JPS62155002A - Safety apparatus in automatic controller for agricultural working machine - Google Patents
Safety apparatus in automatic controller for agricultural working machineInfo
- Publication number
- JPS62155002A JPS62155002A JP29561485A JP29561485A JPS62155002A JP S62155002 A JPS62155002 A JP S62155002A JP 29561485 A JP29561485 A JP 29561485A JP 29561485 A JP29561485 A JP 29561485A JP S62155002 A JPS62155002 A JP S62155002A
- Authority
- JP
- Japan
- Prior art keywords
- circuit
- control device
- solenoid valve
- valve drive
- working machine
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 14
- 230000005856 abnormality Effects 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
Ｑ産業上の利用分野
本発明は、センサ、設定器よりの信号を入力して作業機
昇降機構の電磁弁への駆動信号の出力を制御するための
制御装置を有する農用作業機自動制御装置（作業機姿勢
制御機構２作業機昇降制御ａｍ＞における安全装置に関
するものである。Detailed Description of the Invention Q: Industrial Field of Application The present invention has a control device for controlling the output of a drive signal to a solenoid valve of a working machine lifting mechanism by inputting signals from a sensor and a setting device. This invention relates to a safety device in an automatic agricultural work machine control device (work machine attitude control mechanism 2 work machine elevation control am).
Ｏ従来の技術
農用作業機自動制御装置における安全装置としては、実
開昭６０−８５１０７号「農用トラクター装菅作業機の
自動制御装置」が公知である。O Conventional technology As a safety device for an automatic control device for an agricultural working machine, Japanese Utility Model Application No. 60-85107 ``Automatic control device for an agricultural tractor-equipped working machine'' is known.
上記の公知技術においては、結線不良による制御回路の
動作不良に際し自動的に警報を発生させるところの自動
制御袋てを開示している。The above-mentioned known technology discloses an automatic control bag that automatically issues an alarm when a control circuit malfunctions due to poor wiring.
Ｏ発明が解決すべき問題点
上記の公知技術においては、警報発生のみであって、安
全対策としては不十分である。O Problems to be Solved by the Invention The above-mentioned known technology only generates an alarm, and is insufficient as a safety measure.
また、農用作業機姿勢制御装置においては、作業機の位
置窓めを上昇位置または下降位置のいずれかに固定され
るため、非常に危険な状態を生じるおそれがある。Furthermore, in the agricultural work machine attitude control device, the position window of the work machine is fixed at either the raised position or the lowered position, which may create a very dangerous situation.
Ｑ問題点を解決するための手段
本発明は、農用作業機自動制御装着の制御装置（６）に
、センサ（１）、設定器（２）よりの信号入力が設定範
囲外の値であるとき電磁弁駆動回路（４）からの電磁弁
駆動信号を停止させるべく制御するための異常検出安全
動作回路（１０）を設ける。QMeans for Solving Problems The present invention provides a control device (6) attached to an automatic control device for an agricultural working machine, when the signal input from the sensor (1) and the setting device (2) is a value outside the setting range. An abnormality detection safety operation circuit (10) is provided for controlling the electromagnetic valve drive signal from the electromagnetic valve drive circuit (4) so as to stop it.
０作 用
センサ（１）、設定器（２）と制御装置（６）との間の
接続線の断線やコネクタ接続不良に際し、制御装置への
入力信号の値は設定範囲外となり、異常検出安全動作回
路（１０）が動作し、電磁弁駆動回路（４）よりの電磁
弁駆動信号は停止する。よって、作業機昇降用電磁弁（
５）により制御される油圧式作業機昇降装置の油圧シリ
ンダーは直前の動作位置にロックさせる。0 action When the connection wire between the sensor (1), the setting device (2), and the control device (6) is disconnected or the connector is poorly connected, the value of the input signal to the control device will be outside the setting range, and the abnormality detection safety The operating circuit (10) operates, and the electromagnetic valve drive signal from the electromagnetic valve drive circuit (4) stops. Therefore, the solenoid valve for lifting and lowering the work equipment (
5) The hydraulic cylinder of the hydraulic work machine lifting device controlled by 5) is locked at the previous operating position.
