JP2001224203A - Device for controlling depth of plowing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To decrease the width of a plowing depth control-insensitive zone to prevent the increase in the load of a deep plowing work, when the load of a rear cover itself is enlarged. SOLUTION: This plowing depth control device of an agricultural machine in which a rotary plowing device 11 used for leveling the ground and having a rear cover 13b is liftably mounted on the rear portion of a tractor 1. The width of a plowing depth control insensitive zone for controlling the lifting or lowering of the rotary plowing device 11 is decreased with the increase in the measurement value of a load sensor 17 for detecting the load of the rear cover 13b. When the plowing depth target value of a plowing depth-setting dial 16 for setting the plowing depth target value and a plowing depth detection value detected with a depth sensor 18 for detecting the plowing depth of the rotary device 11 are within the width of the insensitive zone, the plowing depth control of the rotary plowing device 11 is not carried out. When the load of the rear cover 13b is enlarged by the adhesion of soil to the back surface of the rear cover 13b, or the like, the lifting or lowering actions of the rotary plowing device 11 are more sensitized. Since the rotary plowing device 11 is lifted even by a small action for lifting the rear cover 13b, soil can easily backward be released, and the plowing load of the rotary plowing device 11 is reduced. The leveling of the ground is thereby relatively improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tillage depth control device capable of maintaining a constant tillage depth (hereinafter referred to as a tillage depth) even in a soft field such as a wet field.

[0002]

2. Description of the Related Art When a rotary tilling device is mounted on a rear part of a tractor to perform a tilling operation, a tillage depth is detected by an angle of a rear cover of the rotary tilling device with respect to a main cover, and the rotary tilling device is appropriately adjusted according to the detection result. Raise and lower, and control the cultivation depth so that the cultivation depth is maintained almost constant.

[0003] A rear cover, which is a cover for covering the rear side of the tilling device, is rotatably connected to the end of the main cover with its upper end as a fulcrum. Is pressed and leveled. Therefore, the rear cover rotates up and down as appropriate in accordance with the height of the ground, and by measuring the angle of the rear cover with respect to the reference plane, it is possible to detect the plowing depth at that time.

[0004]

Usually, the width of the dead zone is provided in the control sensitivity of the tillage depth control, and the width of the dead zone is widened, so that the rotary tilling device can be moved up and down relatively slowly. The rotary tilling device does not move up and down.

However, if soil adheres to the rear surface of the rear cover of the rotary tilling device connected to the rear of the tractor, the load on the rear cover itself increases, making it difficult for the tilled soil to be discharged to the rear of the rear cover. In such a case, there was a problem that soil rotation increased and a heavy load was imposed on plowing work.

Accordingly, an object of the present invention is to reduce the width of the dead zone of the tillage depth control when the load on the rear cover itself increases, so that a large load is not applied to the tillage depth operation.

[0007]

The above object is achieved by the present invention as described below. That is, in a tillage depth control device of an agricultural work machine in which a rotary tillage device having a rear cover for leveling at the rear of a tractor is mounted so as to be able to ascend and descend, a tillage depth setting dial provided in a cockpit for setting a tillage depth target value, and a rotary tillage. A depth sensor that detects the tillage depth of the device, a load sensor that detects the load on the rear cover, and the larger the measured value of the load sensor, the narrower the width of the dead zone of the tillage depth control by raising and lowering the rotary tillage device,
When the tillage depth target value of the tillage depth setting dial and the tillage depth detection value detected by the depth sensor are within the width of the dead zone, a tillage depth control device provided with control means that does not perform the tillage depth control of the rotary tillage device. is there.

[0008]

According to the present invention, when the load increases due to the influence of soil on the rear surface of the rear cover or the like, the raising and lowering operation of the rotary tilling device is made relatively sensitive, so that the rotary operation can be performed even if the rear cover is slightly pushed up. Since the tilling device rises, the soil is easily discharged backward, so that the tilling load is reduced and the terrain is relatively improved.

[0009]

FIG. 1 shows a state in which a rotary tilling device is mounted on a tractor to perform a tilling operation. The tractor 1 is a four-wheel drive vehicle having a pair of left and right front wheels 2 and 2 and rear wheels 3 and 3, and a connecting device 5 for connecting a rotary tilling device 11 as a working device is provided at a rear portion of the body. I have. The connecting device 5 in the illustrated example has a 3P hitch structure, and includes a pair of left and right lower links 6 and one top link 7 at the left and right center.
It is composed of

A rotary tilling device 11 is connected to the rear ends of these links 6, 6, 7. Lower links 6, 6 are suspended via lift rods 9, 9 at the rear end of a lift arm 8 driven by a hydraulic device (not shown) provided in the tractor 1, and the lift arms 8, 8 are moved up and down. By rotating the rotary tilling device 11, the rotary tilling device 11 moves up and down.

