JPH0718245Y2 - Lifting control device for work equipment in agricultural tractors - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to lifting control of a working machine in an agricultural tractor capable of selectively mounting a plurality of working machines such as a tilling machine and a harrow so as to be vertically movable. It relates to the device. [Problems to be Solved by Conventional Techniques and Inventions] Generally, in this type of agricultural tractor, for example, a plurality of working machines such as a tilling work machine and a halo work machine are selectively attached according to working conditions to perform various field work. Is going to do. In such lifting control of the working machine, the working machine is controlled by the position control mode according to the lever operation of the position adjustment lever and the working depth control mode according to the working machine type in the automatic tilling depth control state. It is desirable to do

However, conventionally, this plowing depth control mode is one type that was set mainly considering the tiller, for example,
When trying to perform the automatic working depth control with the harrow working machine attached, it does not match the control conditions of the harrow working machine, and as a result, hunting phenomena and shocks occur, making smooth harrowing work impossible. There is. Therefore, it is conceivable to set the plowing depth control mode adapted to the halo work machine.However, in such a case, on the contrary, the followability is poor in the rotary plowing work, and it becomes impossible to perform highly precise plowing work. There is a drawback that it ends up. On the other hand, it is conceivable to set both control modes separately, but in this case, there is a drawback that the mechanism becomes complicated in relation to the position control, and it cannot be immediately adopted. .

[Means for Solving Problems] The present invention was devised with the object of providing an elevator control device for a working machine in an agricultural tractor that can eliminate these drawbacks in view of the above-mentioned circumstances. In an agricultural tractor capable of selectively mounting at least a rotary tiller and a harrow working machine having a rear cover on the machine body, a lifting control mechanism of the working machine can be used to operate a lever of a position adjusting lever. Position control means set to the corresponding position control mode, tilling depth automatic control means set to the tilling depth automatic control mode corresponding to the working machine, prioritizing the position control means to the tilling depth automatic control means, In addition, a control selection means for selecting a rotary tiller or a harrow implement in the automatic plowing depth control stage and an automatic plowing depth control stage When the rotary tiller is selected by the control selection means on the floor,
Elevating speed control means for rotary working machine that controls the ascending / descending speed so that the ascending / descending speed becomes faster as the displacement width of the tilling depth is larger than the target value of the tilling depth, and halo work by the control selecting means in the automatic tilling depth control When the machine is selected, the control means for the halo working machine is provided so as to control the feed back so that the ascending / descending speed becomes constant.

According to this structure, the present invention sets the tilling depth control modes according to the type of working machine, and controls these and the position control well to perform the lifting control of the working machine that matches the working conditions. It is designed to be able to.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawing, reference numeral 1 denotes a traveling machine body of an agricultural tractor, and behind the traveling machine body 1, a working machine including a rotary type tiller working machine 2 and a drive type harrow 3 is provided as a working unit as a lifting link mechanism 4.
It is designed to be replaceable via the. The lift link mechanism 4 is linked to the lift arm 5 via the lift rod 6, and the work machine can be moved up and down by vertically swinging the lift arm 5. The lift control mechanism will be described later. In addition, a position adjusting lever 9 is provided on one side of the fan 8 which covers the left and right rear wheels 7.

On the other hand, reference numeral 10 is a control unit configured by using a micro computer, and the control unit 10 is housed in a position of a ender 8 provided with a position adjusting lever 9. A lever angle detection sensor 11 for detecting the swing angle (operation angle) of the lever 9, an arm angle detection sensor 12 for detecting the swing angle of the lift arm 5, and a plowing depth setting device for setting the plowing depth (working depth) 13, a tilling depth detection sensor 14 (may be the same or different) provided on the side of the cultivator 2 and the harrow 3, a work implement switch setter 15 that switches according to the type of the work implement, an automatic plowing depth changeover switch Signals from members such as 16 are input.
Then, the control unit 10 turns on / off the lift arm lifting solenoids 17 and 18 to be described later on the basis of signals from these.
Is issued, and the lifting control of the working machine is performed by this.

Next, a procedure for raising / lowering control of the working unit will be described with reference to a flow chart and a timing chart. Here, the detection value of the lever angle detection sensor 11 is the lever detection value A, the detection value of the arm angle detection sensor 12 is the arm detection value B, the setting value of the plowing depth setting device 13 is the plowing depth setting value C, and The detection value of the depth detection sensor 14 will be referred to as a plowing depth detection value D for convenience.
And first, when the key switch is turned on and started, the necessary data is read. In this state, first, it is determined whether or not the position adjusting lever 9 is located at the upper limit position, and if YES is determined because the position adjusting lever 9 is located at the upper limit position, the mode is set to the "work start" state. If the determination is NO after the set and the vehicle is not at the upper limit position, this is not set and the next arm detection value B is larger than the lever detection value A (B
> A) is determined. If YES is determined as the arm detection value B is large, that is, if the actual work height is determined to be higher than the height setting position of the work implement by the position adjusting lever 9, Further, it is determined whether or not the difference is within the first dead zone α, which is set as an allowable range (BA> α).
If the determination is NO because it is within the dead zone α, it means that the working machine is set to the lever corresponding position, and an OFF command is issued to both solenoids 17, 18, and the working unit It is kept in a stopped state.

