JPS5935561B2 - ground work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention includes a ground working device mounted on a machine so that it can be driven up and down, a plowing depth setting device that sets a target working depth of the ground working device, and a plowing depth setting device that detects the actual working depth. a control signal output mechanism including a level detector; further, based on the output signal from the tillage depth setting device and the output signal from the level detector, the deviation between the two output signals becomes a constant value; The present invention relates to a ground work machine equipped with a lifting control mechanism for automatically raising and lowering the ground work machine.

In the above-mentioned ground work equipment, for example, a tractor with a rotary tilling device attached to the rear of the machine,
Conventionally, in order to raise the rotary tiller as the machine turns at the edge of a ridge, the tiller was raised at a constant speed for work efficiency. When the headland left as uncultivated land at the time of turning is to be finished by driving straight as shown in Fig. 3, the wheels are caught in the recessed part a, and proper tilling work is not carried out. There was a problem that it was difficult to perform and the result was a poor finish.

The present invention solves the above-mentioned problems by setting the lifting drive speed of the ground work equipment rationally and avoiding the occurrence of local depressions in the headland area. The purpose is to provide a ground-based work machine that is easy to perform finishing.

The characteristic structure of the present invention for achieving the above object is as follows:
In addition to installing a ground work device on the aircraft so that it can be driven up and down,
a tillage setting device for setting a target working depth of the ground working device;
A space signal output mechanism is provided that includes a level detector that detects the actual working depth, and further, based on the output signal from the plowing depth setting device and the output signal from the level detector,
In a ground working machine equipped with a lifting control mechanism that automatically lifts and lowers the ground working apparatus so that the deviation of both output signals is a constant value, the output circuit from the tillage depth setting device to the lifting control mechanism is provided. , a changeover switch for selecting either a lifting signal generator that transmits an output signal to position the ground working device above the ground surface and the plowing depth setting device and connecting it to the lifting control mechanism; and a position determination mechanism that determines whether or not the ground work device is in the ground, and a position determination mechanism that determines whether or not the ground work device is in the ground, and a position determination mechanism that determines whether the ground work device is in the ground based on a command from the position determination mechanism. Incorporating a lifting drive speed control mechanism consisting of a deceleration mechanism that makes the lifting drive speed of the ground working equipment in a range that is lower than the lifting driving speed when the ground working equipment is above the ground surface. Further, the position determination mechanism is configured to be activated when the changeover switch is switched to the ascending signal generator side, and this configuration provides the following effects.

In other words, during normal ground work, the ground work equipment can be automatically raised and lowered to maintain it at the target work depth, and ground work can be performed at a more or less constant working depth. Even if the machine floats to the ground, the lift drive speed control mechanism will not operate unless the changeover switch is turned on to the lift signal generator side, so there will be no malfunction that could result in an unexpected change in the lift speed of the ground work equipment. It has the advantage of being able to perform automatic lifting and lowering control as specified, and in addition, when the changeover switch is set on the lifting signal generator side to forcefully lift a ground work device, the lifting speed in the soil is higher than the speed on the ground. Due to the slow speed, the working surface created when lifting the ground handling equipment to the ground surface while the aircraft is moving is a gently sloped surface, and therefore, compared to a conventionally structured device that lifts the ground handling equipment at a constant speed. Therefore, there is less risk of forming local depressions on the ground.
As a result, it is advantageous in that the wheels do not get caught when finishing the headland, the machine can be easily maneuvered, and a good finish can be obtained.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a ground working machine in which a rotary tiller 1 as a ground working device is attached to the rear of a tractor 2 as a machine body so that it can be driven up and down.
The rear propulsion wheel 4゜4, the tilling device 1, and a hydraulic pump (not shown) are driven by the power of the tilling device 1, and a hydraulic control valve (described later) which is appropriately switched and actuated by an electric control signal is operated. A single-acting hydraulic cylinder 5 as a lifting mechanism is telescopically operated, and a lift arm 6 interlocked with the cylinder 5 is swung up and down, thereby driving the tilling device 1 suspended and supported by the lift arm 6 up and down. It is structured like this.

The hydraulic cylinder 5 is configured to be automatically controlled based on changes in the load of the engine 3 and changes in the relative height of the tilling device 1 with respect to the tractor 2, and the details will be explained with reference to the block diagram in FIG. 2. .

A signal E1 from the detector 7 that detects the actual rotational speed of the engine 3 and a signal A from the rotational speed setter 8 that sets the maximum engine rotational speed according to the accelerator setting are applied to the first subtractor 9 to load the engine. is configured to be detected as the amount of decrease A-E in the engine rotational speed.

