JPH0751002B2 - Working unit control device for mobile agricultural machinery - Google Patents

Description

The present invention relates to a working unit control device for a mobile agricultural machine such as a tractor. More specifically, the present invention relates to a working unit control device for a working agricultural machine such as a tractor. The present invention relates to a work unit control device that controls a raising operation.

(B) Conventional technology Generally, a mobile agricultural machine, for example, a tractor has a traveling machine body supported by front wheels and rear wheels, and a rotary working machine or the like can be freely installed behind the traveling machine body based on a position lever operation. It is mounted so that it can be moved up and down, and by operating the position lever to the lowered position and traveling with the rotary working machine driven into the field scene, work such as tilling and scraping is performed.

When the rotary working machine or the like is lifted from the grounded position to the highest lifted position, the tractor has a monotonous rising speed, so inertia causes an uncomfortable shock when the working machine is stopped. Especially, when the fertilizer sowing machine is installed together with the rotary and the seeding and fertilizing work are performed at the same time as the tilling work, the seeds in the hopper are spilled or the seeds are damaged due to the relation of the center of gravity of the entire working machine. Such problems may occur.

(C) Problem to be Solved by the Invention For this reason, the operator needs to slowly operate the position lever when operating the working machine such as the rotary, and the operation becomes very troublesome and the work becomes difficult. The efficiency will also be poor.

Therefore, the present invention, when the working unit is raised, decelerates the speed from the predetermined rising position and controls it to a constant speed,
Therefore, it is an object of the present invention to provide a working unit control device that solves the above problems.

(D) Means for Solving the Problems The present invention has been made in view of the above circumstances. For example, referring to FIG. 1 and FIG. 2, ascending based on the operation of the position lever (9). And descending solenoid (2
2) Outputs a signal to (23) to output hydraulic actuator (3
4)) is operated to move the working unit (11) up and down, in a mobile agricultural machine (1), a lifting angle detecting means (19) for detecting a lifting angle of the working unit (11), and the work. The actual speed calculating means (24) for calculating the actual ascending speed of the part (11), and the working part (11) for ascending from the time when it reaches a predetermined height based on the ascending / descending angle detecting means (19). Ascending / decreasing means (44) for gradually decreasing the duty ratio of the output signal to the solenoid (22) to decelerate the ascending speed.
And a feedback control means (28) for raising the working unit (12) at a constant speed based on the actual speed calculation means (24) from the time when the duty ratio reaches a preset value. It is characterized by.

(E) Action Based on the above-described configuration, as shown in FIG. 6, for example, when the position lever (9) is operated to the maximum when operating the mobile agricultural machine (1), the hydraulic actuator (34) is based on this operation.
Is activated to raise the working part (11). Further, when the rising angle of the working unit (11) detected by the lifting angle detecting means (19) reaches a predetermined angle, the lifting / decelerating means (44) outputs the output signal to the hydraulic actuator (34). From the time when the duty ratio is gradually reduced to decelerate the working unit (11) and the duty ratio reaches a preset value, the working unit (11) starts feedback control means (2).
By 8), the speed is controlled so as to maintain a constant speed. Therefore, the working unit (11) is smoothly stopped at the highest position.

Note that the reference numerals in parentheses do not limit the configuration in any way.

(F) Example Hereinafter, an example according to the present invention will be described with reference to the drawings.

As shown in FIGS. 2 and 3, the tractor 1 includes a front wheel 2
And a traveling machine body 5 supported by the rear wheels 3, and a driver's seat 6 is arranged at substantially the center of the traveling machine body 5. The driver's seat 6 has a steering wheel 7 and a position. A lever 9 and a seat 10 are installed respectively. Further, a working unit 11 is mounted at the rear of the traveling machine body 3 so as to be able to move up and down through a lift arm 8, a link 14, etc., and a hydraulic cylinder 34 for raising and lowering the working unit is installed at the lift arm 8 portion. And the working unit 11 includes a rotary working machine 12
And a fertilizer sowing machine 13. In the figure, 15 is a seed tank and 16 is a fertilizer tank.