On the other hand, if YES is determined as exceeding the first dead zone α, it is determined whether the plowing depth automatic switching switch 16 is on the side, that is, the plowing depth automatic control state,
If NO is judged as not being connected (switch is in OFF state) (manually controlled by the position adjusting lever 9), if the "work start" is in mode set, reset it. Then, the mode is set to "working", and the ON / OFF command in the position control mode is issued to the lowering solenoid 18. In this position control mode, when the position adjusting lever 9 is operated in a loose manner, the working machine is moved up and down at a low speed, and when it is operated quickly, it is moved up and down at a high speed. However, in that case, in order to keep the ascending / descending speed constant, the ascending / descending control mode by the feed back method can be adopted. on the other hand,
By judging the magnitude of the arm detection value B and the lever detection value A,
When the determination of NO is made assuming that the lever detection value A is larger, the difference is also within the first dead zone α (A-
B> α), and if it is determined that the dead zone α is exceeded, the ascending control in the position control mode is similarly performed for the ascending solenoid 17. For feedback control, refer to No. 11
The flow chart is shown in the figure.

On the other hand, when the determination of the automatic plowing depth switch 16 is YES because it is in the automatic plowing depth control state, the plowing depth set value C is next larger than the plowing depth detection value D ( C
> D), and if YES is determined as being large, it is determined whether the difference exceeds the second dead zone β (CD> β), and it exceeds. If there is no difference, that is, if the difference is determined to be within the allowable range, the "start of work" is reset, the mode is set to "during work", and an OFF command is issued to the solenoids 17 and 18 to open the working part. It will be maintained in that state. On the other hand, if YES is determined as exceeding the limit, the arm detection value B is further added to the lever detection value A by a preset value γ (for example, an angle value of about 2 to 5 degrees). Is larger than the value (B> A + γ), it is not larger, that is, the lift arm 5 moves to the position adjusting lever 9
If NO is determined as being within the set value γ for the operation position of, the lowering control of the working machine that follows the lever operation is performed according to the position control mode described above. Become. If YES is determined because the work implement exceeds the range of the set value γ, it is determined whether the work implement changeover setter 15 is set on the tilling work implement side, and the work implement changeover setter 15 is set. If the answer is YES, it is set to the descending side rotary tillage depth control mode, which will be described later.If the answer is NO, then it is set to the descending side halo tillage depth control mode. In this way, on the descending side, the control selection means for giving priority to the position control mode and selecting the automatic working depth control mode according to the type of working machine at the automatic working depth control stage is configured. ing.

On the other hand, when it is judged NO by judging whether the set value C of the working depth is larger than the detected value D of the working depth, this difference is within the range of the second dead zone β (DC> β). If it is determined that it is out of the range, it is further determined whether or not the work implement switching setter 15 is set on the tilling work implement side in the same manner as described above. As being
If YES is determined, the mode is set to the rotary side tillage control mode on the ascending side, and if NO is determined otherwise, it is set to the halo depth tilling control mode on the ascending side. In this way, the ascending-side control selection means is configured.

Next, each of the submersible tilling depth control modes will be described in detail. First, regarding the rotary plowing depth control mode, in this case, the descending side and the ascending side differ in whether or not there is control based on the determination as to whether or not the work has been set at the beginning of work. Since the above is the same, only the descending side will be described. That is, when the rotary side deep plowing automatic mode set on the descending side is made, it is first judged whether or not the work is set to the work start state, and if YES is judged as the set, the descending solenoid is set. A control command for setting the dashing prevention control mode is issued to 18. The dashing prevention control mode of the embodiment is an inching mode with intervals as shown in FIG. 7, whereby the working machine 2 is gradually decelerated from the high speed descent state and descends. ing. And the working machine is a plowing depth setting device
When the value falls to the range of the second dead zone β of the set value C of 13, the working machine lowering is stopped according to the control procedure and the mode is set during the work.

