JP3628844B2 - Tractor - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention belongs to the technical field of a tractor having an automatic tilling depth control function.
[0002]
[Prior art]
Generally, in this type of tractor, the tilling depth of the tilling implement is detected by the tilling depth sensor, and the lift arm is automatically set so that the detected tilling depth of the tilling sensor matches the set tilling depth of the tilling depth setting device. Some have an automatic tilling depth control function that controls the raising and lowering.
[0003]
[Problems to be solved by the invention]
By the way, it is assumed that the work implement lifted by the automatic tilling depth control is normally performed on the descending side of the work implement lifting range, so that the tilling work implement raised based on the automatic tilling depth control touches the rear part of the machine body. However, when a special tillage machine is attached and a field with severe irregularities is plowed, there is a possibility that the tiller work machine will come into contact with the rear of the fuselage even during temporary control of the plowing depth.
[0004]
[Means for Solving the Problems]
The present invention has been created in view of the above circumstances and has been created for the purpose of solving these problems, and includes a lift arm that raises and lowers a tilling work machine, and a lift arm that detects a lifting operation position of the lift arm. A sensor, a tilling depth sensor for detecting a tilling depth of the tilling work machine, and a lifting control unit for controlling the lifting operation of the lift arm. In the tractor provided with automatic tilling depth control means for automatically raising and lowering the lift arm, the raising and lowering control unit controls the raising and lowering speed of the tillage work machine based on the deviation between the set tilling depth and the detected tilling depth. lift arm lifting du based and tilling depth automatic lifting duty calculation means for calculating the lift arm lifting duty, the deviation between the set value and the lift arm sensor value up regulation setter for And increased regulatory lifting duty calculating means for calculating a tee, compared with the tilling depth automatic increase duty and increased regulation increases the duty, which is lower tractor provided with a tilling depth automatic for up regulating means for selecting a rise duty. That is, since the raising of the tillage working machine can be restricted even during automatic tilling control, even when a special tilling work machine is attached, it is possible to avoid the inconvenience of the tilling work machine coming into contact with the rear part of the machine body. Moreover, since the tilling work machine that has been lifted based on the automatic tilling control can be smoothly stopped using the lifting restriction raising duty without simply stopping at the raising restriction position, a large shock is generated when the lifting is stopped. There is no inconvenience.
Further, the raising depth automatic lowering restriction means is provided with raising restriction lowering priority means for preferentially selecting the raising restriction lowering duty over the cultivation depth automatic raising duty. In other words, in the comparison between the automatic tilling depth raising duty and the raising restriction lowering duty, the raising restriction lowering duty is preferentially selected, so that if the tiller is raised above the raising restriction position for some reason, The work machine can be raised and lowered to the restricted position.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Next, one 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 a tractor, and a working machine 3 such as a rotary is mounted on the rear part of the traveling machine body 1 via an elevating link mechanism 2. And this working machine 3 raises / lowers based on the up-and-down swing of the lift arm 4 which suspends the raising / lowering link mechanism 2, but these basic structures are all the same as before.
[0006]
Reference numeral 5 denotes a lift cylinder that operates the lift arm 4, and the lift cylinder 5 expands and contracts based on a switching operation of a lift arm electromagnetic switching valve 6 including a lifting solenoid 6a and a lowering solenoid 6b. Since the ascending solenoid 6a and the descending solenoid 6b are intermittently driven based on an inching pulse signal output from the control unit 7 described later, the working solenoid 3 has a duty ratio (ON time / cycle). The raising / lowering speed can be controlled.
[0007]
8 is a side panel disposed on one side of the driver's seat 9, and a position lever 10 as a target height setting operation tool for position control is disposed on the front side of the side panel 8, On the rear side of the side panel 8, a depth automatic switch 11 which is an ON / OFF operation tool for automatic tilling control, an inclination automatic switch 12 which is an ON / OFF operation tool for automatic inclination control, and a target inclination setting for automatic inclination control. Tilt setting volume 13 that is an operating tool, raising height setting volume 14 that is a lifting restricting height setting operating tool, mode changeover switch 15 that is a control mode switching operating tool, and depth that is a sensitivity adjusting operating tool for plowing depth automatic control. Operation tools such as a sensitivity switch 16 and a lift arm manual switch 17 that is a lift arm manual operation tool are disposed in a state of being covered with a transparent cover 18 that can be freely opened and closed. A depth setting volume 19 that is a target working depth setting operating tool for automatic tilling control and a backup switch 20 that is an ON / OFF operating tool for backup control are independently arranged at an intermediate position in the front-rear direction of the panel 8. Has been.
