JPH0821155B2 - Working unit control device of agricultural work machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a working unit control device provided in an agricultural working machine such as a tractor, a combine, a dryer, and a huller.

[Prior Art] As a conventional technology, a controller in which a plurality of detectors for controlling a working unit is connected to an input line and an actuator for controlling a working unit is connected to an output line is disclosed in JP-A-57-182806. A working unit control device for an agricultural working machine equipped with the device is disclosed in which a monitor circuit is connected to an output line of the controller. Incidentally, in this device, when an abnormal output is generated from the controller, the abnormal output is displayed on the monitor circuit.

[Problems to be Solved by the Invention] The monitor circuit of the above-described conventional device displays whether or not an abnormal output has occurred, and which one of a plurality of detectors connected to the input line of the controller is abnormal. It wasn't possible to check if something happened. Therefore, when repairing, a plurality of detectors had to be individually checked.

Further, if a plurality of dedicated monitors corresponding to each of the plurality of detectors are provided, the size of the entire monitor becomes large and the installation place is restricted.

[Means for Solving Problems] In order to solve the above problems, the present invention connects a plurality of detectors for controlling a working unit to an input line and connects an actuator for controlling a working unit to an output line. In a working unit control device of an agricultural work machine including the controller, a monitor is connected to an output line of the controller so that data of the plurality of detectors can be communicated between the monitor and the controller, and the communication is performed to the monitor. A working unit control device for an agricultural working machine is provided, in which a display unit for displaying data is provided and a data designating unit for designating data of the detector displayed on the display unit is provided.

[Operation] The working unit control device for an agricultural working machine according to the present invention communicates data of a plurality of working unit control detectors connected to an input line of a controller to a monitor connected to an output line of the controller, The data of the detector designated by the data designating means can be displayed on the display section of the monitor.

[Examples] The present invention will be specifically described below based on Examples shown in the drawings.

1 to 4 show an example of an agricultural work machine to which the present invention is applied.

This farming machine 1 is provided with a 3P link type coupling device (hereinafter referred to as a 3P hitch) 3 at the rear of the tractor main unit 2 and
A rotary cultivator 5, which is a working unit, is attached to the hitch.

The 3P hitch 3 has one top link 10 whose front ends are pivotally attached to the tractor unit 2 and a pair of left and right lower links.
A lift rod 14 and a lift rod cylinder 15, which are provided with 11, 11 'and are attached to the tips of the hydraulic lift arms 12, 12 of the tractor main unit 2, are connected to the intermediate portions of the lower links 11, 11'.

The rotary cultivator 5, which is the working unit of the farm work machine 1,
The upper end of the mounting frame 19 is connected to the rear end of the top link 10, and the lower part of the mounting frame 19 is connected to the rear ends of the lower links 11 and 11 'to be mounted on the 3P hitch 3.

The pair of left and right lift arms 12, 12 are attached to a hollow shaft 23 that is horizontally provided above the machine frame 22 of the tractor main unit 2. A drive arm 24 is integrally provided on the hollow shaft 23, and a piston rod 26a of a lifting hydraulic cylinder 26 is connected to the tip of the drive arm. This hydraulic cylinder 2
When 6 is extended, the lift arms 12 and 12 are swung up, and when retracted, the lift arms 12 and 12 are swung down.

Further, inside the hollow shaft 23, a rotary shaft 30 is provided so as to be rotatable with respect to the hollow shaft 23, and sensor arms 31, 31 ′ are provided at both left and right protruding ends of the rotary shaft 30. Each is integrated. A sensor rod 32 is attached to the lift rod 14 side (left side) sensor arm 31, and a cylinder type stroke sensor 33 is attached to the lift rod cylinder 20 side (right side) sensor arm 31 '. The lower ends of the sensor rod 32 and the stroke sensor 33 are connected to the lower links 11, 11 'at positions near the main body of the tractor.

Next, FIG. 5 is a diagram showing the configuration of the working unit control device 40 of this agricultural working machine. Control box 41 installed in the proper place of tractor main unit 2 or rotary cultivator 5
A controller 43 for serially inputting / outputting data over time and a connector 44 attached to the controller 43 are provided therein. The controller 43 includes an inclination sensor 46 that detects the inclination of the tractor main unit 2 in the left-right direction,
A lift arm angle sensor 47 for detecting the amount of rotation of the lift arms 12, 12, the stroke sensor 33, a draft sensor 49 for detecting the load applied to the top link 10, a depth sensor 50 for detecting the working depth of the rotary tiller 5, and a lift arm. 12
Upper limit detection sensor 51 for detecting that the rotary arm has been rotated to just before the upper limit position in the mechanically rotatable range, a position lever 53 for setting the vertical position of the lift arm 12, and a horizontal direction of the rotary cultivator 5, which is a working unit. The inclination angle setting device 54 for setting the inclination degree (eg horizontal), the working depth setting device 55 for setting the working depth of the rotary tiller 5, and the upper limit setting device 56 for setting the upper limit of rotation of the lift arm 12 are connected. The proportional solenoid valve 58 for rolling and the proportional solenoid valve for lifting are processed by processing the data supplied from these.
Send a command signal to 59. In the figure, 60 is a manual switch for lifting the lift arm, and 61 is a sensitivity changeover switch. A monitor 63 installed outside the control box 41 is connected to the connector 44. The connection of the monitor 63 to the connector 44 can be freely attached and detached, and another monitor, a microcomputer or the like can be connected instead.

