JPH0423902A - Device for controlling vertical movement of working machine - Google Patents

Abstract

PURPOSE:To enable to maintain a work-starting depth suitable for the real state of a field by memorizing in an involatile memory an average datum correspondent to set depths by different setting means in various work conditions. CONSTITUTION:A data-averaging means D takes in values detected with a machine level-detecting means 15 on a lifting control operation before a forced lifting operation and an average value thereof is computed. An involatile memory 20 memorizes the average values of the data-averaging means D corresponding to the respective set values of a setting means 13 changeably operated in response to work conditions. A computing means E computes a linear interpolated value from memorized values of the memory 20 in response to a new set value with a setting means 13 on the next work. The value from the computing means E is given to a level-maintaining means B as its maintained level datum. Consequently, a work-starting depth suitable for the real condition of the field can be maintained.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a working depth detection means for detecting the ground working depth of a ground working device connected to a traveling machine body so as to be able to be driven up and down, and this detection means. control means for automatically controlling the lifting and lowering of the working device so that the detection result matches the target depth set by the manually operable setting means; a forced lifting means for raising the work device; a body level detecting means for detecting a body level value of the working device during lifting control by the control means; a storage means for storing a detection value of the body level detecting means; and level maintenance means for temporarily maintaining the level of the working device at the aircraft-to-aircraft level held in the storage means when the forced lifting operation is canceled and the lifting control is restored to the lifting control by the control means. The present invention relates to a lifting control device for a working machine.

[Conventional technology]

In the above-mentioned elevator control device, conventionally, for example,
As disclosed in Publication No. 57103, the level relative to the aircraft maintained by the level maintaining means is configured to be set to the level of the height of the working device relative to the aircraft immediately before the start of the forced raising operation. Ta.

[Problem to be solved by the invention]

The above-mentioned conventional structure prevents the plow from digging deeper than necessary and prevents the engine from being overloaded when plowing is performed again after turning the headland.

However, with the above conventional structure, no problem occurs if the field surface is horizontal and flat over the entire area, but in actual work, the field surface has many unevenness, especially on the pillow. In places close to the ridges of the ground, the ridge side is often located upwards, sloping. In such a tilted state, the machine assumes a forward upward tilting position immediately before the forced lift operation, but since the automatic lift control is executed even at that time, the work equipment is maintained at the predetermined working depth above the ground. has been done. However, since the height relative to the aircraft is stored in the storage means, it is the height of the working device at a predetermined height above the ground relative to the aircraft in the forward uphill tilting attitude, but when the work starts again after turning, the aircraft is in the backward uphill position. Despite being in a tilted position,
The level maintaining means maintains the height relative to the aircraft immediately before the ascending operation, resulting in the disadvantage that the working depth of the working device from the ground becomes shallow.

Also, - once the work is interrupted and the engine is stopped, and
Similarly, when starting work in the same field next time after turning off the main switch, or when working in a different field, the working depth at the start of work is shallow (
It was something like that.

The present invention aims to eliminate the above-mentioned disadvantages.

[Means to solve the problem]

The characteristic configuration of the present invention is that, in the lifting control device for a working machine described at the beginning, before the forced lifting operation, when the lifting control device takes in the detected value by the body level detection means at predetermined time intervals, a data averaging means for calculating the average value; a non-volatile memory for storing the average values of the data averaging means corresponding to respective setting values of the setting means that are changed depending on the work situation; calculation means for calculating a value linearly interpolated from the stored value in the non-volatile memory in response to a new setting value by the setting means during work, and applying the value from the calculation means to the level maintenance means. The point is that it is configured to be given as maintenance level data.

[For production]

During work based on the lifting control device on the center side of the field where the ground of the field is relatively flat, the level of the work equipment relative to the machine is detected multiple times, and the averaged data is stored in the storage means and its value is calculated. Based on this, the level maintaining means temporarily maintains the level of the working device after turning the headland.

Furthermore, the averaged data corresponding to the depth set by different setting means under various work conditions is stored in non-volatile memory, so even if the main switch is turned off, the data is retained and can be used next time. During work, the work start depth corresponding to the set depth at that time is maintained at a linearly interpolated value, so even if the set depth is changed for each work, the appropriate working depth will always appear. I can do it.

〔Effect of the invention〕

Therefore, according to the present invention, it is possible to maintain an appropriate work start depth in accordance with the actual situation of the field, and it has become possible to accurately manage the work depth over substantially the entire field.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 6, a pair of left and right lift arms (3) are provided at the rear of the vehicle body (1) of an agricultural tractor, and these lift arms (3) are raised and lowered by the operation of a hydraulic cylinder (2) as a lifting actuator. ) is supported in a suspended state by a lift arm (4) connected to the link mechanism (
5), and a rotary tilling device (
6) (An example of a working device) is connected.

