JPH0233338B2 - NOSAGYOKI - Google Patents
NOSAGYOKIInfo
- Publication number
- JPH0233338B2 JPH0233338B2 JP19713383A JP19713383A JPH0233338B2 JP H0233338 B2 JPH0233338 B2 JP H0233338B2 JP 19713383 A JP19713383 A JP 19713383A JP 19713383 A JP19713383 A JP 19713383A JP H0233338 B2 JPH0233338 B2 JP H0233338B2
- Authority
- JP
- Japan
- Prior art keywords
- lowering
- raising
- operating lever
- working device
- lever
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 description 7
- 230000001174 ascending effect Effects 0.000 description 3
- 244000145845 chattering Species 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 3
- 238000009333 weeding Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
- Harvester Elements (AREA)
Description
【発明の詳細な説明】
本発明は、農作業機、詳しくは、手動で対地高
さを操作するために、昇降操作レバーの操作に対
応して作業装置を昇降操作する手段を備えた農作
業機に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an agricultural working machine, and more particularly, to an agricultural working machine equipped with a means for raising and lowering a working device in response to operation of a lifting operation lever in order to manually control the height above the ground. .
従来より、この種の農作業機にあつては、通常
の作業時には、作業装置の対地高さを一定に維持
する自動制御を行なうとともに、作業を行なう圃
場の状態が悪く自動制御ができない場合等に対応
するため前記作業装置の昇降を手動によつても操
作可能に構成してあつた。そして、その手動操作
は自動制御を行なうための作業装置の昇降機構の
一部をそのまま使用して行なうように兼用して構
成を簡略化したものが多く、例えば、運転部に設
けた操作レバーの揺動をスイツチ等のセンサーで
電気的に検出する手段等を設けて自動制御の際に
作業装置を昇降するためのアクチユエータの作動
が操作レバーの揺動に連動すべく構成してあつ
た。 Traditionally, this type of agricultural machinery has been equipped with automatic control to maintain a constant height of the working device from the ground during normal work, and when automatic control is not possible due to poor field conditions. In order to cope with this problem, the working device is configured to be able to be raised and lowered manually. In many cases, manual operation is performed by simply using a part of the lifting mechanism of the work equipment for automatic control. A means for electrically detecting the rocking motion using a sensor such as a switch is provided so that the operation of the actuator for raising and lowering the working device during automatic control is linked to the rocking motion of the operating lever.
従つて、上記操作レバーの揺動を電気的に検出
する際にレバーの操作が確実に行なわれないと検
出信号にチヤタリング等のノイズが発生してアク
チユエータが誤動作する場合があるため、レバー
操作の検出信号からノイズを除去する必要がある
が、単純なフイルター等を用いた場合は信号が遅
延するためにアクチユエータの作動が遅れて操作
レバーの操作感覚と作業装置の実際の動きとが一
致しなくなつて操作しにくいという不都合が有つ
た。 Therefore, when electrically detecting the swinging of the operating lever, if the lever is not operated reliably, noise such as chattering may occur in the detection signal and the actuator may malfunction. It is necessary to remove noise from the detection signal, but if a simple filter is used, the signal will be delayed, causing a delay in actuator operation, resulting in a mismatch between the operating feel of the control lever and the actual movement of the work equipment. There was an inconvenience that it was difficult to operate.
本発明は、上記実情に鑑みてなされたものであ
つて、その目的は、作業装置の昇降を手動操作す
る際に作動遅れが無く確実に安全側へ作業装置を
昇降操作する手段を備えた農作業機を提供する点
にある。 The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a means for raising and lowering a working device reliably to the safe side without delay when manually lifting and lowering the working device. The point is to provide the machine.
