JPH0614804B2 - Lift control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a position control for arbitrarily setting the level of a ground work device with respect to a vehicle body in accordance with an operation position of an operation tool, and an operation position of a working depth setting device. The elevator control device is configured to be capable of raising and lowering the ground work device in each control state of automatic plowing depth control for arbitrarily setting the level of the ground work device with respect to the ground.

[Conventional technology]

An example of an elevator control device configured as described above is disclosed in Japanese Patent Laid-Open No. 61-25404. In the control device of the reference, position control and automatic control are performed by determining the set position of the operation tool. It was configured to be able to switch between tilling depth control.

[Problems to be solved by the invention]

Here, considering the state of plowing work in the field where the plowing level is higher than the level of the wheels, such as the scraping work, by the control device configured as in the above-mentioned reference, In the control device, unless the operation tool for position control is set outside the position control range, it does not switch to the automatic plowing depth control mode, so for example, the control mode is set to the operation end side in the direction of lowering the ground work device at a high level. , The ground work device is temporarily lowered to a position lower than the plowing level by the operation of the operation tool for switching the control mode, and then the automatic plowing depth control results. The operation will return to the set working depth level.

In addition, as described above, when switching from the automatic plowing depth control mode to the position control mode in a field where the plowing depth level is higher than the wheel level, the ground work device must also descend and then rise. become.

Therefore, in the control system that switches the control mode only by the position of the operation tool as in the above-mentioned reference, not only the level of the ground work device may become lower than the desired level at the time of switching the control mode, but also the unnecessary ground work device. There is room for improvement because the engine load is also increased due to the descending movement of the engine.

An object of the present invention is to provide a lifting control device that prevents unnecessary lifting of the ground work device that occurs at the time of switching the control mode by taking advantage of the good aspect of switching the control mode by operating only a single operating tool. The point is to configure easily.

[Means for solving problems]

A feature of the present invention is, in the elevator control device having the above-mentioned configuration, a control signal from the position control system and a control signal from the automatic plowing control system, respectively, a rising control signal, a stopping control signal,
A lowering control signal, and these control signals are such that the stopping control signal has priority over the lowering control signal and the rising control signal has priority over the stopping control signal, or
The position control and the automatic working depth control are set in a determinable state in which the stop control signal has priority over the ascending control signal and the descending control signal has priority over the stop control signal. As a result of the determination of the priority order of the respective control signals in the simultaneously operated state, the lifting operation corresponding to the control signal on the priority side is performed, and if the control signals are the same, the lifting operation corresponding to the control signal is performed. In addition, the control state switching means for switching the control signal is provided, and its operation and effect are as follows.

[Work]

For example, set the target tillage depth level of the tillage depth setter so that the ground work implement is lowered from the high level by position control and the tilling work is performed at the tillage level higher than the wheel level. The raising / lowering operation in the case of being present is described. The order of priority is ascending, stopping, and descending.

When the set level of the operation tool for position control is gradually lowered while the ground work implement is at a high level, at this time, the position control system and the automatic plowing control system both output the descending control signal. Therefore, the ground work device is lowered.

When the ground work device descends to the target level of the working depth setter, the automatic working depth control system outputs a stop control signal, and the automatic working depth control system stops rather than the lowering control signal from the position control system. The control signal for control will be given priority, and the ground work device will stop at the target working depth level. After that, when the raising control signal is output from the automatic tilling depth control system, the signal is prioritized and the ground work device is raised.
Therefore, after descending to the target plowing depth level, the raising / lowering operation is performed based on the control signal from the automatic plowing depth control system, and as a result, the position control state is switched to the automatic plowing depth control state.

Further, if the position control operation tool is changed to a high level in such an automatic plowing depth control state, a raising control signal is output from the position control system, so that the automatic plowing depth control state is switched to the position control state. Of.

When the priority relationship is set to the opposite relationship, that is, when the priority order is descending, stopping, and ascending, the target level of the position control operation tool is set above the target working depth level. By doing so, the control state is switched by operating the setting level of the tilling depth setting device.

〔The invention's effect〕

Therefore, the control signal from the position control system and the control signal from the automatic plowing depth control system are controlled so as to judge the up-and-down operation state of the ground work device, so that the plowing operation is performed from the wheel level. Even in a field where the deep level is higher, the ground work device does not move up and down unnecessarily, and a smooth lifting control operation is performed, which can prevent harmful effects such as an unnecessary increase in engine load. A controller is obtained.

