JPS61141802A - Control mode change-over apparatus in working machine controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a control mode switching device in a work machine control device for a ground work machine such as a rotary tiller or a plow. The present invention proposes a control mode switching device that is devised so that a plurality of control modes such as posture control, plowing depth control, tillage resistance control, etc. can be switched to a predetermined desired control mode without error.

Conventional technology: Control of horizontal and vertical posture of work equipment,
There is an attitude sensor that detects the lateral attitude of the work equipment, a lift angle sensor that detects the lift arm angle of the tractor, a top link sensor that detects the length of the extendable top link, and a top link sensor that detects the length of the extendable top link. A tilling depth sensor that detects the height of the work implement above the ground, a tilling resistance sensor that detects the resistance force acting on the top link during tilling resistance control, etc. are installed. The signals are converted into electrical signals using dynamic potentiometers, linear moving potentiometers, ultrasonic waves, light, etc., and are input as detected values to the control unit of the work equipment control device via the respective changeover switches, and are used during work. The above-mentioned respective changeover switches are switched so that the necessary sensors are connected to the control unit.

However, it is troublesome and requires skill to operate only the necessary ones among the large number of changeover switches without making any mistakes.

Problems to be Solved by the Invention The present invention is devised to prevent erroneous switching operations of a large number of changeover switches, and to allow the switching operations to be performed with less effort.

Technical means for solving the problems In order to solve the above problems, the present invention takes the following technical means.

The detection values of the sensors that individually detect work characteristics in control modes such as ground attitude control and plowing depth control of the working machine (2) are set to the outputs of the control unit a9 in order to match the respective setting values of the above work characteristics. Respective drive unit based on? In the work machine control device configured to control the work equipment, each connector provided to connect each of the above-mentioned sensors and the control unit a9 is configured to switch the control type of the control unit a by this connection operation. This is a control mode switching circuit in a work machine control device provided with a mode switching circuit.

Embodiment and operation Next, an embodiment of the present invention will be explained based on the drawings. Fourth
As shown in the figure, the work equipment (2) is attached to the rear of the tractor (1).
As an example, a rotary tiller is connected to a pair of left and right lift arms (3), (3), and a left and right lift rod (4).
, (5), the left and right lower links (6), (7) that swing up and down, and the top link (8) at the top of the center.
), and this three-point linkage mechanism (9) is connected by a three-point linkage mechanism (9) consisting of its lift arm (3),
(3) A hydraulic lifting mechanism (IIIK) that moves up and down by a lift cylinder a1 using hydraulic pressure, and one lift rod (5) is moved up and down by a lift rod cylinder a3 that expands and contracts using hydraulic pressure. The top link (6) is formed with a top link cylinder a3 that expands and contracts by hydraulic pressure so that the horizontal posture of the working machine (2) is controlled by the extension or contraction operation of the lift rod cylinder 02. The structure is such that the longitudinal posture of the work implement (2) is controlled by the extension or telescoping operation of this top link cylinder (13). The plowing depth control mechanism controls the plowing depth by using a plowing depth sensor (Sl) such as a rotary potentiometer that detects the up and down swinging rotation of a plowing depth sensor (141) that slides on the ground surface, such as a rear cover, as a plowing depth detection value. The output of the output and the plowing depth set value set by a plowing depth setter (1) such as a single-turn potentiometer are inputted to a control unit (15) consisting of a microcomputer or the like via an AO converter ae, S# The difference between the plowing depth detection value and the deep plowing set value is controlled and processed by the comparison control IfIsaη, and the plowing depth setting value and the plowing depth detection value are matched by the output from the DA converter (181), for example, by electromagnetic switching. A lifting drive unit (19) consisting of something like a valve operates the lift cylinder aI.

The left and right attitude control mechanism includes a left and right attitude detection value detected by a left and right attitude sensor (S2), such as a level meter, installed on the working machine (2), and a left and right attitude setting device (for example, a rotary potentiometer). T2) The left and right posture setting values set by K are converted to AD converter a6! is input, and the telescopic drive unit α-extends and retracts the lift rod cylinder tII according to the output command from the comparison control unit aη until the left and right attitude setting values match the left and right bag/rod configuration values.