Ｏ実施例
第１図に示す第１実施例においては、制御装置（６）は
、センサ（作業機ポジションセンサ）（１）と設定器（
作業機対本機位置設定機）（２）とが接続される比較回
路（３）と、作業機昇降用電磁弁（５）に接続される電
磁弁駆動回路（４）とを含み、比較回路（３）の出力結
果により電磁弁駆動回路（４）の動作を制御すべく構成
されている。O Example In the first example shown in FIG. 1, the control device (6) includes a sensor (work equipment position sensor) (1) and a setting device (
The comparison circuit includes a comparison circuit (3) to which the work machine to main machine position setting machine) (2) is connected, and a solenoid valve drive circuit (4) connected to the work machine lifting solenoid valve (5). It is configured to control the operation of the electromagnetic valve drive circuit (4) based on the output result of (3).
本発明の実施にあたり、上記の制御装置（６）において
、センサ（１）および設定器（２）と比較回路（３）の
それぞれの入力端子にそれぞれ異常電圧検出回路（１１
）（１１）を挿入し、電磁弁駆動回路（４）よりの電磁
弁駆動信号を停止させるべく電磁弁駆動回路（４）を制
御する電磁弁駆動動作停止回路（１２）を設け、設定電
圧範囲外の値の入力信号にもとづき異常電圧検出回路（
１１）より制御信号を出力させ、該制御信号で電磁弁駆
動動作停止回路（１２）を作動させて、異常検出安全動
作回路（１０）を構成する。In carrying out the present invention, in the above control device (6), the abnormal voltage detection circuit (11
) (11), and a solenoid valve drive operation stop circuit (12) that controls the solenoid valve drive circuit (4) to stop the solenoid valve drive signal from the solenoid valve drive circuit (4) is installed. The abnormal voltage detection circuit (
11) outputs a control signal, and the control signal operates the electromagnetic valve drive operation stop circuit (12), thereby forming an abnormality detection safe operation circuit (10).
油圧式昇降装置（９）は、本機と作業機とを連結すると
ともに本機に対し作業機を昇降操作するためのリフトア
ーム（７）を回動させるためのリフトシリンダ（８）を
有する油圧制御機構を含み、第２図に示すごとく、作業
機昇降用電磁弁（５）およびスローリターン・ストップ
バルブ（１８）の他に、油圧ポンプ（１３） 、チョー
ク弁（１４） 、リリーフバルブ（１５）およびセフテ
ィバルブ（１６）を含んでいる。第２図において、（１
７）はロワーリンクである。The hydraulic lifting device (9) is a hydraulic lifting device (9) that connects the machine and the work equipment and has a lift cylinder (8) for rotating a lift arm (7) for raising and lowering the work equipment with respect to the machine. It includes a control mechanism, as shown in Fig. 2, in addition to a solenoid valve (5) for lifting and lowering the work equipment and a slow return stop valve (18), a hydraulic pump (13), a choke valve (14), and a relief valve (15). ) and a safety valve (16). In Figure 2, (1
7) is the lower link.
第３図に示す第２実施例においては、制ＢＵ ’ｔ％置
（６）の比較回路（３）をマイコンにより機能させるも
のであり、アナログスイッチ（２１）、 Ｓ／Ｈ回路（
２２）、 Ａ／Ｄ変換器（２３） 、センサ信号と設定
値信号との比較演算機能（３′）を有するワンチップマ
イコン（２４）、電磁弁駆動回路（２５）を有するコン
トローラ（２０）をもって制御装置（６）を構成する〔
なお、ワンチップマイコン（２４）のプログラムにより
電磁弁駆動回路としての機能をワンチップマイコン（２
４）にもたせた場合は、ワンチップマイコン（２４）の
出力信号が作業機昇降用電磁弁（昇降作動体）（５）に
供給される〕。In the second embodiment shown in FIG. 3, the comparison circuit (3) of the control BU 't% position (6) is operated by a microcomputer, and the analog switch (21) and the S/H circuit (
22), an A/D converter (23), a one-chip microcomputer (24) having a comparison calculation function (3') between a sensor signal and a set value signal, and a controller (20) having a solenoid valve drive circuit (25). Configure the control device (6) [
In addition, the function as a solenoid valve drive circuit is controlled by the program of the one-chip microcomputer (24).
4), the output signal of the one-chip microcomputer (24) is supplied to the solenoid valve for lifting and lowering the working machine (lifting actuator) (5).
