JPH084819Y2 - Automatic control release device for ground work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to an automatic control release device in a ground work vehicle such as an agricultural tractor.

[Problems to be Solved by Prior Art and Invention] Generally, in a ground work vehicle such as this type of agricultural tractor, a working unit connected to a rear part of a machine is automatically moved up and down based on detection of a working depth sensor. Depth automatic control, automatic plowing depth control that automatically moves up and down based on the detection of the tilt sensor,
Some are configured to perform automatic control such as automatic tilt control for automatically tilting based on detection by a tilt sensor.

And in such a thing, a switching switch for switching manual-automatic is provided in the driver's seat etc., and at the time of work, the above-mentioned automatic control is selectively performed by ON-OFF operation of this switching switch, but the work is Even if the operation is finished, the switching operation may be forgotten and the switching switch may remain in the ON state. In this case, there is a fear that the working unit may suddenly start moving due to automatic control when traveling on the road.

Therefore, paying attention to the fact that the drive of the PTO axis is stopped when the work is finished, it is also proposed to release the automatic control based on the stop of the drive of the PTO axis, but in this case, the field work is temporarily stopped. For this reason, the automatic control is canceled by stopping the driving of the PTO axis, and therefore, when the work is restarted, it is necessary to switch the manual-automatic switching switch again and the operability is impaired. There's a problem.

[Means for Solving the Problems] The present invention was conceived with the object of providing an automatic control release device for a ground work vehicle capable of eliminating these drawbacks in view of the above circumstances. ,
An automatic control mechanism that automatically controls the posture of the working part based on the detection of the sensor in the state where the operating tool is set to the automatic position, and a manual control mechanism that manually controls the posture of the working part based on the manual operation of the operating tool. A ground work vehicle comprising an automatic-manual switching switch for switching between the manual control mechanism and the automatic control mechanism, and PTO drive switching means for switching the PTO shaft provided on the traveling machine body between a drive state and a stop state. The automatic control mechanism is provided with an automatic control releasing means for releasing the automatic control and switching to the manual control state after a predetermined time has elapsed after the stop switching operation of the PTO drive switching means. .

With this configuration, according to the present invention, the automatic control is canceled when the PTO shaft drive is stopped, but when the PTO shaft is re-driven within a predetermined time, the automatic control is automatically released. This is to improve the operability by not releasing the control.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling machine body of an agricultural tractor, and a rotary tillage type working section 3 is attached to a rear portion of the traveling machine body 1 via an elevating link mechanism 2.
Is lifted up and down by the swing of the lift arm 5 accompanying the expansion and contraction of the hydraulic cylinder 4. Incidentally, 6 is a front wheel, 7 is a rear wheel, and 8 is a driver's seat.

Reference numeral 9 denotes a PTO (power take-out) shaft projectingly provided at the rear part of the traveling machine body 1. The PTO shaft 9 is driven by the power of the engine and outputs the driving force to the working unit 3 connected thereto. However, in the power transmission system from the engine to the PTO shaft 9, a PTO clutch 10 which is intermittently operated by hydraulic pressure is provided. In other words, PTO clutch 10 is the driver's seat 8
The PTO shaft 9 is operated by operating a PTO switch 11 provided in the vicinity of the PTO switch 9 to interrupt the power of the PTO shaft 9. Also, 1
Reference numeral 2 denotes a PTO speed change lever, which is used to change the rotation speed of the PTO shaft 9 by changing the speed of the PTO speed change mechanism 13 connected thereto.
At the position, the driving of the PTO shaft 9 is stopped.

On the other hand, an upper cover provided integrally with the working unit 3
A front end edge of a rear cover 15 is swingably supported on a rear end edge of the rear cover 14, and the swing angle of the rear cover 15 is detected by a working depth detection sensor 16 connected via a detection rod 15a. It is becoming like this.

