JPH0228Y2 - - Google Patents

Description

[Detailed description of the invention] This invention is based on a traveling machine such as a combine harvester.
The present invention relates to a lifting control device for a working machine that is capable of lowering a working machine that moves up and down under automatic control further than a set lowering position under automatic control.

Generally, in this type of traveling machine such as a combine harvester, there is one in which a working machine such as a pre-processing section can be lifted and lowered to a preset lowering position by lowering a control lever. However, in the case of a combine harvester, for example, if there is a lodging stem culm in the middle of the reaping operation, the work equipment must be moved to a special lowering position that is lower than the lowering position set by the automatic control described above. There may be times when you have to do some work. In such cases, conventionally, the lowering position under automatic control was set in advance by adjusting a setting device such as a sensor potentiometer, or the work equipment was changed from automatic control to manual control by switching a changeover switch. This allows the working machine to be lowered further than the automatically controlled lowering position. However, these operations cannot be performed by simply operating the operating lever, and therefore the operations are complicated and lack quick response.In the former case, the set lowering position is automatically controlled. Since the settings must be reset using the setting device, after the special reaping work as described above is completed,
It is difficult to restore the setting to the original lowered position that is consistent with normal work, and on the other hand, in the latter case, when the special work is completed, the switch remains in manual control mode due to forgetting to return the switch. Despite this, the work was carried out under automatic control, which resulted in the work machine colliding with the ground and being damaged, which was undesirable in any case.

The present invention was devised in order to eliminate these drawbacks in view of the above-mentioned actual situation, and when the work equipment is lowered further than the lowered position by automatic control, the operating lever is set in advance within a certain period of time. Switching operation between automatic control and manual control of the work equipment is performed so that the lifting control of the work equipment is switched to manual control in preference to automatic control by performing a continuous lowering operation several times. This can be easily done by simply operating the control lever, and the operator can switch to manual control while being fully aware of the need to switch to manual control. The object of the present invention is to provide a lifting control device for a working machine in a traveling machine body, which is capable of controlling the lifting and lowering of a working machine, and in particular, a lifting control circuit for controlling the lifting and lowering of a working machine in accordance with a lowering operation of a control lever. In a traveling machine that automatically lifts and lowers the work equipment to a preset lowering position based on commands from the mechanism, the lifting control circuit mechanism is operated by lowering the operating lever a plurality of preset times within a certain period of time. The present invention is characterized in that it is configured to issue a manual lowering control command in priority to the automatic raising/lowering control command of the working machine.

Next, the present invention will be explained in more detail based on an embodiment shown in the drawings. In the drawings, reference numeral 1 denotes a preprocessing section installed at the front of the fuselage of the combine. The preprocessing section 1 is pivotally supported on the main body 2 side via upper and lower pivot parts 1a and 1b, and an operating lever 3 It is designed to move up and down by pivoting around a lower pivot 1b in conjunction with the expansion and contraction of a hydraulic cylinder 4, which will be described later, in conjunction with the operation of .