〔Example〕

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

As shown in FIG. 3, a lift arm (3) that swings up and down by the operation of a hydraulic cylinder (2) is provided at the rear part of a vehicle body (1) equipped with an engine (not shown), and A lever-type operation tool (5) for lifting and lowering the lift arm (3) is provided on the right side of the provided driver's seat (4), and the operation of the lift arm (3) is controlled on the upper surface of the rear fender (6). A control box (7) is provided to configure an agricultural tractor.

As shown in the figure, a rotary ground working device (9) is connected to the rear end of the vehicle body (1) through a three-point link mechanism (8) which is vertically controlled by the lift arm (3). The lift arm (3) is provided with a lift arm sensor (10) for detecting the level of the ground work device (9) with respect to the vehicle body from the swing angle thereof, and the ground work device (9) has the ground work device (9). The working device (9) is provided with a cover sensor (11) for detecting the working depth of the ground working device (9) from the swing angle of the rear cover (9a), and further, the operation tool (5) has an operation amount thereof. An operation tool sensor (12) for detecting the is provided.

As shown in FIG. 1, the control box (7) has a control means (C) including a microprocessor (CPU).
Also, a driver (14) that amplifies the output signal from this control means (C) and transmits it to the electromagnetic valve (13) for the hydraulic cylinder (2) is installed, and the working depth of the ground working device (C) is set. It is equipped with a dial (15). Also, the control means
(C) is an operation interface sensor (12), a lift arm sensor (10), a cover sensor (11), an input interface for inputting voltage signals from the working depth setting device (16) operated by the dial (15).
(17), a microprocessor (CPU), a memory (18) in which a program constituting a control program, a control state switching means (E) described later, and the like are set, and an output interface
Made of (19).

The control means (C) operates according to the flowchart shown in FIG.

That is, the control means (C) inputs signals from the operation tool sensor (12) and the lift arm sensor (10) when the lifting control device of the ground work device (9) is started (# 1 step). Calculate the control direction based on the signals from both sensors
(# 2 step).

The result obtained by this calculation is the elevation control direction of the ground work device (9) in position control.
(9) to continuously raise the electromagnetic valve (13) to raise it at high speed, and intermittently to drive the electromagnetic valve (13) intermittently to raise the ground work device (9) at low speed. Ascending, stopping to stop the driving of the electromagnetic valve (13) to stop the lifting control operation of the ground working device (9), and the electromagnetic valve (1) to lower the ground working device (9) at a low speed.
One of five states: intermittent descent that drives 3) intermittently and continuous descent that continuously drives the electromagnetic valve (13) to lower the ground work device (9) at high speed. If the control state selected in this way is continuously rising (# 3, # 4, # 5 steps), the microprocessor (C
The value (4) is held in the register (not shown) built into the PU), and the value (3) is held in the register if the selected control status is intermittent increase, and the selected control If the state is stopped, the numerical value "2" is held in the register, and similarly, if the selected control state is intermittent descent, the numerical value "1".
, And if it is a continuous decline, hold "0" in each register
(# 6, # 7, # 8, # 9, # 10 steps).

Incidentally, the elevation of the ground work device (9) is continuously raised and lowered when the ground work device (9) is largely separated from the control target level set by the operation tool (5), and, When the ground work device (9) is located in the area formed near the control target, intermittent elevation is performed, and when the ground work device (9) is located in a so-called dead zone based on the control target. Therefore, the lifting is stopped.

Next, signals from the tilling depth setter (16) and the cover sensor (9a) are input (# 11 step), and the control direction is calculated based on the signals from both of them (# 12 step).

The result obtained by this calculation is the ascending / descending direction of the ground work device (9) in the automatic plowing depth control. As with the position control described above, five types of control states are determined (# 13, # 14, #
15, step), if the selected control state continuously rises, the numerical value "4" is held in a register other than the above register, if it is an intermittent rise, the numerical value "3" is held, and if stopped, the value is "3". The register holds "2", the register holds "1" in case of intermittent falling, and the register holds "0" in case of continuous falling (# 16, # 17, # 18, # 19). , # 20 step).

Incidentally, these five kinds of control states are also determined by the amount of separation of the ground work device (9) with respect to the control target set by the tilling depth setting device (16) as in the position control described above.

