JPH0441824A - Loader control device - Google Patents

Abstract

PURPOSE:To prevent misoperation by furnishing a load collapse prevention mode selecting means, a rising bucket restricting means to emit an output in conformity to a command of a lift arm, and a scoop restricting means to emit output or stop in conformity to the scoop command of the bucket. CONSTITUTION:A bucket 4 is mounted on a loader 1, wherein scooping and dumping of the bucket 4 are made by a bucket driving means 8 at the tip of a lift arm 3, and there a load collapse prevention mode selecting means 101, an at-rising bucket restricting means 102, and a scoop restricting means 103 are furnished. The bucket restricting means 102 is allowed to work in conformity to the rise command of the lift arm 3, wherein a judgment is placed whether the open face of the bucket 4 is situated on the dump side or the scoop side, and either a rise output or a rise/dump output is emitted. The scoop restricting means 103 is allowed to work in conformity to the scoop command of the bucket 4, and the scoop output is issued if on the dump side while output stop is made if on the scoop side. This prevents the bucket 4 from inclining to the car side.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a loader control device for an agricultural front loader or the like that is installed on a work vehicle such as a tractor.

[Conventional technology]

Agricultural front loaders have a bucket attached to the tip of a lift arm, and are generally operated manually, with a control lever controlling electromagnetic valves in the hydraulic system for driving the lift arm and the bucket. In other words, by adjusting the angle of the control lever on the switch box forward, backward, left and right, you can raise and lower the lift arm and dump the bucket.

Have them do things like scooping. It also has the ability to simultaneously lower and scoop, as well as raise and dump.

[Problem to be solved by the invention]

When raising the lift arm or scooping the bucket, the opening surface of the bucket may be inadvertently turned toward the work vehicle. If the opening of the bucket is directed toward the work vehicle in this manner, the cargo in the bucket may fall onto the work vehicle, staining the work vehicle, or causing a malfunction. It also lacks driver safety.

An object of the present invention is to provide a loader control device that can prevent the opening surface of a bucket from being erroneously tilted toward a work vehicle.

[Means to solve the problem]

The invention of claim (1) provides a loader control device for use in a loader in which a bucket driven by a bucket drive means for scooping and dumping is attached to the tip of a lift arm rotatably driven by an arm drive means, and includes the following: Each means is provided.

That is, as shown in FIG. 1(A), the cargo collapse prevention mode selection means (101) and the bucket regulation means (10
2) and a rake regulating means (103) are provided.

The rising bucket regulating means (102) determines whether the opening surface of the bucket is on the dump side or on the rake side with respect to a substantially horizontal predetermined angle in response to a lifting command of the lift arm. It is a means for outputting a lift when it is on the rake side, and a lift and dump output when it is on the rake side.

The rake regulating means (102) determines whether the opening surface of the bucket is on the dumper side or the rake side than a substantially horizontal predetermined angle in response to a rake command for the bucket, and when it is on the dumper side, the rake restrictor (102) This is a means for stopping the output when it is on the rake side.

The invention of claim (2) provides a loader control device for use in the loader, as shown in FIG. A rising scoop regulating means (106) is provided.

The opening surface angle determining means (105) responds to a lift scoop command for raising the lift arm and scooping the bucket, and determines whether the opening surface of the bucket is on the dump side or on the scoop side with respect to a substantially horizontal predetermined angle. This is a means of determining whether

The rising scoop regulating means (106) is the discriminating means (10).
In response to the determination result in step 5), if the vehicle is on the dump side, it raises and sends a scoop output, and when it is on the scoop side, it raises and dumps.

[For production]

According to the configuration of claim (1), when a lift command is given, the lift output is performed until the opening surface of the bucket reaches a predetermined angle where the bucket is approximately horizontal, and after reaching the predetermined angle, the lift and dump are performed simultaneously. Switch to the output you want to perform.