As shown in the figure, a control box (8) for raising and lowering the rotary tiller (6) is arranged on the right side of the driver's seat (7) located in the center of the vehicle body (1). (8) has a rotary tillage bag W
A tilling depth setting dial (9) for automatic tilling depth control to set the tilling depth (6) to a desired tilling level, and a tilling depth setting dial (9) for setting the rotary tilling device (6) to a predetermined level in priority to this automatic tilling depth control. A lifting switch (10) for lifting is mounted on the exterior, a control device (11) comprising a microprocessor (not shown) as shown in FIG. 1, and a memory (12) as a storage means. It's decorated.

Note that this control device (11) has the tillage depth setting dial (
9) as a setting means operated by a plowing depth setting device (
13) as a detection means for detecting the plowing depth of the rotary tilling device (6) from the signal from the rotary tilling bag W (6) and the rocking posture of the rear cover (6a) that is swingably provided with respect to the rotary tilling bag W (6). a signal from a tillage depth detector (14), and a signal from a vehicle body level detector (15) that detects the vehicle body level of the rotary tillage device (6) from the swing angle of the lift arm (3); A signal from the lift switch (10) is input, and this control device (11) receives a signal from the hydraulic cylinder (2).
) is configured to output a control signal to a solenoid valve (16) for controlling the solenoid valve (16). Incidentally, the memory (1
2) is a rotary tillage device (6) during automatic tillage depth control
The vehicle body level value of is held based on the signal from the vehicle body level detector (15), and the rise switch (1
In order to maintain the level of the rotary tiller (6) at the level held in the memory (12) (hereinafter referred to as the memory level) at the stage of transition from the forced rise state to the automatic tillage depth control by the operation of Output.

In addition, the rotary tillage bag W (6) has a link mechanism (5).
It is configured so that it can be automatically connected and disconnected as it goes up and down. In other words, the upper hook part (
After hooking and locking the pin (18) on the tilling device (6) side to the tilling device (6), raise the link mechanism (5) and the tilling device (6
) side engagement recess (19) is configured to automatically engage with the support pin (20) at the lower part of the link mechanism (5) by its own weight,
Lock pin (21) that can be artificially inserted and removed in its locked state
It is designed to prevent it from coming off. Then, as shown in the first part, the plowing depth detector (14) and the control device (11)
The intermediate connector part of the connection cord (22) that connects the
23) is equipped with a retaining structure using a leaf spring (24) to prevent the connector part (23) from being accidentally separated.
) is separated from the aircraft, the leaf spring (24
) is configured so that the connector portion (23) does not come off against the spring force and the cord (22) does not break.

Further, a limit switch (25) is provided to detect that the lock pin (21) is in a removed state, and when the limit switch (25) is in the detection state and when some kind of signal is detected from the plowing depth detector (14). When the output is input, an alarm means (26) is provided to notify the driver of the abnormality by sounding an alarm or lighting a warning lamp.

Inside the control device (11), there is an automatic tilling depth control means (A) for automatically controlling the tilling depth, and a rotary tilling device (6) as described above.
level maintenance means (B) that performs control to maintain the tiller at the memory level, forced raising means (C) that forcibly raises the tilling device (6) to a predetermined height relative to the aircraft, and before the forced raising operation, the lifting control operation data averaging means (D) for capturing the detected values by the aircraft level detecting means (15) at predetermined time intervals and calculating the average value;
Each of these is contained in the form of a program.

The operation of this control device (11) is shown in the flowchart of FIG. 2, and the operation is as follows.

In other words, when the control is started, signals from the plowing depth setter (13) and plowing depth detector (14) are input to perform feedback type automatic plowing depth control (#l side, step 113). ), the vehicle body level detector (15) detects the level of the rotary tillage device (6) relative to the vehicle body during this automatic plowing depth control.
input based on the signal from. Then, the signal from the vehicle body level detector (15) is input a predetermined number of times (N) at predetermined time intervals according to a timer count (#4, #5, #6
．． #7 step). Next, calculate the average value of the N pieces of detection signal data detected in this way (step #8), and store it in the memory (12) (step #9). At the same time, the data is stored in the nonvolatile memory (20 ) to keep updated.

Next, determine the state of the rise switch (10) and turn it off.
If the state remains the same, automatic tillage depth control continues, and when turned ON, the rotary tiller (6) is raised to a preset level, and this raised state is controlled by the raising switch (10).
) is maintained until it is turned off (110.l111
．． 1112 step).