また、センサ（１）は、作業機ポジションセンサ（ｌａ
） 、耕深センサ（１ｂ）・・・・・・と複数個とし、
設定器（２）は、作業機対本機位置設定器（２ａ） 、
作業機耕深量設定器（２ｂ）・・・・・・と複数個とし
て、ワンチップマイコン（２４）よりアナログスイッチ
（２１）にセンサ設定器選択信号を送り、作業機姿勢制
御の他に耕深制御等を選択自在とした。Further, the sensor (1) is a work equipment position sensor (la
), plowing depth sensor (1b)... and a plurality of them,
The setting device (2) is a work machine to machine position setting device (2a),
A sensor setting device selection signal is sent from the one-chip microcomputer (24) to the analog switch (21) as a plurality of work machine plowing depth setting devices (2b), etc., to control the plowing depth in addition to the work machine posture control. Control etc. can be selected freely.
上記のマイコンを含む制御装置（コントローラ）（６）
において、アナログスイッチ（２１）の入力端子ＣＨＩ
、ＣＨ２・・・・・・ＣＨｎとセンサ（１）、設定器の
検出端子との間に、図示の抵抗、コンデンサ回路を接続
して入力端子ＣＨＩ、ＣＨ２・・・・・・ＣＨｎの電圧
Ｖｔ＋＋を、第５図のごとく、正常状態でＱ＜ＶＢ＋＜
Ｖｃとし、第４図に示すフローチャートの機能をワンチ
ップマイコン（２４）にプログラムして異常電圧検出回
路（１１）としての機能と電磁弁駆動動作停止回路（１
２）としての機能とをワンチップマイコン（２４）に具
備させて、異常検出安全動作回路（１０）として機能さ
せるものである。Control device (controller) including the above microcomputer (6)
, the input terminal CHI of the analog switch (21)
, CH2...CHn and the sensor (1), the detection terminal of the setting device is connected with the resistor and capacitor circuit shown in the figure to adjust the voltage Vt++ of the input terminals CHI, CH2...CHn. As shown in Figure 5, under normal conditions Q<VB+<
Vc, and the functions shown in the flowchart shown in Fig. 4 are programmed into the one-chip microcomputer (24) to function as an abnormal voltage detection circuit (11) and a solenoid valve drive operation stop circuit (1).
The one-chip microcomputer (24) is equipped with the function 2) and functions as an abnormality detection safe operation circuit (10).
即ち、Ａ／Ｄ変換器（２３）より入力値がＱ＜ＶＢ＋＜
Ｖ ｃに対応する場合は、通常のメインプログラムに
より作業機姿勢制御、作業機昇降制御を行い、作業機は
上昇または下降を制御される。That is, the input value from the A/D converter (23) is Q<VB+<
In the case of corresponding to Vc, work machine posture control and work machine elevation control are performed by a normal main program, and the work machine is controlled to ascend or descend.
第３図の（イ）（ロ）個所における断線により入力電圧
が０（Ｖ）に下がった場合、第３図の（ハ）個所におけ
る断線によりＶｃ（Ｖ）に上昇した場合には、０＜ＶＩ
Ｎ＜ＶＣの設定範囲外となるので、安全動作プログラム
が実施されることとなる。安全動作プログラムは、電磁
弁駆動回路（４）への制御出力を停止するか電磁弁駆動
回路（４）からの出力を停止させるべく作用し、作業機
昇降用電磁弁（５）をロック状態とする。よって、作業
機は異常検出時の姿勢、位置に固定されることとなる。If the input voltage drops to 0 (V) due to a disconnection at locations (a) and (b) in Figure 3, and if it rises to Vc (V) due to a disconnection at location (c) in Figure 3, 0< VI
Since it is outside the setting range of N<VC, a safe operation program will be executed. The safety operation program acts to stop the control output to the solenoid valve drive circuit (4) or stop the output from the solenoid valve drive circuit (4), and locks the work equipment lifting solenoid valve (5). do. Therefore, the working machine is fixed in the posture and position at the time of abnormality detection.
なお、安全動作プログラムに異常状態の表示。In addition, abnormal conditions are displayed in the safety operation program.
警報ブザーの作動等の駆動プログラムを含ませた場合に
は、上述の異常検出による作業機のロック状態の発生と
同時に警報表示が行われる。When a drive program such as activation of an alarm buzzer is included, an alarm is displayed at the same time as the lock state of the working machine occurs due to the above-mentioned abnormality detection.
Ｏ発明の効果
本発明は、センサ、設定器と制御装置との間の配線経路
中の断線（ハーネス断）、コネクター接続不良、短絡等
の事故発生に際し、作業機を自動的にロック状態とし、
上昇側、下降側への異常動作を防止し、作業者の安全を
はかる効果があり、作業者に安心感を与え、商品価値を
高めるものである。Effects of the Invention The present invention automatically locks the work machine in the event of an accident such as a disconnection in the wiring path between the sensor, setting device, and control device (harness disconnection), poor connector connection, or short circuit.