When a rake command is given, rake output is performed until the opening surface of the bucket reaches the predetermined angle where the opening surface is substantially horizontal, and when the rake reaches the predetermined angle, the rake is stopped.

According to the structure of claim (2), when a lift dump command is given, a lift output and a rake output are performed until the opening surface of the bucket reaches the predetermined angle where the opening surface is substantially horizontal, and after reaching the predetermined angle, Switch to rise/dump output.

[Embodiment] An embodiment of the present invention will be described based on FIGS. 1 to 7.

1) As shown in Figure 3, the loader l has a lift arm 3 attached to a base 2 so as to be rotatable up and down, and a bucket 4 attached to the tip of the lift arm 3.
It is equipped with a dump truck and a rake that can be rotated freely.
It is removably mounted on a work vehicle 5 such as a tractor via a base 2. An arm drive means 6 is provided between the base 2 and the lift arm 3, and a bucket drive means 8 is provided between the lift arm 3 and the bucket 4 via a link 7.

Each drive means 6, 8 consists of a double-acting hydraulic cylinder,
An arm sensor 35 and a bucket sensor 36 are attached to detect the angles of the lift arm 3 and bucket 4 based on the piston position.

FIG. 2 shows the loader control device. The control unit 9 is composed of a microcomputer, and a memory IJIO, an input/output port I10, an interrupt control means 1), etc. are connected to the central processing unit CPU via a bus. A switch box 30 having an operating lever 29 is connected to the input port of the human output port r10 via a ^/D converter, etc., and further connected to a mode switch group 32, a data input means group 33, and an arm sensor 35 of the loader 1. and the bucket sensor 36 are connected. The output boat of the input/output port 1) 0 is connected to the hydraulic control system 34 of the loader 1 and a notification means 46 such as a lamp or a buzzer.

In addition to the main program, various control means 13 to 22 consisting of subprograms of control sequences are written in the control program area 12 of the memory. In addition, wtm means (not shown) for giving commands to the hydraulic control system 34, such as raising and lowering the lift arm 3, scooping and dumping the bucket 4, in response to input from the switch box 30, is also written in the control program area 12. ing. memory 1
Among the control means 13 to 22 of 0, the load collapse prevention means 14
The raising scoop means 15 will be explained in detail later, and the remaining means 13, 16 to 22 will be explained briefly later.

Memo January 0 data area 23 includes storage area 2 that stores the set values of the upper and lower limit angular positions of lift arm 3.
4.25, a storage area 26 for arm automatic horizontal grounding limit which is the lowering limit position when the lift arm 3 is automatically horizontally grounded, and storage areas 27 and 28 for bucket offset and bucket squill limit.

The mode switch group 32 is a means for selecting each control means 13, 14, 16 to 22 in the control program area 12, and is represented by the reference numeral 41 in addition to an automatic horizontal grounding mode switch 39 and a load collapse prevention mode switch 40. Equipped with various mode switches.

The data input means group 33 is means for inputting each data to be input into the data area 23, and has a large number of data input means represented by reference numeral 43 in addition to the bucket offset input means 42. These input means 42 and 43 are composed of, for example, a volume that provides an analog signal of a voltage value, a ^/D converter that converts this voltage value into a digital value, or a numeric keypad, an input mode selection key, etc. .

The hydraulic control system 34 includes a solenoid valve with a direction switching function provided in the hydraulic path of the arm driving means 6, and a scoop and dump provided in the hydraulic path of the bucket driving means 8.

and a solenoid valve with a three-position switching function for speed-up dumping. Further, the hydraulic control system 34 is provided with an electromagnetic valve that connects the hydraulic paths of the arm driving means 6 and the bucket driving means 8 in series when dumping the bucket 4 and raising and lowering the lift arm 3 are performed simultaneously. . Further, the hydraulic #control system 34 includes a controller (not shown) that pulse-width modulates the output from the input/output port I10 of the control section 9 and outputs it to each of the electromagnetic valves.

