JPH084402B2 - Ground work machine lifting control - Google Patents

Description

TECHNICAL FIELD The present invention relates to a lifting control device for a ground work machine such as a rotary tiller connected to a tractor, and is based on an operating lever for setting a tilling depth set value or the like. It is intended to provide an elevating control device configured such that the rate of change of set value can be changed according to the operation range of the operation lever.

[Prior Art] For example, in a power farming machine such as a tractor, a position control that controls the elevation height of another working machine, a plowing depth (depth) control that changes the plowing depth, and a draft that adjusts the pulling resistance of the plow. There are controls, etc., and their sizes are arbitrarily set by operating tools such as operating levers and operating dials.

In this case, the magnitude of the set value corresponding to the operation amount of these operation tools, in other words, the set value change rate is usually set to be uniform over the entire operation area of the operation tool.

[Problems to be Solved by the Invention] However, when the ground working machine is at a low position, for example, when performing leveling work, it is necessary to slightly move the work position to perform precise vertical adjustment. In order to perform the operation accurately, it is desirable that the vertical change of the working unit is small with respect to the operation amount of the operation tool. Conversely, when the work implement is at a relatively high position, for example, when performing rough work, it is preferable to be able to adjust relatively coarsely, and the set value changes greatly with respect to the operation amount of the operation tool, and the set value is sensitive. Need to be adjustable.

However, the conventional operating tool cannot meet the above-mentioned demand because the rate of change in the set value is configured uniformly over the entire operation area.

As a related document, there is one described in Japanese Examined Patent Publication (Kokoku) No. 58-5001, but the one described in this publication is for adjusting the mowing height of the mowing part of the combine, and the There was only one change pattern of the elevation amount of the cutting unit with respect to the operation amount per unit.

This is because there was no need to replace the reaping section with respect to the combine body having the traveling section.

[Means for Solving the Problem] The present invention provides a device capable of controlling the lifting and lowering of a working machine with an ideal set value change rate pattern when properly using a plurality of types of ground working machines according to the work purpose. Therefore, the present invention has taken the following technical means.

That is, the ground work machine is connected to the tractor via the work machine connection link mechanism, is vertically movable by the hydraulic lifting mechanism, and is configured to electrically control the ground work machine to the position set by the operation tool. In a lifting control device for a ground work machine, a lifting control device for a ground work machine is provided, in which a plurality of rate-of-change patterns of a set value for the unit operation amount of the operation tool are provided and a switching mechanism for the rate-of-change patterns is provided. It is a thing.

[Operation] The set value change rate of the set value for the unit operation amount of the operation tool is changed by the switching operation of the switching mechanism, and the set value is finely set for the operation amount of the operation tool according to the operation range of the operation tool, for example, on the descending side. In addition to the adjustable settings, it is also possible to make large adjustments on the ascending side, which is convenient for vertical operation of the ground work machine.

[Embodiment] Next, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 2, a rotary tiller, which is an example of a ground work machine 2, is attached to a rear portion of the tractor 1 to a pair of left and right lift arms 3 and 3 and is vertically swung via left and right lift rods 4 and 4. Are connected by a working machine connecting link mechanism 7 including lower links 5 and 5 and a top link 6 at the center upper part, and the working machine connecting link mechanism 7 connects the lift arms 3 and 3 by a lift cylinder 8 using hydraulic pressure. The hydraulic lifting mechanism 9 for lifting and lowering makes the lifting operation.

An operation cover as an operation tool that is provided so that it can be rotated.
Setting device I, which is formed of 10 such as a volume
Of the ground work machine 2 by connecting the voltage set by the operation of the operation lever 10 to the control unit 12 configured by a microcomputer such as a microcomputer via the A / D converter 11. The detection axis of the height sensor S ₁ formed by a potentiometer or the like for detecting the height is connected to the lift arm 3 and the detection axis of the depth sensor S ₂ formed by the potentiometer for detecting the working depth. Of the rear cover 13 slidingly contacting the ground surface by a rotational movement
Thrust detector 15 attached to the top link 6 with the detection needle of the tilling resistance sensor S ₃ that is connected to 14 and is formed by a linear movement type potentiometer to detect the tilling resistance.
The height sensor S ₁ , the plowing depth sensor S ₂ , and the tilling resistance sensor S ₃ are all connected to the control unit 12, and the changeover needle 16a of the mode changeover switch 16 is connected to the height control position 17, the plowing depth. Control position 1
8 or the tilling resistance control position 19, the set value by the setter I is set to the height set value, the plowing depth set value,
Alternatively, at the same time as switching to any of the tilling resistance set values, the detection value of any of the height sensor S ₁ , the tilling depth sensor S ₂ , and the tilling resistance sensor S ₃ is actually input to the control unit 12. Is configured.