The data supplied to the controller 43 from the various setting devices and sensors (detectors) are transmitted to the monitor 63 as a serial signal together with a clock signal. As shown in FIG. 6, the serial signal A is transferred bit by bit on the clock signal B. The serial signal A transferred to the monitor 63 is input to the CPU 65 via the photocoupler 64. When the operator specifies desired data (setting value, sensor value) with the monitor switch 67, the data is converted into an appropriate numerical value and displayed on the display unit 68.

Further, the monitor 63 is provided with an alarm buzzer 70, for example, when the tilt sensor 46 exceeds ± 20 degrees, an alarm is sounded to display the tilt, and the manual lift switch 60 is lowered to lift the arm while working. When the detection value of the angle sensor 47 rises to the upper limit set value, the lift arm angle is displayed and an alarm is sounded.
Further, when the lift arms 12, 12 are lowered to the set position of the position lever 53 during work by the draft control and the depth control, the lift arm angle is displayed and an alarm is sounded. In the case of the control system of this example, the setting by the position lever 52 is given the highest priority, and the lift arms 12, 12 do not lower below this set value. That is, the buzzer informs that the automatic control (draft control, depth control) does not work any more.

When transmitting the transmission data as 30-byte information, the transmission format is as shown in Table 1, for example.

In this way, the working unit control device 40 is a controller
Since a detachable monitor 63 is provided separately from 43,
The controller box 41 accommodating the controller is small, and its installation location can be selected relatively freely. Further, the monitor 63 may be installed anywhere, for example, if it is provided in the cockpit, the data value at that time can be checked at any time during work, and appropriate control can be performed.

Next, FIG. 8 shows a different embodiment. This working unit control device 80 is provided with a tilt control controller 81 and a lifting control controller 82 separately. The controller 81 has a tilt control sensor and a setting device, and the controller 82 has a lifting control. Sensors, setting devices, etc. are connected as shown in the figure. Then, based on the data input from now on, the controller 81 issues an output command to the rolling valve 58, and the controller 81 issues an output command to the lifting valve 59. Similar to the previous example, these controllers 81 and 82 are also provided with connectors 84 and 85, respectively, through which data is transmitted to the monitor 63 '. The data is transmitted to the monitor 63 '.
The monitor 63 'is provided with a changeover switch 87 so that the operator can select and receive the tilt control data and the elevation control data.

In this example, the tractor provided with the cultivator as the working unit is taken up and the controller for the tilt control in the left-right direction and the lifting control of the cultivator has been described, but the same applies to other agricultural working machines, and each working unit is the same. By providing the control controller with a connector, necessary data can be transmitted to an external monitor. Further, it goes without saying that the communication between the controller and the monitor may be performed not only by the serial signal as in the above embodiment but also by the parallel signal.

[Advantages of the Invention] As described above, in the working unit control device for an agricultural working machine according to the present invention, a plurality of detectors for controlling the working unit are connected to the input line, and an actuator for controlling the working unit is connected to the output line. In a working unit control device of an agricultural machine equipped with a controller, a monitor is connected to an output line of the controller so that data of the plurality of detectors can be communicated between the monitor and the controller, and the communication data can be sent to the monitor. With a display unit for displaying, and a data designating unit for designating the detector data displayed on the display unit, this monitor can check a plurality of detectors connected to the input line of the controller. In addition, the size of the monitor can be reduced by displaying the data of the detector on the display unit of the monitor as designated by the data designating means.
The monitor can be installed easily.

[Brief description of drawings]

FIG. 1 is a side view of an agricultural working machine equipped with the present invention, FIG. 2 is a perspective view of essential parts, FIG. 3 is a plan view thereof, FIG. 4 is a side view thereof, and FIGS. FIG. 6 is a block diagram of a different work unit control device, FIG. 6 is an explanatory diagram showing waveforms of a serial signal and a clock signal, and FIG. 7 is an external view of a monitor. 1 …… Agricultural work machine 2 …… Tractor 3 …… 3P link hitch 5 …… Rotary tiller (working section) 40,80 …… Working section control device 43,81,82 …… Controller 44,84,85 …… Connector 63,63 ′ …… Monitor

Claims (1)

[Claims] 1. A working unit control device for an agricultural working machine, comprising a controller in which a plurality of detectors for controlling a working unit are connected to an input line and an actuator for controlling a working unit is connected to an output line. The monitor is connected to the line so that the data of the plurality of detectors can be communicated between the monitor and the controller, and a display section for displaying the communication data is provided on the monitor, and the detection is displayed on the display section. A working unit control device for an agricultural working machine, which is provided with a data designating means for designating data of the container.