The switch box 30 changes the resistance value of the variable resistor or the capacitance value of the variable capacitor by tilting the operating lever 29 from the neutral position, and outputs a voltage signal.As the tilt angle increases, the output voltage increases. The value becomes higher. The voltage signal is input to the input/output boat 10 via an A/D converter or the like. The variable resistors or variable capacitors are provided in the number corresponding to each position of the control lever 29, which will be explained next with reference to FIG. 4, and various control operation signals are outputted depending on the direction of inclination. The voltage value due to the inclination of the operating lever 29 can be adjusted by a sensitivity switching means 37 consisting of a variable resistor, a switch, or the like.

FIG. 4 shows the types of operations depending on the tilting direction of the operating lever 29 of the switch box 30. When the lever position selector switch 38 in FIG. 2 is turned on, each operation in FIG. Each operation shown in Figure (B) is performed. For example, when the lever position changeover switch 38 is in the ON state, when the operating lever 29 is tilted forward, an operating output is given to the solenoid valve terminal in the lowering direction of the lift arm, and when tilted diagonally forward and to the right, the operating output is applied in the lowering direction of the lift arm. is output to each solenoid valve terminal in the bucket dump direction. When the lever position changeover switch 38 is in the OFF state, as shown in FIG. 4(B),
When the operating lever 29 is pushed forward, the solenoid valve output for lowering and rake is obtained. In addition, FIG. 4(A).

In either case (B), when the operation lever 29 is tilted to the right more than a predetermined angle, the operation output of the speed-up dump shown in the rightmost column of the figure is obtained. Further, the output in the rightmost column is made effective only when the lever sensitivity switching means 37 is in the speed increasing position.

The lever position changeover switch 38 in FIG. 2 also serves as the upward rake regulation mode selection means 104 in FIG. will also be selected.

Next, the detailed functions of the cargo collapse prevention means 14 (FIG. 2) as well as the operation of this loader control device will be explained with reference to FIG. 5.

As will be explained in conjunction with FIGS. 5 and 6, this means 14 is such that when the lift arm 3 is raised and the bucket 4 is scooped, the opening surface 4b of the bucket 4 is lower than the ground 45 of the work vehicle 5 (FIG. 3). This is means for controlling the bucket so that it does not move to the side, and is composed of the rising bucket regulating means 102 and the rake regulating means 103 described above with reference to FIG. 1(A).

The case where the bucket is raised from the grounded state shown in FIG. 5(A) will be explained. Load collapse prevention mode switch 40 in Fig. 2
When the operating lever 29 is raised in the state where it is turned on, a lifting output is applied, and only the lift arm 3 is raised as shown in FIG. 5(B). As the lift arm 3 rises, the bucket 4 touches the ground 45 of the opening surface 4b.
The angle to the opening surface 4 changes as shown in FIG. 5(C).
When b becomes horizontal, the output is switched to lift/dump output. That is, the bucket 4 dumps while the lift arm 3 rises. In this way, because the switch is made to upward dumping,
Even if it is further raised as shown in Fig. 5 (D), the bucket 4
is prevented from being inclined toward the work vehicle 5 side with respect to the horizontal plane.

When the operating lever 29 is in the lower position, only the lift arm 3 is lowered regardless of the angle of the bucket 4.

When the operation lever 29 is in the rake position, the rake operation is performed from the state shown by the solid line to the state shown by the two-dot chain line in FIG. 6, that is, until the bucket 4 reaches the opening surface horizontal d. When the bucket 4 is located at the scoop side fle than the opening surface horizontal d as shown by the dashed line in FIG. Notification is performed using a lamp or a buzzer, which is the notification means 46.

In this way, even when the scoop operation is performed, the bucket 4
This prevents the load from tilting toward the work vehicle 5 side, and prevents the load from collapsing toward the work vehicle 5 side.