上記目的を達成すべく、本発明による農作業機
は、前記操作レバーの上昇・下降夫々の操作を検
出する手段を設け、前記操作レバーが上昇操作さ
れたことを検出した場合はその後所定時間に亘つ
て下降操作検出による前記作業装置の下降操作を
無効にする手段を設けてある点に特徴を有する。 In order to achieve the above object, the agricultural machine according to the present invention is provided with a means for detecting the raising and lowering operations of the operating lever, and when it is detected that the operating lever has been operated upward, the agricultural machine according to the present invention is provided with a means for detecting the raising and lowering operations of the operating lever. The present invention is characterized in that means is provided for invalidating the lowering operation of the working device based on detection of the lowering operation.
上記特徴故に下記の如き優れた効果が発揮され
るに至つた。 Because of the above characteristics, the following excellent effects have been achieved.
即ち、操作レバーが上昇操作されたことが検出
されると、その後の所定時間は操作レバーの下降
操作検出による作業装置の下降操作を無効にする
ので、操作レバーを繁雑に動かしたり、検出信号
にチヤタリング等のノイズが混入したりして、上
昇操作と下降操作の信号が同時に又は短時間の間
に繰返し検出されたとしても上昇操作が実質的に
優先されることとなつて、誤動作すること無く、
作業装置を昇降させる機構の作動遅れが無いもの
にできるに至つたのである。更に、上昇操作を下
降操作よりも優先させることによつて、誤まつて
作業装置を下降させる危険が非常に少なくなると
いう効果も有る。 That is, when it is detected that the operating lever has been operated upward, the lowering operation of the working device due to the detection of the lowering operation of the operating lever is disabled for a predetermined period of time thereafter, so that the operating lever cannot be moved in a complicated manner or the detection signal is Even if noise such as chattering is mixed in and signals for ascending and descending operations are detected at the same time or repeatedly within a short period of time, the ascending operation will essentially take priority and will not malfunction. ,
This made it possible to eliminate delays in the operation of the mechanism that raises and lowers the work equipment. Furthermore, by giving priority to the raising operation over the lowering operation, there is also the effect that the risk of accidentally lowering the working device is greatly reduced.
以下、本発明の実施例を図面に基いて説明す
る。 Embodiments of the present invention will be described below with reference to the drawings.
第１図は、農作業機としてのコンバインの前部
に設けた作業装置としての刈取部１の側面図であ
つて、刈取部１は、引起し装置２、刈取装置３、
搬送装置４を有し、その引起装置２の前方には分
草具５…を設け、この分草具５下端先端部が刈取
装置１の支持フレーム６により固着されている。
そして、発信器７と受信器８から成る対地高さ検
出センサーとしての超音波センサー９が、穀稈に
よる誤動作を起さない様に、前記分草具５の背後
で、支持フレーム６の上方に配置された状態で、
取付けてあり、この超音波センサー９による対地
高さ検出結果に基いて油圧シリンダ１０を作動さ
せて、横軸芯Ｐ周りに前記刈取部１を揺動するこ
とによつて刈取装置１の対地高さ、つまり刈高さ
を自動的に調節すべく構成するとともに、手動に
よつても刈高さを調節可能に、運転部Ａに設けて
ある操作レバーＢの上昇・下降夫々の操作を検出
するセンサーとしてのリミツトスイツチS1，S2を
設けてある。 FIG. 1 is a side view of a reaping section 1 as a working device provided at the front of a combine harvester as an agricultural working machine, and the reaping section 1 includes a pulling device 2, a reaping device 3,
It has a conveying device 4, and a weeding tool 5 is provided in front of the pulling device 2, and the lower end tip of the weeding tool 5 is fixed to a support frame 6 of the reaping device 1.
An ultrasonic sensor 9 as a ground height detection sensor consisting of a transmitter 7 and a receiver 8 is mounted behind the weeding tool 5 and above the support frame 6 to prevent malfunctions caused by grain culms. With it placed,
The height above the ground of the reaping device 1 is adjusted by operating the hydraulic cylinder 10 based on the height above the ground detected by the ultrasonic sensor 9 and swinging the reaping section 1 around the horizontal axis P. In other words, the mowing height is configured to be adjusted automatically, and the mowing height can also be adjusted manually by detecting the raising and lowering operations of the operating lever B provided in the driving section A. Limit switches S 1 and S 2 are provided as sensors.