[0011] The rotary tilling device 11, which is a working device,
The turret is advanced by rotating the body while rotating a large number of tilling claws 12 attached to the horizontal axis in a predetermined direction. Around the tilling claws 12, which are tilling parts, a main cover 13a, a rear cover 13b, a side cover 13c,
13c.
As shown in the enlarged view of the rotary tillage device 11 in FIG. 2, the rear cover 13b is attached to the main cover 13a by a rear cover hanging member 14 whose end is supported by the main cover 13a so as to be rotatable up and down. The lower portion of the rear cover 13b moves while sliding on the ground as the aircraft advances, leveling the topsoil surface after tilling and leveling.

During the tilling operation, the rotary tilling device 11 is controlled by the tilling depth control device shown in FIG. 3 so that the tilling depth is maintained substantially constant. The lifting and lowering of the rotary tilling device 11 is performed by an ascending solenoid valve 20 and a descending solenoid valve 2.
This operation is performed by raising and lowering the lift arms 8 and 8 operated by 1. The controller 15 is a control means in which a microcomputer is built and which forms the center of control.
On the input side of No. 5, a tillage setting dial 16 provided in the cockpit for setting a tillage depth target value, a depth sensor 18 for detecting a tillage depth of the rotary tillage device 11, and a fore-and-aft inclination for detecting a fore-and-aft inclination of the tractor 1 A sensor 19 is connected, and an output side of the controller 15 is connected to an up solenoid 20 and a down solenoid 21 for operating the hydraulic device for vertically moving the lift arm 8.

Here, a rear cover load sensor 17 for detecting a load applied to the rear cover 13b is attached to the rear cover hanging member 14. Also, the main cover 1
The depth sensor 18 installed on the main cover 1
The cultivation depth of the rotary tilling device 11 is detected by a potentiometer that detects the rotation angle of the rear cover 13b with respect to 3a.

Further, a forward / backward tilt sensor 19 for detecting the forward / backward tilt of the tractor is provided above the transmission case below the cockpit. The inclination of the tractor 1 in the front-rear direction by the front-rear inclination sensor 19 is detected by the amount of electricity of the electrode solution filled between a pair of electrode plates inside the front-rear inclination sensor 19. As shown in the figure, on the front side of the main cover 13a, a sub cover 13d in which an end of the main cover 13a is supported.
May be provided. This sub cover 13d is attached to the main cover 13a so as to be rotatable up and down. Then, the sub cover 1 is placed on the sub cover 13d.
A soil discharge amount sensor 31 composed of a potentiometer for detecting the rotation angle of 3c is provided. The sub-cover 13 depends on the amount of exhalation after the soil is scraped by the tilling nail 12.
The difference in the rotation angle of d allows the sensor 31 to detect the amount of soil discharged.

With the advancement of the rotary tillage device 11, the field is plowed while the soil is lifted up by the tillage claws 12, and the soil scraped up by the tillage claw 12 moves while the lower part of the rear cover 13b slides on the ground. Therefore, the surface after tilling can be smoothed.

Rotary tillage device 1 having the above configuration
1 and its control device, the rear cover suspension member 1
The configuration of the embodiment of the present invention in which the control sensitivity of the tillage depth control is changed according to the hanging load of No. 4 will be described.

When soil adheres to the rear surface of the rear cover 13b, the load on the rear cover 13b itself increases, and it becomes difficult for the tilled soil to be discharged to the rear of the rear cover 13b. In this case, the rotation of the soil increases, and the tillage load of the tillage device 11 increases.

Normally, a width of a dead zone is provided in the control sensitivity of the tillage depth control.
1 is relatively slow, so that the rotary tilling apparatus 11 does not move up and down unnecessarily. However, when the width of the dead zone of the control sensitivity is reduced, the response of the raising solenoid valve 20 and the lowering solenoid valve 21 for operating the hydraulic device for driving the lift arm 8 becomes faster, so that the drive force of the lift arm 8 per unit time is increased. The oil flow increases. When the width of the dead zone of the control sensitivity is narrowed in this way, the rotary tilling apparatus 11 can be raised and lowered quickly and at a high operating speed.

The width of the dead zone of the control sensitivity of the tillage depth control corresponds to the difference between the tillage depth target value set by the tillage depth setting dial 16 and the actual tillage depth detected by the depth sensor 18. .

In the present embodiment, the soil is applied to the rear surface of the rear cover 13b, so that the width of the dead zone is set as shown in FIG.
When the load measurement value of 7 is heavy, the width of the dead zone in the control sensitivity of the lifting and lowering of the rotary tilling device 11 with respect to the tractor 1 is narrowed, and the rotary tilling device 11 is raised and lowered at a quick response and at a high operating speed. It is.

Therefore, when the measured load value of the load sensor 17 is heavy, even if the difference between the target cultivation depth value and the actual cultivation depth is relatively small, the lifting and lowering control of the rotary tilling device 11 is performed, and the load measurement of the load sensor 17 is performed. If the value is light, the control for raising and lowering the rotary tillage device 11 is not performed even if the difference between the target value of the tillage depth and the actual tillage depth is relatively large.

