determined from the vehicle body level detector (13), and deceleration is performed based on this vehicle body level value and the plowing depth set value set in the plowing depth set value (11). The level (L) is calculated and the result is stored in the storage means (
D) Hold in (memory) (tt9. #10. #1
1 sticker.

Further, when it is determined in step #5 that the rear cover (5a) is in a hanging state, a DC signal is output to the solenoid valve (15) to lower the ground work device (5) at high speed. (#12 sticker, anti-vehicle level detector (1)
The ground working device (5) determines whether it has reached the deceleration level (shi) according to the signal of 3) [3, #14 sticker], and if it has not reached the deceleration level (shi), the rear cover ( 5a) Determine whether it has been lifted#
15. If the $16 sticker and rear cover (5a) are not lifted, continue the operation from step #12.

When it is determined in step #14 that the ground work device (5) has reached the deceleration level (L) as shown in Fig. 4, and as shown in Fig. 5, the rear cover (5a) lifts up due to contact with the ground. If it is determined in step #16 that the ground work device (5) is lowered by decelerating it, an intermittent signal is output to the solenoid valve (15) to lower the ground work device (5) (#17).
After this step, the automatic tilling depth control starts from step #6.

In this flowchart, #3 step is referred to as forced raising means (C), and #8 step is referred to as automatic plowing depth control means (C).
8), and #10 step is the deceleration level adjusting means (F
), [3, $14.317 step is called deceleration means (G), steps #13 to #17 are called selective deceleration means (H), and storage means (D) is a memory.
(not shown).

[Another example]

In addition to the above-mentioned embodiments, the present invention allows each of the five means other than the storage means to be configured with a hard circuit, and the deceleration level is changed in accordance with the set plowing depth value.
Alternatively, it may be one that maintains a constant value regardless of the set plowing depth value.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the elevation control device according to the present invention, and the first embodiment
Fig. 2 is a block circuit diagram of the control device, Fig. 2 is a flowchart showing the operation of the control device, Fig. 3 is a side view of the rear of the agricultural tractor during plowing work, and Fig. 4 is a rear view of the agricultural tractor showing the deceleration level. FIG. 5 is a side view of the rear of the agricultural tractor, showing a state in which the ground working device is lowered onto rough ground. (5)...Ground work equipment, (12)...
・Plowing depth detector, (C)... Forced lifting means, (D
)... Memory means, (E)... Automatic plowing depth control means, (F)... Deceleration level adjustment means, (
G)...Deceleration means, (H)...Selected deceleration means, (I...Deceleration level.

Claims (3)

[Claims] 1. automatic plowing depth control means (E) for raising and lowering the ground working device (5) in order to maintain the relative distance between the ground working device (5) and the ground behind the ground working device (5) at a target setting value;
Forced raising means (C) for forcibly raising the ground working device (5) in priority to the control of the automatic plowing depth control means (E)
The lifting control device is equipped with a storage means (D) for storing the level of the ground working device (5) relative to the vehicle body when controlled by the automatic plowing depth control means (E), and the When the control of the lifting means (C) is released and the ground work device (5) descends, the deceleration level ( The elevation control device is provided with a deceleration means gear (G) that reduces the descending speed at the timing when the ground work device (5) descends to L). 2. The deeper the target setting value is changed, the higher the deceleration level (L) is relative to the vehicle body level of the ground work device (5) during control by the automatic plowing depth control means (E). a deceleration level adjusting means (L) that changes the deceleration level (L) in conjunction with the target set value so that the deceleration level (L) deviates from
The elevator control device according to claim 1, further comprising: F). 3. A ground-type plowing depth detector (1) is attached to the ground work device (5).
2) is provided, and when the control of the forced lifting means (C) is released and the ground work device (5) descends,
The selective deceleration means (H) reduces the descending speed at the earlier timing of detecting the ground contact of the plowing depth detector (12) or the timing of the ground work device (5) reaching the deceleration level (L). ) Claim 1
Or the elevation control device according to 2.