Reference numeral 17 denotes a turning diff provided in the power transmission system from the engine to the front wheel diff (differential device) 18, and one output shaft 17a of the turning diff 17 is connected to the front wheel diff 18. The other output shaft 17b is connected to a brake 19 operated by hydraulic pressure, and the turning diff 17 is further provided with a differential locking device for locking the differential. That is, when the traveling vehicle body 1 is straight ahead, the turning diff 17 is locked to rotate the front wheels 6 at substantially the same peripheral speed as the rear wheels 7, but at the time of turning, the defrost is released and the brake 19 is operated. In this case, the front wheels 6 rotate at a peripheral speed substantially double that of the rear wheels 7, so that a small turn can be performed at high speed.

Further, 20 is a control unit provided in the fan unit 1a of the traveling machine body 1, and the control unit 20 is constituted by a micro computer or the like. This control unit includes the PTO switch 11 and the PTO speed change lever. PTO lever detection switch 21 that detects that 12 is in the neutral position, automatic plowing depth switch 22 that switches between automatic plowing depth control and manual control, sensitivity switching switch 23 that switches sensitivity of plowing depth automatic control, high-speed turning control Turning control switching switch 24 to turn ON-OFF, switches such as a cutting angle detection switch 25 that detects that the handle 1b has been swung by a predetermined angle or more, and the working depth detection sensor 16, the working depth setting device 26, and work. Signals are input from a sensor such as a lever angle detection sensor 28 that detects the operation angle of the section lifting lever 27 and an arm angle detection sensor 29 that detects the swing angle of the lift arm 5, and based on these input signals. The lift arm lift solenoid 30, lift arm lower solenoid 31, high-speed turning solenoid 32 for releasing the defrost and actuating the brake 19, automatic working depth indicator lamp 33, high-speed turning indicator lamp 34, etc. It is designed to output a signal.

Next, the control procedure of the control unit 20 will be described based on the flow charts shown in FIGS. The control determines ON-OFF of the automatic plowing depth switch 22 and switches between manual control and automatic plowing depth control, and also performs automatic release control and high-speed turning control. In order to make the operating position of the elevating lever 27 and the height of the working portion coincide with each other, the working portion 3 is moved up and down based on the detection values of the lever angle detection sensor 28 and the arm angle detection sensor 29.

On the other hand, in the automatic plowing control, it is first determined whether the sensitivity switching switch 23 is set to "sharp", "standard", or "dull", and the set values N1, N2, and N3 are set, respectively.
(N1 <N2 <N3) is set to the average number N of processed data. Then, the detection value X of the tilling depth detection sensor 16 is fetched and the detection value X is stored in XO. The N-1 detection values fetched in the past are respectively stored in the next data storage locations (X1 to XN-1).
The data stored in XN-1 is discarded. Next, the value obtained by dividing the total sum of the data X1 to XN-1 by the number N of data is stored in the average value A, and the lift dome is set so that the average value A and the set value B of the tiller depth setting device 26 coincide with each other. The working solenoid 3 is moved up and down by operating the ascending solenoid 30 and the liftome descending solenoid 31. That is, the sensitivity is switched by adjusting the time until the average value A approaches the latest detection value X by increasing / decreasing the number of average processed data. In this case, the sensitivity switching is performed without setting the dead zone. Therefore, even if the sensitivity is lowered, it is possible to suppress the deterioration of working accuracy as much as possible.

Furthermore, in the automatic release control, first, the PTO switch 11
Also, it is judged from the PTO lever detection switch 21 whether the PTO shaft 9 is in the driving operation state. Further, here, the state is compared with the previous state, and in the case of “drive → drive” or “stop → stop”, the process directly returns to the main routine.
If it is determined to be "stop", "1" is stored in the register R and then the process returns to the main routine. That is, register R
When is set to "1", the above-mentioned tilling depth automatic control is canceled in the main routine. In this case, the automatic control is canceled after a lapse of a predetermined time after the stop operation of the PTO shaft. It is set. On the other hand, when the above judgment is "stop → drive", the register R is reset to "0".

In the high-speed turning control, it is first determined whether the turning control switching switch 24 is in the ON state, and if the result is NO, the high-speed turning display lamp 34 is turned off and the high-speed turning control is performed. The solenoid 32 is turned off and the defroster and brake 19 are released. On the other hand, if YES is determined, it is subsequently determined whether or not the automatic control (in this embodiment, automatic plowing depth control) is in control operation. And
If the control is operating
When the state of 25 is judged, the high-speed turning indicator lamp 34 is turned on and the high-speed turning solenoid 32 is turned on to release the defrosting and operate the brake 19, but when it is determined that the automatic control is not being performed, It is designed to avoid high-speed turning control. That is, the non-working state is determined from the operating state of the automatic control, and the high-speed turning operation during traveling on the road is restricted.