On the other hand, the microcomputer 17 mounted on the tractor 1
As shown in FIG. 1, the microcomputer (hereinafter referred to as a microcomputer) is connected on its input side with a position detection sensor 18 for detecting the operation angle of the position lever 9, a lift arm angle sensor 19, and a work implement switching volume 20. At the same time, a lift arm raising solenoid 22 and a lift arm lowering solenoid 23 for operating the lift arm switching valve are connected to the output side via an output interface 21. Furthermore, the microcomputer 17 calculates the amount of change in the output signal from the lift arm angle sensor 19 per unit time to calculate the actual ascending / descending speed of the working unit 11, and the working unit 24. From the time when a predetermined height based on the lift arm angle sensor 19 is reached, the duty ratio of the signal output to the lift arm raising solenoid 22 is reduced by a constant ratio and the actuator 19 is decelerated.
44, and feedback control means 28 for descending the working unit 11 at a constant speed based on the actual speed calculation means 24 from the time when the duty ratio reaches a preset value. Furthermore, the microcomputer 17 has a position lever 9
In accordance with the descending operation of (1), an inching signal is output so that the duty ratio is reduced by a constant ratio, and the working unit elevating hydraulic cylinder 34 is operated so that the descending speed of the rotary working machine 12 is gradually decreased. 48, and from the predetermined duty ratio position, the feedback control means 28 lowers the working unit 11 at a constant low speed based on the actual speed calculation means 24.

Further, as shown in FIG. 4, a predetermined portion of the driver's seat 6 is
A mode switching volume 26, the working machine switching volume 20, a position control volume 27, etc. are provided.

Next, the operation of this embodiment will be described with reference to the time chart of FIG.

In the figure, the horizontal axis indicates the passage of time, the vertical axis (a) indicates the position setting by the position lever 9, and (b) indicates the lifting angle of the rotary working machine 12 and the fertilizer sowing machine 13 by the lift arm angle sensor 19. (C) shows a control signal to the lift arm raising solenoid 22 and (d) shows a control signal to the lift arm lowering solenoid 23. When the rotary working machine 12 and the fertilizer sowing machine 13 are used for tilling and sowing, the operator first operates the work machine switching volume 20 to switch to the fertilizer sowing machine mode. When the position lever 9 is operated to the highest position in this state (a), the operation angle of the lever 9 is detected by the position detection sensor 18 and input to the microcomputer 17. Based on this, the working unit 11, that is, the lift arm 8
(B) The lift arm raising solenoid 22 is continuously turned on until it reaches L ₀ (c) The working unit 11 is rapidly raised. Then, when the angle of the lift arm 8 reaches L ₀ (d), as shown in FIG. 5 (a), the duty ratio of the control pulse signal is reduced by a constant ratio every cycle by the ascending / decelerating means 44. Therefore, the working unit 10 is smoothly decelerated. From the point in time when the duty ratio reaches a predetermined ratio, that is, from the portion A in the figure, the working unit 11 detects the actual rising speed based on the actual speed detecting means 24 by the feedback control means 28 and outputs the pulse signal. The duty ratio of (1) is appropriately increased or decreased to rise to the highest position at a constant speed (feedback control) (e), and the working unit 11 is held at the highest position (f). Therefore, since the rotary working machine 12 and the fertilizer sowing machine 13 are quickly and smoothly raised from the vicinity of the maximum rise, no unpleasant shock is generated, and the seeds in the seed tank 15 are hurt or spilled. There is nothing to do.

Furthermore, when the tractor 1 traveling in this state reaches the working position, the position lever 9 is lowered (g),
The operating position of the lever 9 is detected by the position detection sensor 18, and the inclining signal (h) for decreasing the duty ratio from a portion close to 100% by a constant ratio is detected by the descending / decelerating means 48 based on the detected position (see FIG. 5). (Enlarged and shown in (b)), and is output toward the lift arm lowering solenoid 23. As a result, the rotary working machine 12 and the fertilizer sowing machine 13
Rapidly descends from the highest position and its speed is gradually reduced to descend (i). Then, from the time when the pulse signal to the lift arm raising solenoid 22 reaches the preset duty ratio (j), the rotary working machine 12 is actually lowered by the feedback control means 28 based on the actual speed calculating means 24. While the speed is being detected, the duty ratio of the pulse signal (k) (enlarged and shown in FIG. 5 (c)) is appropriately increased / decreased to descend to the lowest position at a constant speed (feedback control) (l). Therefore, when the rotary working machine 12 descends, there is no inflection point at which the speed suddenly changes, that is, there is a fast descending speed in a state where the speed is greatly above the ground level and a slow descending speed at a position based on the ground level. There is no switching point to switch, the work implement 12 smoothly decelerates, and when touching down, it makes smooth contact with the field at a constant low speed, and the dashing phenomenon does not occur.

Further, when the working machine switching volume 20 shown in FIG. 4 is switched to the fertilizer sowing machine mode, if the position adjusting volume 27 is rotated in any direction, the lift arm angle sensor is detected.
Since the position of point d in FIG. 6 by 19 is changed, and the rising speed control start position is accordingly set, the rising control can be properly performed even when the weight of the fertilizer application machine 13 changes. Then, the value of the position adjustment volume 27 at the time of adjustment in the fertilization and sowing mode is stored, and since the value adjustment is effective only when the mode is fertilization and sowing, for example, after the fertilization and sowing mode, the rotary mode is operated. However, when the fertilizing and sowing mode is operated again after that, the value stored at the time of the adjustment is used as it is, so it is not necessary to perform the value adjustment every time the mode is changed, and accordingly, the position adjustment volume 27 Multiple values can be adjusted with only one.

