JP2510036B2 - Lift control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is a detection for detecting the actual tilling depth based on the vertical swing angle of the rear cover of a rotary tiller which is connected to a traveling machine body so as to be driven up and down. Means, an automatic elevating control device for elevating and lowering the tilling device so that the set tilling depth by the artificial setting device and the actual tilling depth detected by the detecting means coincide with each other, and the detection during the ascending operation near the upper limit of the tiller The present invention relates to a lift control device including a storage unit that stores a limit detection value of the storage unit as a reference value, and a correction unit that corrects the detected actual plowing depth based on the value stored in the storage unit.

[Conventional technology]

In the above elevator control apparatus, conventionally, for example, as disclosed in Japanese Utility Model Laid-Open No. 1-312907, a volatile memory (static RAM) that is easy to write and erase is used as the storage means, and its data is supplied by a backup power source. Some were configured to hold for 2-3 days.

[Problems to be Solved by the Invention]

The above-mentioned conventional structure controls the measured value of the working depth sensor as a correction reference in order to eliminate variations caused by highly precise fine adjustment of the working depth sensor and the working depth setting potentiometer and individual differences. It is configured to perform appropriate control for each operation.

However, there is a drawback in that a power supply unit dedicated to backup is required to hold data in a memory for frequent update storage, which complicates the structure and increases the cost.

Therefore, it has been considered to replace the backup power supply device and hold the data in the memory by the power supplied from the main power supply of the traveling machine body.

However, since the main power source of the aircraft is also used as a power source for starting the engine, the voltage of the main power source temporarily drops when the starter motor is driven at the engine start,
At this time, the stored data in the memory may be erased, and if the operator continues to work without noticing that, control with less error cannot be performed.

An object of the present invention is to eliminate the above problems.

[Means for solving the problem]

The characteristic configuration of the present invention is, in the lifting control device described at the beginning, the lifting control by the automatic lifting control means from the time when the engine of the traveling vehicle body is started until the tilling device is lifted to near the upper limit. The point is that a control restraining means for stopping the operation is provided.

[Work]

After restarting the engine after the engine has stopped due to overload, etc., during plowing work, for example, even when the voltage of the main power supply temporarily drops and the stored data in the storage means is erased, Since the automatic lifting control operation is stopped, the actual tillage depth correction operation by the correction means is not executed, and the correction based on the incorrect reference value is not performed. Then, when the tiller is raised again to update and store the data in the storage means, the control is executed again with reference to the regular data.

〔The invention's effect〕

Therefore, according to the present invention, since the ascending / descending control is executed only when the correction reference value is always correct, accurate control with a small error can always be performed, and a dedicated backup power supply for holding data is provided. The structure can be simplified without the need, and the cost can be reduced.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 4, an engine (1) is arranged in the front part of the vehicle body, and a transmission case (3) for transmitting power from a main clutch housing (2) connected to the rear surface of the engine (1) is provided in the vehicle body. An agricultural tractor is provided, which is arranged at the rear part of the vehicle, and is provided with a front wheel (4) and a rear wheel (5) to which transmission power is transmitted from the transmission case (3).

This agricultural tractor has a rotary tiller (R) connected to the rear end of the vehicle body so that it can be moved up and down, so that it is possible to perform plowing work.
An elevation drive member and an elevation control device are provided.

That is, a pair of left and right lift arms (7) driven and moved up and down by the hydraulic cylinder (6) are provided above the transmission case (3), and a two-point link mechanism (8) is provided on the rear surface of the transmission case (3). The rotary cultivator (R) is connected via the, and the two-point link mechanism (8) and the lift arm (7) are connected in a suspended state via the lift rod (9).

In addition, a control box (1) is provided on the upper surface of the rear fender (11) located near the driver's seat (10) provided on the vehicle body.
When 2) is attached and the plowing work is performed, the rotary tiller (R) is moved up and down by the control device (17) installed in the control box (12).

As shown in FIG. 1, the control box (1
2) is provided with a potentiometer type tiller depth setting device (14) operated by a dial (13), and a rotary tiller (R) is provided with a potentiometer type tiller for detecting the swinging posture of the rear cover (15). A depth sensor (16) [an example of detection means] is provided, and the voltage signal from each is a control signal (17).
The control signal from the control device (17) is output to a solenoid valve (18) for controlling the hydraulic cylinder (6). Then, during the plowing work, the rotary tiller (R) is used until the setting signal from the tilling depth setting device (14) and the detection signal from the tilling depth sensor (16) are balanced.
Elevation control means (A) for elevating and lowering is provided.