[0008]
21 is a control box provided in the lower part of the side panel 8. In the control box 21, the control unit 7 described above and an abnormal display unit (7-segment one-digit display) 22 for displaying abnormal parts and the like are provided. As well as being assembled, a drain hole 21a for discharging water that has entered the upper surface of the side panel 8 or the inside of the control box 21 is formed, while the drain hole 21a is formed in the left front corner portion, The abnormality display unit 22 is disposed at the right front corner. In other words, the display unit 22 is not allowed to have a disadvantage that hinders the draining operation of the drain hole 21a, and a wider wiring space or the like can be secured as compared with the case where the abnormality display unit 22 is arranged at the center of the box. It is like that.
[0009]
The control unit 7 is a control unit configured using a so-called microcomputer. On the input side of the control unit 7, in addition to the various operation tools described above, the vertical swing angle of the lift arm 4 is detected. A lift arm sensor 23, a position sensor 24 that detects the operating position of the position lever 10, a tilling depth sensor 25 that detects the tilling depth of the work implement 3 based on the swing angle of the rear cover 3a, and the like are connected to the output side. Are connected to the lifting solenoid 6a, the lowering solenoid 6b, the abnormality display unit 22, the notification buzzer 26, and the like of the lift arm electromagnetic switching valve 6 described above.
[0010]
Then, the control unit 7 diagnoses an abnormality in accordance with the key switch ON operation and displays it on the abnormality display unit 22, and displays an abnormality history stored in the memory on the abnormality display unit 22. After executing “history display”, “abnormality notification” for notifying the occurrence of abnormality by the notification buzzer 26, “initial data set” for initial setting of various data, etc., the raw data of the raised height setting volume 14 is raised and the restriction data “Position control input data set” for converting into position target data, “Position control input data set” for converting the raw data of the position sensor 24 into position target data, and the raw data of the lift arm sensor 23 into lift arm data, depth Convert the raw data of the setting volume 19 into plowing depth target data, and convert the raw data of the plowing depth sensor 25 into plowing depth data. Control input data set ”,“ lift control output data set ”that sets the lifting duty according to the deviation between the lifting control data and lift arm data to the lifting output data, according to the deviation between the working depth target data and the working depth data Subroutines such as “plowing depth output data set” for setting the lifting duty to the lifting output data are repeatedly executed, and the following routines related to the automatic plowing function (“lift regulation output data set” and “plowing depth”) The output data set ”) and the routines related to the abnormality diagnosis function (“ abnormality diagnosis display ”,“ abnormality history display ”, and“ abnormality notification ”) will be described based on flowcharts.
[0011]
In the “lifting regulation output data set”, first, it is determined whether or not the lifting regulation data is larger than the lift arm data, and whether or not the deviation between the lifting regulation data and the lift arm data is out of the dead zone. . If it is determined that the deviation does not deviate from the dead zone, stop data is set in the lift regulation output data.If the elevation regulation data is greater than the lift arm data and the deviation deviates from the dead zone, When the rising restriction data is below the lift arm data and the deviation is out of the dead zone, the rising duty data (rising output data) corresponding to the deviation is set as the raising restriction output data. Duty data (falling output data) is set to increase regulation output data. Note that the elevation duty data is set to be smaller in proportion to the decrease in the deviation so that the lift arm 4 gradually decelerates as it approaches the target position.
[0012]
On the other hand, the “plowing depth output data set” determines whether or not the plowing depth data is larger than the plowing depth target data and determines whether the plowing depth data and the plowing depth target data are in the plowing depth automatic control state. It is determined whether or not the deviation is out of the dead zone. If the latter determination is NO, a lift arm stop signal is output regardless of the former determination result. On the other hand, when the working depth data is larger than the working depth target data and the deviation is out of the dead zone, the rising duty data (rising output data) corresponding to the deviation is set in the working depth output data, and then the rising duty The lift arm ascent signal corresponding to the data is output, and when the tilling depth data is below the tilling depth target data and the deviation is out of the dead zone, the descending duty data (decreasing output data) according to the deviation is output. After setting the tilling depth output data, the lift arm descending signal corresponding to the descending duty data is output, but when the tilling depth increasing duty data is set, the raising restriction increasing duty data and the tilling depth increasing duty data are In comparison, the one having a lower duty is output as a lift arm raising signal. That is, in the vicinity of the raising restriction setting position, the tilling depth raising duty data is replaced with the raising restriction raising duty data, so that the raising restriction function works even during the cultivation depth automatic control, and as a result, the special work implement 3 is attached. Even in such a case, if an appropriate lifting regulation is set, the inconvenience of the working machine 3 coming into contact with the rear part of the machine body can be avoided, and the raising of the working machine 3 based on the plowing depth automatic control is simply restricted. Since it can be smoothly stopped using the raising restriction raising duty without being stopped at the position, it is possible to avoid the inconvenience of generating a large shock at the time of raising and stopping.