It has the effect of preventing abnormal movement on the ascending and descending sides and ensuring the safety of the workers, giving the workers a sense of security and increasing the product value.
第１図は、本発明の第１実施例を実施した農用作業様姿
勢制御装置の大要を示すブロック図である。
第２図は、油圧式昇降装置の油圧回路図である。
第３図は、本発明の第２実施例を実施した農用作業機姿
勢制御装着の大要を示すブロック図である。第４図は、
本発明の要部である異常検出安全動作回路としてのマイ
コンの機能を示すフローチャートである。第５図は、異
常発生個所と入力信号電圧との関係を示す表である。
１・・・用センサ
２・・・・・・設定器
３・・・・・・比較回路
４・・・・・・電磁弁駆動回路
５・・・・・・作業機昇降用電磁弁
６・・・・・・制御装置
１０・・・・・・異常検出安全動作回路出願人 （５
１６）セイレイ工業株式会社代理人 弁理士 奥
村 文 雄
第５図
正中値 （：’ ＜ ％ ＜ ”；１
第４図
業FIG. 1 is a block diagram showing the outline of an agricultural work posture control device implementing a first embodiment of the present invention. FIG. 2 is a hydraulic circuit diagram of the hydraulic lifting device. FIG. 3 is a block diagram showing an outline of the attitude control attachment of an agricultural working machine according to the second embodiment of the present invention. Figure 4 shows
2 is a flowchart showing the function of a microcomputer as an abnormality detection safe operation circuit, which is a main part of the present invention. FIG. 5 is a table showing the relationship between the location where an abnormality occurs and the input signal voltage. 1... Sensor 2... Setting device 3... Comparison circuit 4... Solenoid valve drive circuit 5... Solenoid valve for lifting and lowering work equipment 6. ...Control device 10...Abnormality detection safe operation circuit Applicant (5
16) Patent attorney Oku, agent of Seirei Industries Co., Ltd.
Fumi Mura Fig. 5 median value (:'< % <”;1 Fig. 4
Claims (1)
定信号とを比較する比較回路（３）と、該比較回路（３
）の出力結果にもとづいて制御され作業機昇降用電磁弁
（５）の動作制御を行うところの電磁弁駆動回路（４）
とを含む制御装置（６）を有する農用作業機自動制御装
置において；上記制御装置（６）に、センサ（１）、設
定器（２）よりの信号入力が設定範囲外の値であるとき
電磁弁駆動回路（４）からの電磁弁駆動信号を停止させ
るべく制御するための異常検出安全動作回路（１０）を
設けたことを特徴とする安全装置。a comparison circuit (3) that compares the detection signal from the sensor (1) and the setting signal from the setting device (2);
) is controlled based on the output results of the solenoid valve drive circuit (4) that controls the operation of the solenoid valve (5) for lifting and lowering the work equipment.
In an automatic control device for agricultural working machines having a control device (6) including a control device (6); A safety device characterized by being provided with an abnormality detection safety operation circuit (10) for controlling to stop the electromagnetic valve drive signal from the valve drive circuit (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29561485A JPS62155002A (en) | 1985-12-26 | 1985-12-26 | Safety apparatus in automatic controller for agricultural working machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29561485A JPS62155002A (en) | 1985-12-26 | 1985-12-26 | Safety apparatus in automatic controller for agricultural working machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS62155002A true JPS62155002A (en) | 1987-07-10 |
Family
ID=17822905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29561485A Pending JPS62155002A (en) | 1985-12-26 | 1985-12-26 | Safety apparatus in automatic controller for agricultural working machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62155002A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5882315A (en) * | 1981-11-10 | 1983-05-17 | Kubota Ltd | Controller for reaping height of reaping and harvesting machine |
| JPS6248305A (en) * | 1985-08-27 | 1987-03-03 | 石川島芝浦機械株式会社 | Abnormality detector of moving agricultural machine |
-
1985
- 1985-12-26 JP JP29561485A patent/JPS62155002A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5882315A (en) * | 1981-11-10 | 1983-05-17 | Kubota Ltd | Controller for reaping height of reaping and harvesting machine |
| JPS6248305A (en) * | 1985-08-27 | 1987-03-03 | 石川島芝浦機械株式会社 | Abnormality detector of moving agricultural machine |
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