Further, a signal H from the first subtractor 9 and a plowing depth setting device 10 for adjusting the relative level of the plowing device 1 with respect to the tractor to change the target plowing depth is applied to the adder 11. , the signal A-E from the adder 11 and the signal from the level detector 12 which detects the relative level of the tiller 1 with respect to the tractor 2 are sent to the second subtracter 13.
These setters 8,
10 and each detector 7.degree. 12 constitute a control signal output mechanism.

The elevation control mechanism for controlling the tilling device 1 to be raised, lowered, or maintained at that position based on the output signal from the control signal output mechanism is configured as follows. ing.

That is, the signal A-E from the first subtractor 9 increases as the engine speed decreases, and the plowing depth setting device 10
The deviation H-L between the output signal H from the level detector 12 and the output signal from the level detector 12 is set to decrease as the tilling depth increases, and the tilling device 1 is If the plowing depth position is shallower than the set plowing depth position and the rotational speed reduction amount (engine load) A-E>0 and the deviation H-L<0 of the plowing depth device 1 with respect to the set plowing depth position are equal, the second subtractor 13 When the output G=A-H+H-L becomes zero, it is determined that the tilling device 1 does not need to be raised or lowered, and when the engine rotational speed reduction amount A-E increases from this state, the second subtractor 1
3 becomes positive, it is determined that it is necessary to raise the tilling device 1, and conversely, the engine rotational speed decrease amount A
When -E decreases, the output G from the second subtractor 13 becomes negative, and it is determined that the tilling device 1 needs to be lowered.

The tiller 1 is then adjusted so that the balance relationship is established based on the change in engine speed reduction as the tiller 1 is raised and lowered and the change in the signal from the level detector 12.
Elevation control is performed.

That is, when the output G from the second subtractor 13 is positive, it is determined by the discriminator 18 and the lifting valve 14 of the hydraulic cylinder 5 is opened so as to drive the lift arm 6 in an upward swinging manner. When the output G is negative, the discriminator 19 determines this and opens the lowering valve 15 of the hydraulic cylinder 5 so that the lift arm 6 and tiller 1 are lowered by force. The second subtractor 13, the discriminators is, is, and the valves 14 and 15 constitute an elevation control mechanism.

Further, a rising signal generator 16 and a descending signal generator 17 are disposed in the middle of the output circuit from the tillage depth setting device 10 to the elevation control mechanism, and the selector switch 20 is connected to the ascending signal generator. 16 side, a sufficiently larger control signal is applied to the lifting control mechanism instead of the tilling depth setting signal H, and the tilling device 1 is lifted to the upper limit position (and the lowering signal generator 17 By turning on the changeover switch 20 to the side, a sufficiently smaller ℃ sp signal is applied instead of the tilling depth setting signal H, and the tilling device 1 is lowered to the lower limit position.

The lift control mechanism includes a lift drive speed control mechanism including a position discrimination mechanism and a deceleration mechanism configured as follows.

That is, the position determination mechanism includes the tilling depth setting device 10 and the level detector 12 as the control signal output mechanism, and the tilling depth setting signal H output from the tilling depth setting device 10 and the level detector 12. The detector 21 detects the difference between the plowing depth (level) detection signal level using a circuit different from the second subtractor 13, and the detection value of this detector 21 is set to a constant value (for example, 10 to 10). 156rrL), it is determined that the tilling device 1 is located in the soil, and if the detected value is greater than the certain value, the tilling device 1 reaches the target value. In other words, it is determined that the tilling device 1 is in a position that is far away from the ground, that is, the approximate position of whether the tilling device 1 is located in the soil or on the ground is determined based on the magnitude of the detected deviation. It is configured to be

Further, the detector 21 is connected to a switch 20' linked to the changeover switch 20, and when the changeover switch 20 is turned on to the signal generator 16 or 17,
The sensor 21 is configured to operate when a signal is taken out from the switch 20', and to stop the operation of the detector 21 when the selector switch 20 is connected to the plowing depth setting device 10.

The deceleration mechanism operates when the changeover switch 20 is turned on to the signal generator 16 or 1T and the deviation between the plowing depth setting signal H and the detection signal H is within the fixed value set as described above. (24, 25) which interrupts the continuous signal for lifting/lowering control which is directly transmitted from the discriminator 18 or 19 to the valve 14 or 15 in response to the signal from the detector 21;
and intermittent signal generators 22 and 23 that emit intermittent signals in accordance with the operation of the discriminators 18 and 190, and when the deviation exceeds a certain value as described above, the intermittent signal generators 22 and 23 emit intermittent signals. By operating the valves 14 and 15 with an intermittent signal from It is configured to be directly controlled by continuous control signals from the discriminators 18 and 19.