Next, details of the lifting scoop means 15 shown in FIG. 2 will be shown. This means 15 includes each means 1 described above with reference to FIG.
The control sequence consists of steps 04 to 106, and when the operating lever 29 is placed in the raise/squeeze position,
The basic control operation is to rake until the bucket opening surface is horizontal, and then switch to lifting and dumping. The switching state of the lever position changeover switch 38 shown in FIG. 2 is valid only when the arrangement shown in FIG. 4(A) is selected.

The control operation of the raising scoop means 15 will be explained with reference to FIG. As shown by the dashed line in Fig. 7(C), the bucket 4
is on the dumping side than the open surface horizontal d, it scoops to the open surface horizontal d, and after detecting the open surface horizontal d, lifts and dumps. Since the lifting/dumping mode is switched in this manner, the load is prevented from collapsing toward the work vehicle 5 side. After shifting to the lift dump operation, the position of the bucket 4 is not corrected, and when the lift arm 3 reaches the arm upper limit setting value, the operation is stopped.

As shown in FIG. 7(A), when the lift arm 3 is already at the upper limit of the arm and the bucket 4 is on the dump side with respect to the open surface horizontal d, it is scooped to the open surface horizontal d. When the lift arm 3 is at the upper limit of the arm and is closer to the rake than the open surface horizontal d, no operation is performed and the position of the bucket 4 is not corrected.

As shown in FIG. 7(B), when the lift arm 3 is at the lower limit of the arm, the 2
The rake is carried out to the maximum rake position indicated by the dotted chain line position f. When the maximum rake is reached, only the lift arm 3 is raised, and when the lift arm 3 is raised until the open surface becomes horizontal d, it switches to raising/dumping.

Note that even while the operation lever 29 is placed in the raising scoop and the operation is being performed, the set value of the arm upper limit can be changed by the data input means 43 (Fig. 2), and the arm upper limit can be determined based on the changed value. be exposed.

The bucket offset is appropriately set by the user depending on usage conditions, etc., and the horizontality of the bucket opening surface 4b is determined based on the value after the offset. Depending on the value of the bucket offset, when the arm is operated from the lower limit state, the operation changes as follows, for example.

If the offset is 0, it becomes Squirrel → Squirlimit - Rise - Rise and Danboo arm upper limit.

If the offset is 120°, the sequence is Squirrel → Squirtle limit → Rise/Danbu arm upper limit.

The case where the offset is +35° is the same as the case where the offset is 0.

In this manner, the bucket 4 is prevented from being erroneously tilted toward the work vehicle 5 even in the upward rake operation.

Next, the control operations of each control means 13, 16 to 22 in the control program area 12 of FIG. 2 will be briefly explained. The automatic horizontal grounding means 13 is a means for controlling the bottom surface of the bucket 4 so that it automatically becomes horizontal when the lift arm 3 is lowered and the bucket 4 is grounded. The automatic parallel lifting means 16 controls the bucket 4 to maintain a constant angle with respect to the ground when the lift arm 3 moves up and down. When the lift arm 3 and the bucket 4 are in a stopped state, the self-holding means 17 controls the lift arm 3 and the bucket 4 so that even if the elevation position or the bucket angle changes due to some fluctuation factor, the position before the change is maintained. The automatic return means 18 stores an arbitrary posture, and returns from another arbitrary posture to the previous memorized posture.

The buffer stop means 19 is connected to the lift arm 3 and the bucket 4.
This is a means of inserting a buffer stroke when the engine stops. The playback means 20 teaches an arbitrary movement and causes the movement to be repeated. Ascent position regulating means 21 and descending position regulating means 22
is means for limiting the upper and lower limits of the lift arm 3 to the values stored in the arm upper limit 24 and arm lower limit 25 of the data area 23.

In addition, in the above-mentioned embodiment, in each level judgment, the judgment standard was set to be accurate horizontal, but the judgment standard may be a predetermined angle inclined from the horizontal plane to some extent.

Further, in the above embodiment, the lever position changeover switch 3
8, the raising rake regulation mode selection means 104 is also used, but a dedicated mode switch may be provided.