This control device (17) has a RAM type memory (19) which holds data etc. from the tillage depth sensor (16) when the rotary tiller (R) is raised to a predetermined level as a control reference.
(An example of storage means) is connected.

The controller (17) and the memory (19) are configured to be supplied with electric power from the main power source battery (Bat) of the machine body and also hold data.

The process of holding the data from the tilling depth sensor (16) in the RAM type memory (19) and the operation at the time of control will be described. When the rotary tiller (R) is raised to a predetermined level or higher, FIG. As shown, the rear cover (15), which is swingably supported by the support shaft (20), has a stopper (21).
And the swing in the hanging direction is restricted. This regulation posture has been adjusted in advance so that it is within a predetermined error when the rotary tiller (R) is manufactured, and the data (limit detection value) from the tilling depth sensor (16) in this regulation posture is a reference value. It is compared and calculated with (ideal data),
As a result, if there is a difference, the value of the difference is written in the RAM type memory (19) with the value of zero as the control reference if there is no difference, and when the next work is performed, the correction means (B) The control reference and the data from the working depth sensor (16) are exchanged for values corrected by calculation, and then the working depth setter (14) is replaced.
By comparing with the data from, it is possible to perform control with a small error.

Then, a control for stopping the lifting control operation by the automatic lifting control means (A) from the time when the engine (1) of the traveling machine body is started until the tilling device (R) is lifted up to near the upper limit. The restraint means (C) is provided. Hereinafter, the lifting control operation will be described in detail. As shown in FIG. 2, first, the signals from the tiller depth setting device (14) and the tiller depth sensor (16) are read (step S ₁ ), and the tiller device (R) is read from the signal from the tiller depth sensor (16). It is determined whether or not it has risen to the upper limit (step S ₂ ). If the result is affirmative, compare the data of the working depth sensor (16) with the reference value,
If there is a difference, the difference value is stored. If there is no difference, a zero value memory (1
9). To write update stored (Step _{S 3, S 4, S 5} ) after was to correct the measured values of tilling depth sensor (16) the stored value as a reference (step S _6). Next, if the engine (1) is not stopped, the correction value is compared with the set value of the working depth setter (14), and if there is a difference, the difference is reduced and the solenoid valve is adjusted until they match. (18) controls the driving of the hydraulic cylinder (6) (step S ₇ to S _11).

Then, if it is determined that the engine (1) is stopped in step S _7, again, to stop the elevator control operation as described above until cultivator (R) is made is raised operative leading to near the upper limit ( Steps S ₇ , S ₁₂ , S ₁₃ ). Thereafter, the rising operation is performed again, the process proceeds to step S _8, the elevation control operation described above is executed.

The step S ₆ constitutes the correction means (B), the steps S _{8 to} S ₁₁ constitute the elevation control means (A), and
The control restraint means (C) is constituted by steps S ₇ , S ₁₂ , and S ₁₃ .

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a lifting control device according to the present invention.
The figure is a control block diagram, FIG. 2 is a control flowchart, FIG. 3 is a partial cross-sectional view of a tiller, and FIG. 4 is an overall side view of an agricultural tractor. (1) ...... engine, (14) ...... artificial setting device, (15) ...... rear cover, (16) ...... detection means, (19) ...... storage means, (A) ...... lift control means, ( B) ... correction means, (C) ... control restraint means, (R) ... cultivator.

Claims (1)

(57) [Claims] 1. A detecting means (16) for detecting an actual plowing depth based on a vertical swing angle of a rear cover (15) of a rotary tiller (R) which is connected to a traveling machine body so as to be capable of being driven up and down. Automatic raising / lowering control means (A) for raising and lowering the tilling device (R) so that the set tilling depth set by the setting device (14) and the actual tilling depth detected by the detecting means (16) match, and the tilling device (R).
The detection means (1
Storage means for storing the limit detection value of 6) as a reference value (1
An elevation control device comprising: 9) and a correction unit (B) that corrects the detected actual tillage depth based on the value stored in the storage unit (19), the engine of the traveling machine ( 1) A control restraining means (C) for stopping the lifting control operation by the automatic lifting control means (A) until the tilling device (R) is lifted up to near the upper limit from the time of starting 1) A lift control device.