Next, the rotary tiller (6) is lowered by turning off the rising step (10) (step s13), and during the lowering, the rotary tiller (6) is lowered based on the signal from the vehicle body level detector (15). Device (6)
Determine whether or not it has reached the memory level, and if it has reached the memory level, stop the descent (#14.
#15, 1116 steps).

Next, in step 1116, a timer (not shown) starts counting, and after the timer completes counting, a shift to automatic tilling depth control is performed ($117.
1118 steps).

In this flowchart, #3 step is referred to as automatic plowing depth control means (A), and #14. The tt15+ and #16 steps are collectively referred to as level maintenance means (B), the steps #4 to #8 are referred to as data averaging means (D), and the #11 step is referred to as forced increase means (C).

The control device (11) also includes a non-volatile device that stores average values of the data averaging means (D) corresponding to respective setting values of the setting means (13) that are changed depending on the work situation. calculation means (E) for calculating a value linearly interpolated from the stored value in the non-volatile memory (20) in accordance with a new set value by the setting means (13) at the next time the work is performed; are stored in the form of programs, and the values from the calculation means (E) are provided to the level maintenance means (B) as maintenance level data. That is, it is stored as a control routine at the start of work, and is expressed as the flowchart in FIG.

When the work starts, input the newly set value into the plowing depth setting device (13) (Step #21), and as described above, enter the non-volatile value stored as averaged data corresponding to each set plowing depth. Input each memory value of gender memory (20) (#
22 steps). Next, a value obtained by linear interpolation from each of the averaged data is calculated as a value corresponding to the newly set plowing depth (step #23). That is, as shown in Fig. 5, a new plowing depth is determined based on the correlation between the detected level against the aircraft (Yl, Y2.Y3, etc.) corresponding to the different set plowing depth values (Xl, X2.χ3, etc.). The level value (Ya) for the aircraft relative to the depth (Xa) is calculated.

Next, when the lift switch (10) is turned ON, C#24. lowers the rotary tiller (6). At the same time, the signal from the vehicle body level detector (15) is input (step 1126). Tillage device (6)
When the value falls to the above calculated value level, the descending operation is stopped (127. Step #28). Then, when a predetermined period of time has elapsed as counted by the timer, the process shifts to the automatic plowing depth operation described above (Step 1129 #30). #23
This constitutes the calculation means (E).

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 Description of the Drawings] The drawings show an embodiment of the lifting control device for a work machine according to the present invention, in which FIG. 1 is a control block diagram, FIGS. 2 and 13 are control flowcharts, and FIG. 4 is a connection diagram. FIG. 5 is a graph showing a linear interpolation state, and FIG. 6 is a side view of the rear of the agricultural tractor. (6)... Working device, (12)... Storage means, (13)... Setting means, (14)...
...detection means, (15) ...aircraft level detection means, (20) ...nonvolatile memory, (A
)...Control means, (B)...Level maintenance means, (C)...Forced rise means, (D)...
...Data averaging means, (E) ...Calculating means.

Claims (1)

[Claims] Working depth detection means (1) for detecting the ground working depth of the ground working device (6) connected to the traveling aircraft so that it can be driven up and down.
4), and a control means (A) for automatically controlling the lifting and lowering of the working device (6) so that the detection result of the detecting means (14) matches the target setting depth by the manually operable setting means (13).
), a forced lifting means (C) for forcibly lifting the working device (6) to a predetermined height position relative to the aircraft body with priority over the control by the control means (A), and a forced lifting means (C) for forcibly lifting the working device (6) to a predetermined height position relative to the aircraft, and during lifting control by the control means (D). An aircraft level detection means (15) for detecting the aircraft level value of the working device (6), and a storage means (12) for storing the detection value of the aircraft level detection means (15).
), the forced upward movement is canceled and the control means (A
) level maintenance means (B) for temporarily maintaining the level of the working device (6) at the aircraft-related level held in the storage means (12) when the lifting operation is restored to the lifting control by the above-mentioned storage means (12). A lifting control device for a working machine, which, before the forced lifting operation, captures the detected values by the machine body level detection means (15) at predetermined time intervals during the lifting control operation, and calculates the average value thereof. Data averaging means (
D) and a non-volatile memory (20
) and the non-volatile memory (20) corresponding to the new set value by the setting means (13) at the next time of operation.
Calculating means (E) that calculates a value linearly interpolated from the stored value.
A lifting control device for a working machine, comprising: a control device for lifting and lowering a working machine, which is configured to supply a value from the calculating means (E) to the level maintaining means (B) as maintenance level data.