The fertilizing and sowing control is performed by switching the working machine switching volume 20 only when the position lever 9 is operated to the highest position when the working section 11 is below the surface position. Since 11 is lifted from the middle position, unnecessary lifting control may be omitted when the rising speed is not so fast.

Further, according to FIG. 7, a pressure gauge is installed at the head portion of the hydraulic cylinder 34 for vertically moving the working unit 11, the pressure at that time is measured when the working unit 11 is moved upward, and the fertilizer is applied to the working unit 11. Another embodiment configured to determine whether the seeding machine 13 is set and automatically switch to the fertilization and sowing mode without providing a special mode will be described.

The hydraulic pump 31 communicates with the tank 33 through the filter 32, and also communicates with the lift rod cylinder 36 through the priority valve 35 and the working unit lifting hydraulic cylinder 34 through the control valve 37. A pressure gauge 39 is installed at the head of the hydraulic cylinder 34. In the figure, 40 is an adapter.

Therefore, when the hydraulic cylinder 34 is operated based on the operation of the position lever 9 to raise the working unit 11, the pressure on the hydraulic cylinder 34 is measured by the pressure gauge 39, and the pressure is discriminated, thereby performing the rotary work. It is always stable because it determines whether only the machine 12 is installed in the working unit 11 or whether the fertilizing and sowing machine 13 is installed together with the rotary working machine 12 and automatically switches to the fertilizing and sowing mode based on this. You can control it.

Further, when the position adjusting volume 27 is operated in the fertilizer sowing machine mode, it is configured so that the duty ratio decrease width of the pulse signal when the working unit 11 descends can be appropriately changed, and the central portion of the volume 27 is set to the standard position. As shown in FIG. 4, the duty ratio decrease width is set to be small when the counterclockwise operation is performed, and the duty ratio decrease width is set to be large when the counterclockwise operation is performed.
Even if the weight of the working unit 11 is changed by mounting the fertilizer-seeding machine 13 together with 12, the starting position of the feedback control starting from point j in FIG. 6 may be finely adjusted near the ground surface.

(G) Effect of the Invention As described above, according to the present invention, the duty ratio is gradually reduced from the time when the working unit (11) reaches a predetermined height based on the ascending / descending angle detecting means (19), and the ascending speed is increased. The feedback control means (28) controls to maintain the decelerated predetermined speed, so that the position of the position lever (9) is simply raised to raise the working unit (11) quickly. However, it is possible to stop smoothly near the highest position, which allows the working unit (11) to be stopped.
It is possible to reliably prevent an uncomfortable shock at the time of stopping, improve the operation feeling, and improve the work efficiency.

[Brief description of drawings]

FIG. 1 is a diagram showing an electric circuit according to the present invention, FIGS. 2 and 3 are overall side views showing a tractor to which the present invention can be applied,
FIG. 4 is a diagram showing the working machine switching volume, etc., FIG. 5 is a time chart showing changes in pulse signals when the working unit is raised and lowered, and FIG. 6 is a pulse signal when the working unit is raised and lowered. It is a time chart which shows changes and the like.
FIG. 7 is a diagram showing a hydraulic circuit. 1 ... Mobile agricultural machine (tractor), 9 ... Position lever, 11 ... Working part, 19 ... Lifting angle detecting means (lift arm angle sensor), 22 ... Lift arm raising solenoid (elevating solenoid), 23 ...... Lift arm lowering solenoid (lowering solenoid), 24 …… Actual speed calculation means, 28 …… Feedback control means, 34 …… Hydraulic actuator (working section lifting hydraulic cylinder), 44 …… Rise and slower means .

Claims (1)

[Claims] 1. A lift for operating a position lever,
In a mobile agricultural machine configured to output a signal to a descending solenoid to operate a hydraulic actuator to elevate and lower a working unit, an elevating angle detecting means for detecting an elevating angle of the working unit, and an actual working unit The actual speed calculation means for calculating the ascending speed, and from the time when the working unit reaches a predetermined height based on the ascending / descending angle detecting means, the duty ratio of the output signal to the ascending solenoid is gradually reduced to increase the ascending speed. And a feedback control unit for increasing the working unit at a constant speed based on the actual speed calculation unit from the time when the duty ratio reaches a preset value. Working unit control device for mobile agricultural machinery.