以下、前記超音波センサー９による対地高さ結
果に基いて刈高さを自動制御するとともに前記リ
ミツトスイツチS1，S2による刈高さの手動操作を
制御する制御システムについて説明する。 A control system that automatically controls the cutting height based on the ground height result obtained by the ultrasonic sensor 9 and also controls manual operation of the cutting height by the limit switches S 1 and S 2 will be described below.
第２図に示すように、制御システムはマイクロ
コンピユータを主要部とする制御装置１１に前記
超音波センサー９の受信器８からの信号を入力す
るとともに、刈高さ（対地高さ）を予め設定する
手段としてのポテンシヨメータ１２の出力信号と
前記リミツトスイツチS1，S2からの信号を入力し
てあり、前記操作レバーＢの操作が無い場合は自
動的に前記受信器８による検出対地高さＨがポテ
ンシヨメータ１２によつて設定した基準目標値
H0となるように、電磁バルブ１３を駆動して、
前記油圧シリンダ１０によつて刈取部１を自動的
に昇降操作すべく構成してある。 As shown in FIG. 2, the control system inputs the signal from the receiver 8 of the ultrasonic sensor 9 to a control device 11 whose main part is a microcomputer, and also sets the cutting height (height above the ground) in advance. The output signal of the potentiometer 12 and the signals from the limit switches S 1 and S 2 are input, and when the operating lever B is not operated, the height above the ground detected by the receiver 8 is automatically input. H is the reference target value set by potentiometer 12
Drive the electromagnetic valve 13 so that H 0 ,
The reaping section 1 is automatically raised and lowered by the hydraulic cylinder 10.
一方、前記操作レバーＢが操作された場合は、
前記リミツトスイツチS1，S2のON・OFF信号に
より刈取部１を手動により昇降すべく前記スイツ
チS1，S2からのON・OFF信号に基いて電磁バル
ブ１３を駆動すべく構成してある。 On the other hand, if the operating lever B is operated,
The solenoid valve 13 is configured to be driven based on the ON/OFF signals from the switches S 1 and S 2 in order to manually raise and lower the reaping section 1 based on the ON/OFF signals from the limit switches S 1 and S 2 .
そして、前記操作レバーＢの上昇操作により前
記リミツトスイツチS1が一度ONするとその時点
よりこのON状態を所定時間τに亘つて記憶保持
するとともに、この所定時間ｔ経過するまでに下
降操作を検出するリミツトスイツチS2からON信
号が入力されてもこのON信号を無効にして、上
昇操作を下降操作に優先させて電磁バルブＢを駆
動するのである。 Once the limit switch S1 is turned ON by the upward operation of the operating lever B, the ON state is memorized and retained for a predetermined time τ, and the limit switch detects the downward operation until the predetermined time t has elapsed. Even if an ON signal is input from S2 , this ON signal is invalidated, and the solenoid valve B is driven with the ascending operation given priority over the descending operation.
従つて、操作レバーＢを上昇操作すると直ちに
刈取部１を安全側に上昇させるが、実際の下降操
作は前記所定時間τ経過後でないと起動されない
ので、操作レバーＢの誤操作やリミツトスイツチ
S1，S2のチヤタリング等によるノイズで誤まつて
刈取部１を下降させる危険が無いものにできたの
である。 Therefore, when the operating lever B is operated upward, the reaping section 1 is immediately raised to the safe side, but the actual lowering operation is not started until after the predetermined time τ has elapsed.
This eliminates the risk of accidentally lowering the reaping section 1 due to noise caused by the chattering of S 1 and S 2 .