Furthermore, in the above embodiment, the output of the switch box 30 of the operating lever 29 is always inputted to the control unit 9 consisting of a microcomputer, but it is simply
When lifting or lowering the pump, lowering the slide, etc., the output of the switch box 30 may be input directly to the hydraulic control system 34.

〔Effect of the invention〕

The loader control device of the invention according to claim (1) is provided with a bucket regulating means and a rake regulating means at the time of ascending, and when a rising command is given, when the opening surface of the bucket reaches a predetermined angle where the bucket is substantially horizontal, the ascending dump operation is performed. Since the rake is configured to stop when the opening surface of the bucket reaches a predetermined angle when the rake command is given and the rake command is given, there is no possibility of accidentally tilting the bucket toward the work vehicle during lifting and rake operations. This has the effect of preventing the load in the bucket from falling onto the work vehicle.

The loader control device according to the invention of claim (2) is provided with an opening surface angle determining means and a rising scoop regulating means, and when a rising scoop command is given, when the opening surface of the bucket reaches a predetermined approximately horizontal angle, the bucket is raised. Since the structure is configured to switch to the dump operation, the bucket is prevented from being erroneously tilted toward the work vehicle during the lifting rake operation, and there is an effect that the cargo in the bucket is prevented from falling toward the work vehicle.

[Brief explanation of the drawing]

1(A) and 1(B) are configuration explanatory diagrams of the invention of claim fl) and claim (2), respectively, FIG. 2 is a block diagram showing a loader control device according to an embodiment of the present invention, and FIG. Figure 4 is a side view showing the loader, Figure 4 is an explanatory diagram of the operating position of the operating lever, Figures 5 and 6 are explanatory diagrams of examples of its operation, and Figure 7 is also an illustration of the upward scooping mode. It is an explanatory diagram of control operation. l...Loader, 2...Base, 3...Lift arm, 4...Bucket, 5...Work vehicle, 6...Arm drive means, 8...Bucket drive means, 9 ... Control unit, 13... Load collapse prevention means, 15... Lifting scoop means, 29... Operating lever 30... Switch box, 34... Hydraulic control system, 38... Lever position Changeover switch, 40... Load collapse prevention mode switch, 101... Load collapse prevention mode selection means, 102...
・Ascending bucket regulating means, 103... Sake regulating means, 104... Rising rake regulating mode selection means, 10
5...Aperture surface determination means, 106-...Rising rake regulating hand diagram

Claims (2)

[Claims] (1) In a loader control device used for a loader in which a bucket driven by a bucket drive means for scooping and dumping is attached to the tip of a lift arm that is rotationally driven in the vertical direction by an arm drive means, a load collapse prevention mode is selected. Load collapse prevention mode selection means for selecting and canceling load collapse prevention mode selection means, and determining whether the opening surface of the bucket is on the dump side or the rake side from a predetermined substantially horizontal angle in response to a lifting command of the lift arm, and a rising bucket regulating means that outputs a rise when the bucket is on the rake side, and a rise and dump output when the bucket is on the rake side; A loader control device comprising: a rake regulating means that determines whether the loader is on the dumper side or the rake side, outputs the rake when the rake is on the dumper side, and stops the output when the rake is on the rake side. (2) In a loader control device used for a loader in which a bucket driven by a bucket drive means for scooping and dumping is attached to the tip of a lift arm that is rotatably driven in the lifting direction by an arm drive means, an upward rake regulation mode is selected. In response to the raising scoop regulation mode selection means for selecting and canceling the selection and the raising scoop command for raising the lift arm and scooping the bucket, the scoop determines whether the opening surface of the bucket is on the dumper side than a predetermined substantially horizontal angle. In response to the judgment result of this discrimination means on the dump side, if the opening angle is on the dump side, it outputs a rake and a lift, and when it is on the rake side, it outputs a lift and a dump. A loader control device comprising: a rising rake regulating means;