JPH02261302A - Tractor tiller - Google Patents

Abstract

PURPOSE:To prevent the waving phenomenon of tilled soil in the starting region of the tilling work by equipping a control mechanism for starting the tilling work at a set value to be shallower than a pre-set value and subsequently gradually bringing the set value close to the pre-set value. CONSTITUTION:Even when a working machine is moved downward and a rotation rotor 2 is driven, the rotation rotor 2 is immediately not transferred to a pre-set depth (a relative position to a rear cover 5) but gradually transferred to the pre-set depth. The tilled soil is gradually accumulated and a rear cover moves on the accumulated soil, thereby causing no waving phenomenon.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to controlling the tillage depth of a tiller in which a working machine for tilling the tiller is pulled by a tractor.

(Prior art) A tractor power tiller has a tractor main body 1 as shown in Fig. 1.
The work machine is towed by a working machine equipped with a rotating rotor 2 that excavates the soil. During tilling work using this tractor tiller, an appropriate sensor mechanism must be installed on the tractor body 1 and the working machine body 3 so that the depth of tilled soil remains constant, as well as a process for calculating and processing the detected values of the sensors. It has a section and controls the operation of a drive mechanism (lift arm) 4 that moves the work machine 3 up and down based on processing data from the processing section. Specifically, the work machine 3 is provided with a rear cover 5 in contact with the plowing surface in addition to the rotary rotor 2, and the rotary rotor 2
A sensor 7 is provided to detect the relative position of the rear cover 5, for example, the angle between the support arm 6 of the rotating rotor 2 and the rear cover 5,
The work machine 3 is operated so that the difference between the detected value of the sensor 7 and the set value appropriately set by the driver is always maintained within a predetermined error.
By moving the lift arm 4 up and down, the soil is always tilled to a constant depth from the surface.

In addition, in the above-mentioned control, in order to prevent a hypersensitive reaction of the lift arm 4 due to minute fluctuations in depth caused by the work machine 3 moving over the uneven surface of the cultivated soil, strength of resistance of the cultivated soil, etc., and other causes, It is also known that a so-called dead zone is provided in which the lift arm 4 is not operated within a certain range. The width of this dead zone may be constant regardless of the depth of the rotating rotor 2, or the width of the dead zone may be changed depending on the depth position of the rotating rotor 2.

Furthermore, a method has been proposed in which, in addition to having the above-mentioned control means, the operation of the drive mechanism at the start of work is slowed down so that the rotor does not dig into the soil at the start of work (Japanese Patent Application Laid-Open No. 137602/1983). (Refer to) (Problem to be Solved by the Invention) However, if the above-mentioned tilling depth control means by maintaining the relative positions of the rotating rotor 2 and the rear cover 5 is adopted, especially when starting tilling from uncultivated land, The tillage on one side becomes undulating. Of course, simply preventing the rotor from biting in will not solve the problem of pruning.

This is because the rear cover 5 is located at the rear of the rotating rotor 2, and because the height of the tilled soil surface is different before and after tilling. To explain based on FIG. 4 (a), since the rear cover 5 is grounded on the tilled soil surface a before tilling at the start of tilling, the tilling depth corresponds to the depth H set with position a as a reference. Cultivate the depth (part b)
Cultivated soil swells due to tilling in part B (part C) The rear cover 5 rises until the rear cover 5 reaches this bulge in part C. At the same time, a considerable difference occurs between the detected value and the set value of the sensor 7, and this difference is The position of the working machine is controlled in the direction of decreasing, and as a result, the rotating rotor 2 is moved upward, and the plowing depth becomes shallow (portion d). Furthermore, when the rear cover 5 reaches the surface e of the tilled soil that has been shallowly tilled in section d, the rotating rotor 2 descends and tills deeply again (section f), which is repeated until the predetermined tilling depth H is stabilized. It's something to go to.

(Means for Solving the Problems) The present invention proposes a tractor cultivator that does not cause the above-mentioned wave peg phenomenon of the tilled soil at the start of tilling.

The present invention provides control to maintain a constant plowing depth by attaching a work machine consisting of a rotating rotor and a rear cover to a tractor using a vertical lift and maintaining the relative position of the rotating rotor and rear cover within a preset range. In a tractor cultivator having a mechanism, when the control mechanism lowers the working machine and starts work, the operation is started at a setting shallower than the depth setting value for a predetermined period from the start of work, and the setting value is gradually increased. It is characterized by being equipped with a control function that brings it closer to .

(Function) Even if the working machine is lowered and the tilling section is activated, if the tilling section does not immediately shift to the set depth (relative position to the rear cover) but gradually shifts, the tilling section will not move accordingly. The tilled soil also gradually rises, and the rear cover moves on the surface of this rise, so that the plowing depth is stabilized at a predetermined depth without causing the undulating phenomenon, as shown in FIG. 4 (b).

(Example) Next, examples of the present invention will be described.

To explain the structure of the mechanical part of the tractor tiller according to the present invention, the tractor tiller is composed of a tractor main body 1 and a working machine body 3, and the working machine body 3 is connected to the main body 1 by a lift arm 4 so as to be movable up and down. There is. In addition, the work machine 3 includes a rotary rotor 2 and a rear cover 5 whose lower end is always in contact with the tilling surface during tilling. It has a sensor 7 for detecting the angle formed by the rear cover 5.