According to such a configuration, when the tilling device 1 is lifted and raised to change direction of the machine at the edge of a ridge, the tilling depth setting signal H as the target tilling depth value and the level detection as the actual tilling depth detector are used. The deviation H-L from the signal is 10~15c in the soil.
When the value corresponds to within rIL, the signal generator 2
It is lifted at a slow speed by intermittent signals from 2.

When the deviation is 15 degrees or more, which corresponds to a position approximately above the ground surface, the continuous signal from the discriminator 18 causes the beam to be lifted rapidly.

The bottom of the plowing in this lifted state becomes a smooth gentle slope as shown in FIG.

Therefore, when plowing the headland portion that follows this slope, the machine can plow as planned without the wheels getting caught in the unevenness formed by the previous plowing.

Also, when the tilling device 1 is lowered from the above-ground floating position, the tilling device 1 is continuously lowered (suddenly lowered) almost to the ground, and then intermittent lowered (slowly lowered) almost from the ground by a signal from the signal generator 23. ), preventing a sudden increase in load due to rapid penetration into the ground.

In addition, in the embodiment, as a position determination mechanism for detecting the ground surface, a mechanism was used that uses the subtracted value between the plowing depth setting signal H and the level detection signal RI as a guide, but by appropriate means,
It is also possible to detect the ground surface itself.

Also, based on the lifting stroke time, estimate in advance the time for the tilling device 1 to reach the ground surface from the start of lifting or lowering (
It may also be a time control means.

Also, the subtraction value between the setting signal A of the engine rotation speed setting device 8 and the detection signal E of the actual rotation detector 7 is used, that is, the ground surface detection is performed when the subtraction value decreases from a positive value and approaches zero. Good too.

Alternatively, the ground may be roughly detected by detecting the relative angle between the aircraft body and the lift arm 6.

[Brief explanation of the drawing]

1 to 4 show an embodiment of the ground work machine according to the present invention, FIG. 1 is an overall side view, FIG. 2 is a circuit diagram, FIG. 3 is a plan view showing the operation, and FIG. It is a sectional view showing a finished surface. FIG. 5 is a sectional view showing the finished surface of a conventional example. 1... Ground work device, 2... Aircraft, 1
0... Cultivation depth setting device, 12... Level detector, 16... Raising signal generator, 20...
...Selector switch.

Claims (1)

[Scope of Claims] 1. A ground work device 1 is mounted on the machine body 2 so as to be able to be driven up and down, and a plowing depth setting device 10 is provided to set the target working depth of the ground work device 1 and to detect the actual working depth. A control signal output mechanism including a level detector 12 is provided, and further includes an output signal from the plowing depth setting device 10 and the level detector 12.
The ground working machine is equipped with an elevation control mechanism that automatically raises and lowers the ground working device 1 based on output signals from the plowing depth setting device 10 so that the deviation between the two river force signals becomes a constant value. In the middle of the output circuit to the lifting control mechanism, select either the lifting signal generator 16, which sends an output signal to position the ground working device 1 above the ground surface, or the plowing depth setting device 10. A changeover switch 20 is provided to connect the lift control mechanism to the lift control mechanism, and a position determination mechanism for determining whether or not the ground work device 1 is in the ground with respect to the lift control mechanism; Based on the command from the position determination mechanism, the upward driving speed of the ground working device 1 in the range where the ground working device 1 is underground is set to be higher than the upward driving speed when the ground working device 1 is above the ground surface. and a speed reduction mechanism for slowing down the drive speed, and the position determining mechanism is configured to be activated when the selector switch 20 is switched to the signal generator 16 for rising. A ground-based work machine characterized by: 2. The position determination mechanism is configured by a detector 21 that determines the ground surface position based on the deviation between the output signal from the plowing depth setter 10 and the output signal from the level detector 12. The ground work machine described in paragraph 1. 3. The position determination mechanism is configured to determine the ground surface position by a time control means that estimates in advance the time for the ground work device 1 to reach the ground surface from the start of ascending or descending, based on the ascending/descending stroke time. A ground-based working machine according to claim 1. 4. A patent in which the position determination mechanism is configured to determine the ground surface position based on the subtracted value between the rotational speed setting signal A of the engine, which is the power source for lifting and lowering the ground work device 1, and the actual rotation detection signal E. A ground-based working machine according to claim 1. 5. The ground work machine according to claim 1, wherein the position determination mechanism is configured to determine the ground surface position based on the relative angle detection result between the machine body 2 and the lift arm 6.