Next, the magnitudes of the two numerical values held in the two registers are compared and calculated (# 21 step), and if the respective numerical values are equal in this calculation result (# 22 step), the compared numerical values are determined ( #twenty three
Step), if the value is “4”, the ground work device (9) is continuously raised, if the value is “3”, the ground work device (9) is raised intermittently, and if the value is “2”, the ground work device (9) is grounded. An electromagnetic valve to stop the lifting of the working device (9), intermittently lower the ground working device (9) if the value is "1", and continuously lower the ground working device (9) if the value is "0". Drive (13) (# 24, # 2
(5, # 26, # 27, # 28 steps).

If a large and small relationship is recognized by comparing two numerical values, the larger numerical value is determined (# 29 step), and if the large numerical value is "4", the ground work device (9) is continuously raised, If the value is "3", raise the ground work device (9) intermittently,
If the value is "2", the lifting and lowering of the ground working device (9) is stopped, and if the value is "1", the electromagnetic valve (13) is driven to intermittently lower the ground working device (9) (# 30, # 31, # 32, # 3
3, step).

In other words, by configuring the control system in this way,
When starting the automatic plowing depth control, move the operating tool (5) from the operating position on the high side (H) shown in FIG. 1 to the operating position on the low side.
By simply changing the setting to (L), the value "0" is output from the position control side in order to continuously lower the ground working device (9).
Even when (9) is descending, if a value of "0" or more is output from the automatic plowing depth control side, the ground working device (9) is moved up and down by a signal from this automatic plowing depth control side. Of.

In addition, when switching from the automatic plowing depth control state to the position control state, even if the work is in the middle, simply by operating the operation tool (5) in the direction of the operation position (H) on the higher side, the ground work can be performed. When the rear cover (9a) of the ground work device (9) is separated from the ground, the rear cover (9a) swings to the end on the lowering control side. A value "0" is output from this automatic tilling depth control side as described above, and as a result, the ground work device corresponding to the operation position of the operation tool (5).
Position control for raising and lowering (9) is performed.

The steps # 3 to # 10 are referred to as the control direction determining means (P) for position control, the steps # 13 to 20 are referred to as the control direction determining means (A) for automatic plowing depth control, and the steps # 21 and # 22. , # 23 and # 29 steps are referred to as control state switching means (E).

[Another embodiment]

In addition to the above-described embodiment, the present invention can set the priority relationship for control in the reverse direction, and when the reverse setting is made in this way, the mode is switched to the position control by setting the working depth setter on the rising side. Will be.

The present invention can be configured without using a microprocessor in the control system, and is provided with means for generating control voltage signals for rising, stopping, and descending in order to set the priority relationship of control. It is also possible to compare these voltage signals with a comparator or the like in order to determine the priority relationship.

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.
FIG. 3 is a block diagram showing the configuration of the lifting control device, FIG. 2 is a flow chart showing the operation of the control means, and FIG. 3 is a side view showing the rear part of the tractor. (1) …… Body, (5) …… Operating tool, (9) …… Ground work device,
(16) …… Plumage depth setting device, (E) …… Control state switching means.

Claims (2)

[Claims] 1. Position control for arbitrarily setting the level of the ground work device (9) relative to the vehicle body (1) corresponding to the operation position of the operation tool (5), and the operation position of the working depth setting device (16). Correspondingly, an elevating control device configured to be capable of elevating the ground working device (9) in each control state of automatic plowing depth control to arbitrarily set the level of the ground working device (9) with respect to the ground, Each of the control signal from the position control system and the control signal from the automatic plowing control system is composed of an ascending control signal, a stop control signal, and a descending control signal, and these control signals are compared with the descending control signal. The control signal for stop has priority and the control signal for rise has priority over the control signal for stop, or the control signal for stop has priority over the control signal for rise and falls for the control signal for stop. Set the control signal for use in a determinable state that gives priority to Together, performs lifting operation corresponding to the control signal of the preferential results of the determination of the priority order of the respective control signal in the state of being simultaneously actuated and a position control and automatic tilling depth control,
If the control signals are the same as each other, a lifting control device provided with control state switching means (E) for switching the control signals so as to perform lifting operation corresponding to the control signals. 2. A numerical value corresponding to each control signal of rising, stopping, and descending is used as a state for setting the priority relationship of the control signal of rising, stopping, and descending, and position control and automatic plowing depth control are used. When the control signals are simultaneously operated, the priority relationship of each control signal is determined by comparing the numerical values.If a magnitude relationship is recognized, the control corresponding to the larger value is performed. For example, the lifting control device according to claim 1, wherein the control state switching means (E) is configured to perform control corresponding to the numerical value.