Further, the control mechanism for controlling the operation of the lift arm 4 includes a setting section 8, an A-D converting section 9, and so on, as shown in FIG. Arithmetic processing unit 10. DA converter 11. It consists of a hydraulic control section 12, and a setting section 8 allows the driver to set the plowing depth, and is generally a polymer type resistor that converts it into a voltage value and outputs it. . The AD converter 9 converts the output of the setting section 8 into a digital signal. The arithmetic processing unit 10 receives the input from the A-D converter 9, that is, the setting value of the tilling depth, and the input from the sensor unit 7, that is, the actual value of the tilling depth, and performs the necessary operation of the lift arm 4. Output the corresponding signal. The D-A conversion section 11 converts the output signal (digital signal) from the arithmetic processing section 1O into an analog signal, and the hydraulic pressure 1tg11g section 12 converts the output signal (digital signal) from the arithmetic processing section 1O into an analog signal. The lift arm 4 receives a signal from the lift arm 4 and operates a hydraulic pump or a solenoid valve to cause the lift arm 4 to perform a predetermined operation.

Therefore, when the tilling depth is determined by the setting unit 8, the control mechanism compares the actual tilling depth value from the sensor unit 7 with the set value, and the detected value of the sensor 6 and the set value are set to a predetermined value. The rotor 2 is rotated and the position of the rotor 2 is adjusted so that it is within the range of .

The present invention further adds an initial '#JtIE function to the above-mentioned control mechanism, and the initial IIJII! The means J ζ is incorporated as a program into the arithmetic processing unit 10 of the control mechanism described above. An example of the processing means is to compare the set value and the sensor value and determine the amount of movement of the lift arm 4. When determining the value to indicate, this setting value is replaced with a correction setting value that is a function of time.

For example, the correction setting value F[, -= H, -k (T-t) (L-H,)k:
Proportionality constant ■: Elapsed time from the time when the work machine was lowered for a predetermined time after the plowing depth T set in the setting section Hc: Determined by a calculation method using a variable constant that changes depending on the condition of the cultivated land, the amount of work Initially at the start, the correction set value H1 compared with the sensor output is smaller than the set value by 1;
Since the corrective action of the lift arm 4 is small and the correction set value 1 (,) gradually approaches the set value H, the tilling work transitions smoothly from the start of work to the stable period, as shown in Fig. 4 (
Stable tillage is achieved as shown in the figure (tf), without the raised portion C that occurs due to sudden tilling as shown in b).

Furthermore, when determining the above-mentioned correction setting value, H't=L-k(T-t)He may be adopted without considering the condition index of the cultivated land.

Furthermore, in cutting, (T-t) may not be used as time, but the traveling distance of the tractor, for example, T may be replaced with a predetermined traveling distance, and t may be replaced with the traveling distance from when the work machine is lowered.

In addition to the above-mentioned means for correcting set values, the present invention performs an initial adjustment of the detected values without directly calculating the detected values of the sensor section 7 of the rear cover 5, and uses the adjusted values to adjust the detected values to the lift arm 4. mI! You may also perform the Im part. For example, by adding a value that decreases every unit time (unit distance traveled) to the detected value of the sensor for a predetermined period of time (until the vehicle travels a predetermined distance), the control mechanism can be controlled by its own control system. It is something.

That is, if the detected value of the sensor section 7 is H, the output value Hk of the sensor section 7 is H*= F(k + f (t) f (t) '
If the number of H decreases, the arithmetic processing unit 10 compares and processes the set value H and the initially adjusted sensor unit output value Hk, and operates the lift arm 4 based on the processed data, it will be normal even at the initial stage of tilling. Similar to the time control, plowing is carried out to a depth corresponding to a loosely determined setting value while making predetermined adjustments that take into account the presence or absence of a dead zone and its range.

Furthermore, in the initial control of the present invention, when the set tillage depth is shallow, there is little mounding of the cultivated soil, so the initial control time is shortened, and when the tillage depth is deep, the operation of the lift arm 4 in the initial control is gradual at the beginning and slightly in the latter half. It is preferable to perform appropriate control corresponding to the set plowing depth, such as increasing the plowing depth.

It should be noted that the present invention is not limited to the embodiments described above,
Any control method can be used as long as it performs initial control to gradually reach the set plowing depth without lowering the working machine to the set plowing depth at the start of work.

(Effects of the Invention) As described above, the present invention tows a working machine consisting of a rotary tiller and a rear cover with a tractor, detects the relative position of the rotary tiller and the rear cover, and adjusts the detected value to a predetermined value. This tiller is equipped with an initial control function on a tiller that has a control mechanism for raising and lowering the working machine at the same time, and is able to prevent the occurrence of the wave peg phenomenon in the tilled soil at the start of tilling.

[Brief explanation of drawings]

Fig. 1 is an overall perspective view of the power tiller. Fig. 2 shows the positional relationship of the working machine, with (a) showing the state when not working and (b) showing the state when working. Fig. 3 is a simple block diagram of the control mechanism Fig. 4 is a cross-sectional view of the tilling state, (a) shows the conventional example, and (b)
shows an example of the present invention. 1 is the tractor body 2 is the rotating rotor 3 is the work machine 4 is the lift arm 5 is the rear cover 6 is the support arm 7 is the sensor section 8 is the setting section 9 is the A-D conversion section 10 is the calculation processing section 1] is the D-A conversion Part 12 is the hydraulic control detail

Claims (1)

[Claims] (1) A working machine consisting of a rotating rotor part and a rear cover,
In a tractor cultivator having a control mechanism that is mounted on a tractor with a vertical lift and maintains the relative position of the rotating rotor part and the rear cover within a preset range to maintain a constant plowing depth, the control mechanism A tractor characterized by being equipped with a control function that starts operation at a depth shallower than a set value for a predetermined period from the start of work and gradually approaches the set value when lowering the working machine to start work. rotor machine.