[0013]
In addition, in the “plowing depth output data set”, if the plowing depth data is larger than the plowing depth target data and the deviation is out of the dead zone, it is confirmed that the descent duty data is not set in the raising regulation output data After that, the lift arm raising signal is output, but if it is determined that the lowering duty data is set in the raising regulation output data, the lifting regulation lowering duty data is set in the lifting arm lowering output data and the lifting is performed. The arm 4 is lowered, and as a result, even if the lift arm 4 is raised beyond the raising restriction position for some reason, the lift arm 4 can be automatically raised and lowered to the restriction position. It is like that.
[0014]
In the “abnormality diagnosis display”, first, it is diagnosed whether there is any abnormality in the control unit itself or the control unit connected devices such as hydraulic valves, sensors, volumes, switches, etc. and any device is diagnosed as abnormal. In this case, not only the abnormal part but also the type of abnormality is specified. After the abnormality diagnosis is completed, it is determined whether or not there is an abnormality. If the determination is not made and the key switch is in the on position (the main switch is turned on and before the engine is started), the abnormality is detected. Although “8” and “.” Are alternately displayed on the display unit 22 to notify that the normal state is present, when it is determined that there is an abnormality, the abnormal location data and the abnormality type data are stored in the memory (non-volatile). After the data is stored in the memory, the error location data and the error type data are converted to error display data (3 to 5 digit numerical code), and the error display data is sequentially displayed one by one on the error display unit 22 (the key switch is (Only in the case of the entry position). The abnormality display data is repeatedly displayed on the abnormality display unit 22. When the display is repeated, a blank display for a predetermined time is interposed, so that the first digit of the abnormality display data can be easily determined. It is like that.
[0015]
In the abnormality display data, the first digit (A) indicates the number of abnormalities (maximum 9), and the second digit (B) indicates the abnormality type (a one-digit numerical code set in advance for each abnormality type). Furthermore, the third and subsequent digits (C) indicate an abnormal part (a numerical code of 1 to 3 digits set in advance for each abnormal part), but a priority is set in advance for the abnormal type code. That is, when the number of abnormalities is plural and the abnormal types of the respective abnormal places are different, the high-priority abnormal type codes (and abnormal place codes) are preferentially displayed. Therefore, if an error occurs at multiple locations, only the error location with the highest priority can be identified, but the number of errors is displayed in the first digit of the error display data. After repairing the abnormality, you can request to execute the abnormality diagnosis again (operation with key switch), and at the time of re-diagnosis, the next failure location with the highest priority is displayed. Work can be done.
[0016]
As described above, the abnormal location data encoded in advance is set after the third digit of the abnormality display code. If the same type of abnormality occurs in multiple locations, multiple locations can be specified simultaneously. Abnormal part data is set. In other words, it is not allowed to give a code to each abnormal location, but all the combination patterns of abnormal locations are coded, so it is possible to specify multiple failure locations with the minimum number of digits, and the same kind Since the abnormal part is displayed at a time, the workability when the abnormality is repaired can be improved. In addition, when an abnormal part is specified by "abnormality diagnosis display" or when an abnormal history is referred to by "abnormal history display", it is necessary to remove the side panel 8 to expose the abnormal display part 22, but the external connector If an external display (microcomputer checker, etc.) is connected to the unit, it is possible to see the abnormality diagnosis display and abnormality history display without removing the side panel 8, and the display data for the external display can be displayed in multiple digits simultaneously. Are output as a series of data.
[0017]
In the “abnormal history display”, first, it is determined whether or not the key switch is in the on position and the mode switch 15 is operated in the check position. Is read from the memory (1) abnormal history data (abnormality type data and abnormal location data stored in accordance with the priority order). If there is abnormal history data, the read data is converted into abnormal history display data, and then displayed one by one on the abnormality display unit 22, but during the abnormal history display, the operation of the backup switch 20 is performed. When the operation is determined, the next abnormal history data is displayed by adding 1 to the variable n, and after displaying all abnormal history data, “E”, “n”, and “d” are sequentially displayed on the display unit 22 to notify the end of the abnormal history display. In this embodiment, the abnormality history data does not include abnormality occurrence number data, abnormality occurrence order data, etc. at the same location, but if these data are included, the number of abnormality occurrences in each abnormality history Display, history display in order of occurrence of abnormality, history display in order of occurrence of abnormality, and the like can be performed.