On the other hand, when it is judged whether or not the work has been set at the start of the work, that is, when the work is not started, that is, when the work is turned on, the following working depth control is performed. It is becoming like this. Here, in both the shallow and deep plowing depth regions that exceed the second dead zone β with respect to the plowing depth setting value C, the first, second, and third working regions are set in advance from the side closer to the plowing depth setting value C, respectively. ing. Then, if it is judged that it is not the start of the work described above and a NO determination is made, it is next determined whether or not the plowing depth detection value D is within the outermost third working range (the working range in the case of the rising side). If it is determined that YES is determined as being within the range, the working unit determines the speed increasing inching mode of the mode shown in FIG.
In -OFF Deiyutei ratio, and summer as longer than what is initially ON time will be described later with t _20, and descends at high speed mode ratio thereof gradually becomes longer made. Also,
If the working depth detection value D is not in the operating range and it is determined to be NO, then the second operating range (the operating range in the ascending mode)
It is determined whether or not it is within the range. And if there is
When the determination of YES is made, this includes the case where the working machine descends and changes to this operating range in the third operating range, and conversely the first operating range close to the working depth set value C (upward side). There is a case in which the operating range is changed by the change from the operating range side, and it is judged whether or not the previous detection value was in the first operating range, and if so, the determination is YES. In this case, the lowering control is performed in the medium speed increasing inching mode according to the mode shown in FIG. 8, and when the NO determination is made as the change from the third operation range side, the mode'mode is selected. The lowering control of the deceleration inch ring mode is performed by. Further, if NO is determined as not in the second operation range, it is determined whether or not the previous detection value D is within the dead zone β, and if YES is determined as it is. Is controlled by the speed increasing inching mode at low speed of the mode, and conversely, if NO is judged as the change from the operating range side, the speed is lowered by the deceleration inching mode at low speed by the mode '. The control is performed, and thus the up-and-down control by the automatic plowing depth of the tilling implement 2 is performed.

Furthermore, when it is judged that it is not a plowing work machine but a halo work machine based on the judgment of the type of work machine described above, and it is set to the halo plowing depth control mode, if it is on the descending side, the mode set at the beginning of work If it is the beginning of the work, it descends in the dashing prevention control mode, and if it is not, and if it is set to the ascending side cultivating depth control mode, the ascending / descending speed is constant. In order to control the solenoids 17 and 18, an ON / OFF command is issued to control the work machine up and down in a feedback control mode.

In the embodiment of the present invention constructed as described above, when the working depth automatic switching switch 16 is turned OFF, the vertical movement control of the working machine follows the lever operation of the position adjusting lever 9 to adjust the position. When the lever is operated quickly, the work machine is controlled to move up and down at a high speed, and when the lever is operated at a high speed, the work machine is vertically controlled. On the other hand, when the switch 16 for automatically changing the working depth is turned on, the work machine is controlled to move up and down by using the position adjusting lever 9 and the lift arm 5.
If the working machine is located within the range of the set value γ with respect to the lever position of the position adjusting lever 9, the lifting control of the working machine is set to the automatic working depth control state. And the working depth control mode corresponding to each working machine is set, the position control mode follows the lever operation of the position adjusting lever 9 to give priority to this. Therefore, the working machine can be lifted and lowered.

On the other hand, when the working machine at the upper limit is lowered to perform work by the automatic plowing control, the position adjustment lever 9
Will be operated to the lower limit state. In this way, the working machine will be in the tilling depth automatic control state in which it is located above the set value γ in relation to the lever position. As a result, the control unit determines the type of the currently mounted working machine, which is the tilling working machine 2 or the halo working machine 3, and selects the working depth control mode corresponding to the working machine. Based on the above, the working depth of the working machine is automatically controlled.

In the embodiment in which the present invention is implemented in this way, the up / down control of the working machine is first performed by the position control of raising / lowering following the lever operation of the position adjusting lever 9, and then the working depth automatic control state is set. In this case, the tilling depth control mode is selected according to the type of working machine attached, and the tilling depth automatic control based on these is selected. Therefore,
Position control of the working machine according to the lever operation of the position adjusting lever 9 and automatic working depth control suitable for the working machine type when performing automatic working depth are selected according to the working conditions, and these are combined. You can do it in combination,
The lifting / lowering motion control of the working unit is performed in a state adapted to various working conditions. Therefore, in the case of the rotary work, the followability of the tilling depth control is excellent, and in the case of the halo work, the finishing accuracy is improved, and the field work can be improved.