The hydraulic cylinder 4 is connected to the hydraulic pump 7 side via an oil passage passing through a check valve 5 and a switching valve 6 that is switched by operating the operating lever 3. The check valve 5 provided between the
It is designed to switch between an OFF side where the return of oil from the hydraulic cylinder 4 to the oil tank 10 is restricted, and an ON side where the restriction is released. That is, a micro switch 9 for operating the control circuit unit 8 is provided at the base end of the operating lever 3, and the micro switch 9 is used to operate the operating lever 3 in the direction of the arrow U in which the preprocessing section 1 is raised. OFF when
Therefore, no command is issued from the control circuit unit 8 to the check valve 5, and in this state, the OFF side of the check valve 5 is connected to the oil passage as shown in Fig. 2. Therefore, the pressure oil from the hydraulic pump 7 flows only in the direction of extending the hydraulic cylinder 4 via the switching valve 6 and the check valve 5, thereby causing the pretreatment section 1 to rise. On the other hand, when the operating lever 3 is operated in the direction of arrow D, in which the pre-processing section 1 descends, the micro switch 9 is turned on and the control circuit unit 8 is activated. The sensor potentiometer 11 is provided on the pivot portion 1a of the pre-processing section 1 and outputs a larger voltage as the vertical position of the pre-processing section 1 is higher, and the lowering position is automatically controlled by the pre-processing section 1 as described later. A comparison circuit that inputs and compares the voltages from the setting potentiometer 12 that outputs preset voltages is incorporated. The control circuit unit 8 then receives the setting input voltage M from the setting potentiometer 12 and the sensor potentiometer 11.
When comparing the sensor input voltage N from
A command is issued to change the check valve 5 from the OFF side to the ON side, whereby the oil in the hydraulic cylinder 4 flows through the check valve 5 and the switching valve 6 to the oil tank 10 side, and the hydraulic cylinder 4 contracts. The pre-processing section 1 is designed to be lowered. When the set input voltage M is equal to the sensor input voltage N when the preprocessing section 1 is lowered (the state where the preprocessing section 1 has reached the lowering position h by automatic control), that is, when M=N,
The check valve 5 is activated by a command from the control circuit unit 8 regardless of the operation of the operating lever 3 to the lowering side, except when switching to manual control which will be described later.
Switched to OFF side, thereby hydraulic cylinder 4
The pressure oil is prevented from flowing out from the pretreatment section 1, and the descent of the pretreatment section 1 is stopped. Furthermore, the control circuit unit 8 is configured to operate the operating lever 3 for a certain period of time x.
It detects the intermittent change in the micro switch 9 when the operation is repeated twice in a row (in the direction of arrow D) in one second (for example, one second), and issues a command in priority to the automatic elevation control in the control circuit unit 8. A manual lowering circuit for switching the discharge check valve 5 to the ON side in which the pre-processing section 1 is lowered is incorporated, and these constitute the elevation control circuit mechanism of the present invention. When the automatic control is switched to manual control by the operation of the operating lever 3, the pre-processing section 1
can be lowered until it is regulated by a stopper (not shown) at a lower position than the automatically controlled lowering position. Note that 13 is a changeover switch provided separately from the lift control circuit mechanism, and by turning ON the changeover switch 13, the check valve 5 is turned ON without being affected by the lift control circuit mechanism. It is designed so that it can be switched to the side.

In the embodiment of the present invention configured as described above, during reaping work in the field, in order to raise the pretreatment section 1 for turning the machine, etc., the operating lever 3 is pressed.
When is operated in the direction of arrow U, the switching valve 6 is switched, the hydraulic cylinder 4 is extended, and the pretreatment section 1 is raised. On the other hand, in order to lower the pre-processing section 1, if the operating lever 3 is operated in the direction of arrow D, the check valve 5 receives an automatic lift control command from the control circuit unit 8 and is lowered to a preset automatically controlled lowering position h. descend to. That is, when the operating lever 3 is operated in the direction of arrow D (t1 in FIG. 3), the micro switch 9 is activated.
The sensor input to the control circuit unit 8 is turned ON and the control circuit unit 8 is activated. However, when the preprocessing section 1 is located at a position higher than the lowering position h by automatic control as described above, the sensor input to the control circuit unit 8 Since the input voltage N is larger than the set input voltage M (N>M), the check valve 5 is switched to the ON side. Therefore, in this state, while the operating lever 3 is continued to be operated in the downward direction, the hydraulic cylinder 4 is contracted due to the outflow of pressure oil (t1 to t2 in Fig. 3), and the sensor input voltage N becomes equal to the set input voltage M. The preprocessing section 1 is lowered to the lowered position h under control (t2 in FIG. 3). In this manner, the operator can perform the reaping work at the lowered position h which is automatically controlled by the automatic control circuit mechanism.

During such reaping work, for example, when there is a lodging stem culm and it is to be reaped, the automatic control of the pre-processing section 1 to lower it to the lowering position described above is not sufficient, and the pre-processing section 1 may be In the case where it is necessary to perform special reaping work in which the lever is lowered, the operating lever 3 is held down for a time
When the micro switch 9 is operated on the downward side twice in succession (t3 or t10 in FIG. 3), the micro switch 9 is turned on and off accordingly. When this is detected by the control circuit unit 8, a switching command is issued with priority over automatic control by the control circuit unit 8, and the check valve 5 is switched to the ON side (t4 or t10 in FIG. 3). Therefore, even if the automatic control by the control circuit unit 8 is automatically canceled and the preprocessing unit 1 is under manual control, and the sensor voltage N becomes equal to or smaller than the set voltage M in the control circuit unit 8, the preprocessing unit 1 is lowered until it is regulated by a stopper (not shown) (t5 or t12 in FIG. 3). When such special reaping work is completed, if the operating lever 3 is raised (t7 in Figure 3), the pressure oil will be fed to the hydraulic cylinder 4 as described above, and the pre-processing section 1 will raise the operating lever 3. It rises until it returns to the neutral position (Fig. 3 t)
7 to t8), automatic lifting control by the control circuit unit 8 is performed again.