[0018]
In “abnormality notification”, it is determined whether or not the key switch is started. If the determination is YES and no abnormality is detected in the abnormality diagnosis, the notification buzzer 26 is continuously operated for a predetermined time. Then, the engine start is notified, but when an abnormality is detected by the abnormality diagnosis, the notification buzzer 26 is intermittently operated for a predetermined time, so that the operator can be notified of the occurrence of the abnormality before the work is started. It is like that. The abnormality notification can be performed based on switching of the lighting pattern of the monitor lamp, but a large number of lighting patterns of the monitor lamp are set, and notification of the abnormality type, abnormal location, etc. is performed based on the switching of the lighting pattern. It is also possible to do this.
[0019]
In the configuration as described above, a plowing depth raising / lowering duty calculating means for calculating a lifting arm raising / lowering duty based on a deviation between a set plowing depth and a detected plowing depth, a setting value of a lifting restriction setter and a lift arm sensor value The lifting restriction raising / lowering duty calculating means for calculating the lifting arm raising / lowering duty on the basis of the deviation from the difference is calculated. Even when deep automatic control is performed, it is possible to limit the lifting of the work machine 3, and as a result, even when the special work machine 3 is mounted, the inconvenience of the work machine 3 coming into contact with the rear part of the machine body can be avoided.
[0020]
In addition, the work equipment 3 that has been lifted based on the automatic tilling depth control is stopped using the lifting restriction raising duty without simply being stopped at the lifting restriction position, so that it is possible to avoid the inconvenience that a large shock is generated when raising and stopping. Can do.
[0021]
In addition, when the raising restriction lowering duty is set during automatic tilling depth raising, priority is given to the raising restriction lowering. Therefore, when the working machine 3 has risen above the raising restriction position for some reason, the working machine 3 Can be preferentially lowered to the restricted position.
[Brief description of the drawings]
FIG. 1 is a side view of a tractor.
FIG. 2 is a side view of a side panel.
FIG. 3 is a plan view of the same.
FIG. 4 is a partially cutaway plan view of the same.
FIG. 5 is a block diagram showing input / output of a control unit.
FIG. 6 is a flowchart showing a main routine.
FIG. 7 is a flowchart showing a “rising restriction output data set”.
FIG. 8 is a graph showing a raising restriction elevating duty.
FIG. 9 is a flowchart showing a “plowing depth output data set”.
FIG. 10 is a graph showing the tilling / descending duty.
FIG. 11 is an operation explanatory diagram of “plowing depth output data set”.
FIG. 12 is a flowchart of “abnormality diagnosis display”.
FIG. 13 is a flowchart of “abnormal history display”.
FIG. 14 is a flowchart of “abnormality notification”.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Traveling machine body 2 Lifting link mechanism 3 Working machine 4 Lift arm 5 Lift cylinder 6 Lift arm electromagnetic switching valve 7 Control part 14 Lifting height setting volume 19 Depth setting volume 23 Lift arm sensor 25 Plowing depth sensor

Claims (2)

Lift arm for raising and lowering the tillage working machine, lift arm sensor for detecting the raising and lowering operation position of the lift arm, tilling depth sensor for detecting the tilling depth of the tilling work machine, and raising and lowering control for controlling the raising and lowering action of the lift arm And a lifting depth automatic control means for automatically lifting and lowering the lift arm for the set tilling depth of the tilling depth setter as a target. The tiller automatic lift duty calculating means for calculating the lift arm lift duty for controlling the lift speed of the tillage work machine based on the deviation between the set tilling depth and the detected tilling depth, and the set value and lift of the lifting restriction setter Raising / lowering duty raising / lowering duty calculating means for calculating the lifting arm raising / lowering duty based on the deviation from the arm sensor value; Comparing the I, lower tractor provided with a tilling depth automatic for up regulating means for selecting a rise duty. A tractor provided with raising regulation lowering priority means for preferentially selecting raising regulation lowering duty over cultivation depth automatic raising duty in the cultivation depth automatic raising regulation means according to claim 1.

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