The control command of the control unit 12 is amplified by the ascending drive unit 20 or the descending drive unit 21 connected to the output side thereof, and the ascending solenoid valve 22 or the descending solenoid valve 23 is turned on or off. The pressure oil of the hydraulic pump 24 is supplied to the lift cylinder 8 to raise the lift arm 3,
Alternatively, the hydraulic oil in the lift cylinder 8 is discharged to lower the lift arm 3.

On the other hand, the change rate of the set value actuation amount by the operation lever 10 is divided into change rate patterns corresponding to the work types to set a plurality of patterns. In this embodiment, three change rate patterns are set, and an entire area H, a partial enlargement operation area A, and a partial enlargement operation area B are provided. Each of these patterns is switched by the switching mechanism 25. That is, the switching mechanism 25
The change rate of the set value operation amount by the operation of the operating lever 10 can be adjusted by switching the switching needle 25a of each of the above patterns. When the adjustment dial 25b of the switching mechanism 25 is placed in the entire area H, the rate of change of the set value becomes uniform over the entire operation area of the operation lever 10.
Whatever region the operating lever 10 is operated in, the amount of elevation per unit is constant.

When the adjustment dial 25b is placed in the operation range A where the ground work implement 2 is controlled to a high position, the operation lever 1
The change rate of the set value with respect to the operation amount of the operation lever 10 over the operation range A of 0, that is, the change rate of the set value is set to be larger than that in the case of the above entire range H. Therefore, if the operation lever 10 is moved back and forth within the operation range A, the lift arm 3 can be largely rotated at a high position. Further, when the adjustment dial 25b is placed in the operation range B where the ground work implement 2 is controlled at a low position, the set value change rate over the operation range B of the operation lever 10 is more than that in the case of the above whole range H. Is configured to be small.

The operating ranges A and B by the operating lever 10 correspond to the operating ranges a and b of the lift arm 3 as shown in FIG. 3C, and the operating ranges a and b of the rear cover 13 as shown in FIG. .

Each of the operating ranges A and B and the operating ranges a and b is provided with a slight lap allowance, and in the lap allowance range, the set value change rates of the respective operating ranges A and B are controlled to average values. With this configuration, the rapid change in the set value change rate near the boundary is eliminated.

EFFECTS OF THE INVENTION The lifting control device for a ground work machine according to the present invention is configured as described above, and changes the set value change rate of the set value with respect to the unit operation amount of the operation tool by the switching operation of the switching mechanism. Since it can be electrically changed according to the operation range of the operation tool, the set value can be finely adjusted or set to the operation amount of the operation tool according to the work type, or the set value can be greatly adjusted. Perform leveling work that requires vertical adjustment, or perform vertical operation of the ground work machine during roughing work that performs rough vertical adjustment with the accuracy suitable for each work by switching the set value change rate of the operation tool. It became possible to do.

Moreover, the rate of change of the set value can be electrically set, and since the switching itself does not involve a troublesome mechanical change, the switching operation is easy and the configuration of the device can be simplified. .

[Brief description of drawings]

FIG. 1 is a control circuit diagram, FIG. 2 is a side view of a tractor, and FIG.
FIG. 1A is a side view of the operating lever, FIG. 3B is a front view of the adjustment dial, FIG. 3C is a side view of the lift arm, and FIG. 3D is a side view of the rear cover. Explanation of code 1 …… Tractor 2 …… Ground work machine 7 …… Work machine connecting link mechanism 9 …… Hydraulic lifting mechanism 10 …… Operating tool (operating lever) 12 …… Control unit 25 …… Switching mechanism

Continuation of the front page (56) Reference JP 54-35008 (JP, A) JP 52-134983 (JP, A) JP 62-44104 (JP, A) JP 55-148001 (JP , A) JP 54-24708 (JP, A) Actually open 59-175313 (JP, U) Actually open 61-148104 (JP, U) JP-B 58-5001 (JP, B2)

Claims (1)

[Claims] 1. A ground work machine is connected to a tractor via a work machine connection link mechanism, is vertically movable by a hydraulic lifting mechanism, and electrically controls the ground work machine to a position set by an operating tool. In a lifting control device for a ground work machine configured as described above, a plurality of rate change patterns of a set value for a unit operation amount of the operating tool are provided, and a lifting control for the ground work machine including a changeover mechanism of the change rate patterns. apparatus.