As described above, in the present invention, in order to lower the pre-processing section 1 further than the lowering position h by the preset automatic elevation control, the automatic control stop switch must be operated as in the conventional method, or the setting potentiometer 12 must be operated. It is possible to easily and reliably lower the lever 3 by simply operating the operating lever 3 to the lowering side several times in succession, twice in this embodiment, without adjusting the Switching from automatic lifting control to manual lowering control of the pre-processing section 1 becomes extremely easy. Moreover, switching from automatic elevation control to manual descent control of the pre-processing section 1 is as simple as lowering the operating lever 3 multiple times within a predetermined time, and the automatic elevation control command from the elevation control circuit mechanism can be switched. Since the preprocessing unit 1 can perform manual lowering with priority given to the lowering position h, the preprocessing unit 1 can easily perform manual lowering at any position, not only when the lowering position h is automatically controlled. It is possible to switch to manual lowering control, which ignores the lowering position h due to automatic control from the beginning, resulting in extremely excellent operability.
Furthermore, switching to manual lowering control is performed by lowering the control lever 3 multiple times rather than just once, so manual lowering control is performed only when the operator really consciously operates it. As a result, it is possible to reliably prevent not only erroneous operation but also unexpected cancellation of the automatic elevation control due to unconscious operation of the operating lever, and it is possible to effectively prevent damage to members and occurrence of accidents.

It should be noted that the present invention is of course not limited to the above-mentioned embodiments, but for example, when switching to manual lowering control, the number of times the operating lever is operated to the lowering side is not twice but three times, etc. as appropriate. In addition, in order to avoid erroneous operation, the operating time x of the operating lever at that time should be approximately set to a time that allows the operator to operate the operating lever the set number of times at normal speed. preferable. Furthermore, the manual lowering circuit incorporated in the control circuit unit 8 used in this embodiment counts and detects the ON/OFF switching of the micro switch 9 within a set time x, and issues a switching command upon this detection. Needless to say, it can be easily configured using the designed software.

In summary, the present invention provides a traveling machine that automatically lifts and lowers a working machine to a lowering position preset by a command from the lifting control circuit mechanism in response to a lowering operation of a control lever. The lifting control circuit is configured to issue a manual lowering control command in priority to the above-mentioned automatic lifting control command of the work equipment by lowering the operating lever a plurality of times within a certain period of time. From the mechanism, all you have to do is lower the operating lever a preset number of times within a certain period of time.
As a result, the manual lowering control command is issued in priority to the automatic raising/lowering control command, so if you want to lower the work equipment further than the lowered position under automatic control, you can do so by simply repeating the operation of the operating lever. No matter what position the working machine is in, it can be switched to manual control and lowered to the desired position. Moreover, in this case, the manual lowering command is given priority over the automatic lifting control command, so if the operating lever is returned to stop the manual lowering control, the work equipment can be controlled to rise and lower again according to the automatic lifting control command. Therefore, it is extremely easy to switch between automatic and manual mode, and there is no inconvenience such as forgetting to reset. Furthermore, when switching to manual lowering control, the operating lever must be lowered a set number of times within a certain period of time.
There is no malfunction such as accidental switching to manual control due to tampering with the control lever or unconscious operation, and it is extremely safe as damage to the work equipment can be prevented. be.

[Brief explanation of the drawing]

The drawing shows an embodiment of a lifting control device for a working machine in a traveling machine body according to the present invention,
Fig. 1 is a schematic side view of the main parts of the combine, Fig. 2 is a block diagram of the lifting control circuit mechanism, Fig. 3 is a flowchart showing the lifting/lowering control state of the work equipment, and Fig. 4 is a chart showing the operating state. It is. In the figure, 1 is a preprocessing section, 3 is an operating lever, 4 is a hydraulic cylinder, 5 is a check valve, and 6 is a switching valve.

Claims (1)

[Scope of utility model registration request] In a traveling machine that automatically lifts and lowers the work equipment to a preset lowering position based on commands from the lift control circuit mechanism associated with the lowering operation of the operating lever, the lift control circuit mechanism is activated within a certain period of time. Lifting and lowering of a working machine in a traveling machine body, characterized in that a manual lowering control command is issued in priority to the above-mentioned automatic lifting and lowering control command of the working machine by lowering the operating lever a plurality of times set in advance. Control device.