In the embodiment of the present invention configured as described above, during working, the automatic working depth switch 22 is turned on and off to selectively perform the automatic working depth control. Even if you forget to turn OFF the switch 22, the control unit 20
From the state of the TO switch 11 or the PTO lever detection switch 21, it is determined that the drive is in the non-driving state, and the automatic working depth control is released. Therefore, despite being in a non-driving state,
When the vehicle is traveling on the road, the plowing depth automatic control can be prevented to prevent the working unit 3 from moving up and down.

Moreover, since the automatic cancellation of the automatic working depth control due to the stop of the drive of the PTO axis is performed after the preset time has elapsed after the stop of the drive, after the field work is temporarily interrupted. , In the case of restarting, if the suspension time until the restart is within the set time, even if the PTO axis is stopped, the plowing depth automatic control will be maintained and the plowing depth automatic switch 22 The ON operation of can be unnecessary, and the operability can be improved at the same time.

Note that the present invention is not limited to the above-described embodiment, and for example, in addition to the automatic plowing depth control of the above-described embodiment, automatic control such as so-called tilt automatic control may be released along with the stop operation of the PTO shaft. Of course, you can do that. Further, in the automatic release control of the above-mentioned embodiment, it is possible to provide a means for judging when a working unit that does not utilize the power of the PTO shaft is attached and for not performing the automatic release control. Furthermore, in the high-speed turning control, the high-speed turning control may be canceled by determining the non-working state from the driving state of the PTO shaft.

[Advantages] In short, since the present invention is configured as described above, it is configured to appropriately perform automatic control during work. The automatic control is associated with the stop switching operation of the PTO shaft. Will be automatically released. Therefore, even if the operator forgets to cancel the temporary automatic control after the work is completed, it is possible to prevent the working unit from abruptly changing its posture due to the automatic control when traveling on the road. Moreover,
Since the automatic working depth control is automatically released upon completion of the work, the operation of releasing the automatic control at the end of the work may be unnecessary, and the operability can be improved at the same time.

In addition, if the automatic control is canceled due to switching the PTO axis to the stopped state, not at the same time as when the PTO axis is stopped but after a predetermined time has elapsed, work may be resumed after being temporarily interrupted. The operability can be improved by eliminating the need to operate the automatic / manual switching switch on the automatic control side.

[Brief description of drawings]

The drawings show an embodiment of an automatic control release device for a ground work vehicle according to the present invention. Fig. 1 is an overall side view of an agricultural tractor, and Fig. 2 is a front view showing a PTO switch and a PTO shift lever. Fig. 3 is a power transmission structure diagram of an agricultural tractor, Fig. 4 is a block diagram of a control mechanism, Fig. 5 is a flow chart showing a main routine of the control mechanism, and Fig. 6 is a flow chart of automatic tilling depth control. FIG. 7 is a flow chart of the automatic release control, and FIG. 8 is a flow chart of the high speed turning control. In the figure, 1 is a traveling body, 2 is a lifting link mechanism, 3 is a working unit, 9 is a PTO shaft, 11 is a PTO switch, 12 is a PTO gear shift lever, and 20 is a control unit.

Claims (1)

[Scope of utility model registration request] 1. An automatic control mechanism for automatically controlling a posture of a working portion based on a detection of a sensor in a state where the manipulation implement is set to an automatic position, and a posture of the working portion is manually controlled based on a manual operation of the manipulation implement. A ground control comprising a manual control mechanism, an automatic-manual switching switch for switching between the manual control mechanism and the automatic control mechanism, and PTO drive switching means for switching the PTO shaft provided on the traveling machine body between a driven state and a stopped state. In the work vehicle, the automatic control mechanism is provided with an automatic control releasing means for releasing the automatic control and switching to the manual control state after a predetermined time has elapsed after the stop switching operation of the PTO drive switching means. An automatic control release device for ground work vehicles.