ところで、本実施例における刈高さ制御では、
制御応答を最適化するために目標値H0に対する
検出値Ｈの偏差ΔHの大きさに対応して、電磁バ
ルブ１３の駆動ゲイン（間歇駆動用パルス電流の
ON・OFF比等）を自動的に複数段階に変更する
ことによつて、偏差ΔHが大きいほど速く刈取部
１を昇降すべく構成してある。そして、この駆動
ゲインＧは偏差ΔHに対応して順次増大する値G1
〜G4として予めテーブル化して制御装置１１内
のメモリー（図示せず）に記憶してある。 By the way, in the cutting height control in this embodiment,
In order to optimize the control response, the drive gain of the electromagnetic valve 13 (intermittent drive pulse current
By automatically changing the ON/OFF ratio, etc. into multiple stages, the larger the deviation ΔH, the faster the reaping unit 1 is raised and lowered. This drive gain G is a value G 1 that increases sequentially in response to the deviation ΔH.
.about.G4 and stored in a memory (not shown) in the control device 11.
尚、第３図は以上説明した制御装置１１の動作
を示すフローチヤートであつて、この刈高さ制御
を行なうとともに、他のセンサー（脱穀スイツチ
等）の状態をチエツクして他の制御用の制御フラ
グの設定も行なうようにしてある。 FIG. 3 is a flowchart showing the operation of the control device 11 explained above, which not only controls the cutting height but also checks the status of other sensors (threshing switch, etc.) and performs other control operations. Control flags are also set.
又、第４図は前記駆動ゲインＧのテーブルであ
る。 Further, FIG. 4 is a table of the drive gain G.
尚、特許請求の範囲の項に図面との対照を便利
にする為に符号を記すが、該記入により本発明は
添付図面の構造に限定されるものではない。 Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.
図面は本発明に係る農作業機の実施例を示し、
第１図はコンバインの前部側面図、第２図は制御
システムのブロツク図、第３図は制御装置の動作
を示すフローチヤート、そして、第４図は制御ゲ
インのテーブルである。
１……作業装置、Ｂ……手動操作レバー、S1，
S2……レバー操作検出手段、τ……所定時間。
The drawings show an embodiment of the agricultural machine according to the present invention,
FIG. 1 is a front side view of the combine, FIG. 2 is a block diagram of the control system, FIG. 3 is a flowchart showing the operation of the control device, and FIG. 4 is a control gain table. 1... Working device, B... Manual operation lever, S 1 ,
S 2 ... Lever operation detection means, τ... Predetermined time.
Claims (1)
レバーＢの操作に対応して作業装置１を昇降操作
する手段を備えた農作業機であつて、前記操作レ
バーＢの上昇・下降夫々の操作を検出する手段
S1，S2を設け、前記操作レバーＢが上昇操作され
たことを検出した場合はその後所定時間τに亘つ
て下降操作検出による前記作業装置１の下降操作
を無効にする手段を設けてあることを特徴とする
農作業機。1 A farm work machine equipped with a means for raising and lowering the working device 1 in response to the operation of the raising and lowering operation lever B in order to manually control the height above the ground, and in which the raising and lowering operations of the said operation lever B are performed respectively. means to detect
S 1 and S 2 are provided, and when it is detected that the operating lever B has been operated upward, a means is provided to invalidate the lowering operation of the working device 1 by detecting the lowering operation for a predetermined period τ thereafter. An agricultural machine characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19713383A JPH0233338B2 (en) | 1983-10-20 | 1983-10-20 | NOSAGYOKI |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19713383A JPH0233338B2 (en) | 1983-10-20 | 1983-10-20 | NOSAGYOKI |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6087708A JPS6087708A (en) | 1985-05-17 |
| JPH0233338B2 true JPH0233338B2 (en) | 1990-07-26 |
Family
ID=16369297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19713383A Expired - Lifetime JPH0233338B2 (en) | 1983-10-20 | 1983-10-20 | NOSAGYOKI |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0233338B2 (en) |
-
1983
- 1983-10-20 JP JP19713383A patent/JPH0233338B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6087708A (en) | 1985-05-17 |
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