The longitudinal attitude control mechanism includes a longitudinal attitude detection value detected by a longitudinal attitude sensor (S3), such as a level meter, installed on the working machine (2), and a longitudinal attitude setting device, which is composed of a rotary potentiometer or the like for IPII. (Is)vc is input into the AD converter (161), and the telescopic drive unit!211 is operated until the longitudinal attitude setting value and the longitudinal attitude detection value match according to the output command of the comparison side g4 section aη.
is for extending and contracting the top link cylinder 03.

The lifting position control mechanism consists of one lift arm (3) and a lift angle sensor (S), which is made up of something like a rotary potentiometer that rotates. A lift position setting device consisting of something like a rotary potentiometer that is rotated by a lever (■) The lift position setting value set by the lever is input to the AD converter 1+61, and the output command of the comparison control unit an is until the detected value of the vertical position matches the set value of the vertical position.
! 1 operates the lift cylinder α1.

The tilling resistance control mechanism uses the tilling resistance detection value detected by the tilling resistance sensor type &) consisting of a torque meter-like pushing force of the top link (8) and the rotation operated by the tilling resistance lever @. The tilling resistance set value set by the tilling resistance setter (Is), which is a type of type potentiometer, is input to the AD converter ueK, and the tilling resistance detected value is set to the tilling resistance setter by the output command of the comparison control unit αη. The lifting drive unit a9 operates the lift cylinder a0 until the two match.

Then, the tilling depth sensor (S) and the left and right attitude sensor (S) mentioned above.
2) In order to input to the output ftAD converter (+61), one connector segment (C) of the connector is connected to the output side of the plowing depth sensor (S), left and right posture sensor (S)...
(0ri.

(C3)..., and connect the other connector segment (-) of the connector connected to the AD converter ae to the connector segment (C-(C2)-(Ca)...01).
For each connector segment) (C 凰), (C2), (cl)..., connect the corresponding connector segment to the connector segment Ca1) on the AD converter 4 side. Then, the control unit Q! changes to the control mode of the sensor. 19 is provided, and as an example of this mode switching circuit, the case of a plowing depth sensor (TOM) is shown in the second section.
Figure 3 shows the wiring diagram, and Figure 3 shows the front view of the connector segment (C).
, sensor signal code (bl) l (b), mode switching code (Ct), (C1, ground coat °(ds, (
d) respectively, and when the mode switching code (Cs), (connector segment for C) and (Ca) are connected, the tilling depth sensor as the sensor (control unit for tilling depth control mode by bird) is connected. A switching resistor (J, (Ra)) having a value such that α9 is switched is connected.

The connector segment (C1) in Figure 3 includes a power cord (a), a sensor signal cord (b), and a mode switching cord (
C, ground cord (d)
), sensor signal bin (61), mode switching bin (σ input ground pin (dl) is provided. Therefore, other connector segments) (Cs, (Cs)... codes are also omitted from illustration. However, it is sufficient to provide switching resistors having different values corresponding to the switching resistor ()lJ).

Effects of the Invention The control mode switching device in the work machine control device of the present invention is configured as described above, and the sensor for detecting characteristic values in the control modes such as ground attitude control and plowing depth to the side is When the connector is connected to the control unit Q9, the control unit aS is immediately switched to the corresponding control mode by the mode switching circuit provided in the connector, so there is no need for a special mode switching switch for switching the control mode. Since there is no longer a need for a special mode changeover switch, there is no risk of making a mistake in changing the mode, and the desired control mode can now be changed automatically with great accuracy. .

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Figure 1 is a control block diagram, Figure 2 is a detailed view of the main parts of Figure 1, Figure WJ3 is a front view of the connector segment in Figure 2, and Figure 4 is a tractor. FIG. 5 is a perspective view of the main parts of the working machine, and FIG. 5 is a side view of the entire working machine. Code explanation

Claims (1)

[Claims] The detection values of sensors that individually detect work characteristics in control modes such as ground posture control and plowing depth control of work equipment are
In a work equipment control device configured to control each drive unit based on the output of the control unit in order to match the set value of each of the work characteristics described above, a work equipment control device is provided to connect each of the sensors and the control unit. 1. A control mode switching device for a work machine control device, wherein each connector is provided with a mode switching circuit that switches the control type of a control unit by the connection operation.