In addition, when performing the rotary work during the automatic plowing depth control, depending on the plowing depth displacement amount with respect to the plowing depth setting value C of the work implement 2, the larger the displacement width, the faster the plowing depth setting value of the working portion becomes. The hunting phenomenon occurs when rotary tilling work is performed by displacing toward the side to respond rapidly to rapid changes in tilling depth and to respond gently to small changes. It is possible to improve the plow depth accuracy as well as improve the Moreover, in this case, the lifting speed of the working machine is controlled so that the ON time gradually increases with respect to the ON-OFF duty ratio of the solenoid at the start of operation. The occurrence of shock is improved. Moreover, when the height of the working machine is automatically adjusted to the working depth set value C side, the lifting speed of the working machine is reduced according to the deviation amount from the working depth setting value C. Therefore, it is possible to perform the stop operation while suppressing the occurrence of the hunting phenomenon and the shock.

Further, the automatic plowing depth control at the time of the harrowing work means that the descenting prevention control mode is suitable for the descent control of the working machine 3 at the beginning of the work. Since the working machine 3 is moved up and down at a constant speed by the feed back control, the hunting phenomenon can be improved in the harrow working machine having the multi-stage rear cover, and the plowing depth automatic control with a good finished surface can be achieved. Even if the halo working machine 3 changes due to a change in the working width or the like, the vertical movement control can be performed at a constant speed regardless of the change of the working width, so that the stable plowing depth control can be performed.

It should be noted that the present invention is not limited to the above-described embodiment, and the type of working machine is not limited to the tiller working machine and the harrow working machine, and other working machines can be used. In addition, it is possible to set the working depth control in a mode suitable for the installed working machine. Further, the switching of the working machine type is not performed by the working machine switching setting device as in the above embodiment, but, for example, a coupler switch is connected to a coupler that connects the working depth detection sensor provided on the working machine side and the control unit. It is also possible to automatically determine the type of work machine by providing the.

[Effects] In summary, since the present invention is configured as described above, the lifting control of the rotary tillage implement or the harrow implement that is selectively mounted on the machine body depends on the lever operation of the position adjustment lever. Position control is given priority. Therefore, the working machine can be freely moved up and down at a desired speed following the lever operation. And when this becomes the tilling depth automatic control state, the tilling depth control mode is selected according to the selectively mounted rotary tiller or harrow working machine, and this is the tiller depth control mode of the rotary tiller. In this case, the lifting speed of the work implement is controlled so that the higher the displacement of the working depth with respect to the working depth target value is, the faster the speed will be. As a result, a gentle countermeasure is taken, the occurrence of the hunting phenomenon is improved, and the accuracy of the working depth by the rotary tillage can be improved.

On the other hand, when the working depth control mode is a harrow work machine with a rear cover, control is performed by the feed back control in which the lifting speed of the work machine is constant, and the occurrence of hunting phenomenon is suppressed to achieve a good finishing surface. In addition to deep automatic control, even if the work width changes,
Regardless of this, the lifting control can be performed at a constant speed, and the plowing depth control suitable for the harrow working machine can be performed.

[Brief description of drawings]

1 is a side view of an agricultural tractor showing a case where a cultivating implement is attached, wherein FIG. 1 shows an embodiment of a lifting control device for a working machine in an agricultural tractor according to the present invention.
Fig. 2 is a side view of an agricultural tractor showing a case where a harrow working machine is attached, Fig. 3 is a front view of a working machine switching setting device, Fig. 4 is a block diagram of a control mechanism, and Fig. 5 is a control procedure flow. Chart, FIG. 6 is a flow chart showing a rotary tilling depth control mode procedure, FIG. 7 is its timing chart, FIG. 8 is a timing chart showing its ascending / descending control mode, and FIG. 9 is a halo tilling depth control. Flow chart showing the mode procedure, Fig. 10 is its timing chart,
FIG. 11 is a flow chart showing the feedback control procedure. In the figure, 1 is a traveling machine body, 2 is a tilling work machine, 3 is a halo work machine, 9 is a position adjusting lever, and 10 is a control unit.

Claims (1)

[Scope of utility model registration request] 1. An agricultural tractor in which at least a rotary tilling implement and a halo implement having a rear cover can be selectively attached to a main body of the implement so that the implement can be elevated and lowered. Position control means set to the position control mode according to the operation, tilling depth automatic control means set to the working depth automatic control mode corresponding to the working machine, and the position control means has priority over the working depth automatic control means In addition, when the rotary tiller working machine is selected by the control selecting means in the automatic plowing depth automatic control stage, and the rotary tilling implement or the harrow working machine is selected in the plowing depth automatic control stage. Lifting for rotary working machines that controls the lifting speed so that the lifting speed increases as the displacement width increases with respect to the target value of the working depth. And a control means for the harrow working machine, which controls the feed back so that the ascending / descending speed becomes constant when the harrow working machine is selected by the control selecting means in the automatic working depth control step. Lifting control device for work equipment in agricultural tractors.