FIG. 4 shows a flow of plowing depth control according to the present embodiment. First, the values of the operation switches such as the sensors 17, 18, and 19 and the tillage depth setting dial 16 are read to determine whether or not tillage depth control is being performed. If the depth sensor 18 is operating, the plowing depth control is being performed, and if not, the plowing depth control is not being performed. After step S2 of the flow shown in FIG. 4, it is assumed that the values of the sensors and operation switches are read and then the tillage depth control is started.

First, the width of the dead zone of the control sensitivity of the tillage depth control is set in advance so as to be proportional to the load measurement value of the load sensor 17 as shown in FIG. Next, the difference between the target plowing depth set by the plowing depth setting dial 16 and the actual plowing depth detected by the depth sensor 18 is calculated, and the difference is determined by a dead zone determined according to the load measurement value of the load sensor 17. When it is located inside, the rotary tillage device 11 is not moved up and down. When the difference between the target cultivation depth and the actual cultivation depth is outside the width of the dead zone, if the difference between the actual cultivation depth detection value and the target cultivation depth is positive, the rotary cultivator 11 is raised, and When the difference between the actual tillage depth detection value and the depth target value is negative, control is performed to lower the rotary tillage device 11.

In this way, when the load on the rear cover 13b itself becomes heavy due to, for example, soil being attached to the rear surface of the rear cover 13b, the dead zone of the tillage depth control is narrowed, and the rotary plow 11
If the raising / lowering operation is made more sensitive, the rotary tilling device 11 will rise even with a slight upward movement of the rear cover 13b, so that the soil is likely to be discharged backward, the tilling load is reduced, and the terrain is relatively improved.

A configuration may be adopted in which the amount of soil exhaled from the rotary tillage device 11 is detected by the expulsion amount sensor 31, and the sensitivity of plowing depth control becomes more sensitive as the amount of soil exhaled increases. In order to make the sensitivity of the tillage depth control more sensitive, instead of the load of the rear cover 13b shown in FIG.
When the discharge amount of the soil increases, the operation dead zone (non-operation region) is narrowed as compared with the case where the discharge amount is small. This is shown in FIG.
Shown in

When a large amount of soil is exhaled when the plowed soil is exhaled forward from the rotary tillage device 11,
The amount of soil carried inside the rotary tilling apparatus 11 is large. Such a case is when the cultivation depth is deep or when the soil adheres to the inside of the rotary cover 13 including the rear cover 13b and the space becomes relatively narrow, and in this case, the tillage load increases. When the amount of soil carried inside the rotary tilling device 11 is large, the amount can be detected by the discharge amount sensor 31.
The width of the dead zone is set as shown in FIG. 6 in accordance with the detected value of, and when the detection value of the sensor 31 is large, the rotary tilling apparatus 11 reduces the control sensitivity of the ascent and descent with respect to the tractor 1 to reduce the width of the dead zone, The purpose is to raise and lower the rotary tillage device 11 quickly and at a high operating speed.

Therefore, when the detection value of the discharge amount sensor 31 is large, even if the difference between the target cultivation depth value and the actual cultivation depth is relatively small, the elevation control of the rotary tilling device 11 is performed, and the detection of the discharge amount sensor 31 is performed. When the value is small, the rotary tilling device 1 can be used even if the difference between the target cultivation depth and the actual cultivation depth is relatively large.
A control is performed so as not to perform the elevation control of 1. The control flow is the same as the example shown in FIG.

When the dead zone of the plowing depth control is narrowed to make the operation more sensitive, the rotary tillage device 11 is easily lifted, and the soil is easily discharged backward. As a result, the tillage load is reduced and the terrain is relatively improved. When the tillage load increases, the engine rotation greatly fluctuates even with a small load fluctuation, and the engine stalls easily. However, in the present embodiment, such a problem is eliminated.

The tilling depth is controlled by a front / rear inclination sensor 19 for detecting the inclination of the tractor 1 in the front / rear direction and a rear cover angle sensor (depth sensor) 18 for detecting the vertical rotation angle of the rear cover 13b. Can also.

During normal tilling, as shown in FIG.
2 penetrates into the inside of the field, and the lower end of the rear cover 13b leveles the raised portion of the plowed soil. However, as shown in FIG. 7, when the rotary tilling device 11 is inclined in the front-rear direction, the following problem occurs. In other words, the cultivation is deeper when the front is raised, and shallower when the front is lowered. This is the same phenomenon as when the rear cover 13b rotates out of a normal position.

Therefore, in addition to the detection signal from the rear cover angle sensor (depth sensor) 18, the rotary tilling device 1
By taking in the control box the signal of the forward / backward tilt sensor 19 that senses the forward / backward tilt of the tractor 1 (= the forward / backward tilt of the tractor 1), the difference in the plowing depth shown in FIG. It can also be kept constant.

That is, as shown in FIG. 8, in this control, as a requirement for determining the control sensitivity, the inclination of the rotary tilling device 11 in the front-rear direction is equal to or more than a predetermined value, and the rear inclination or forward inclination (for example, the angle with respect to the horizontal) 3 degrees) is determined based on the detection value of the front-back tilt sensor 19,
Exceeds the predetermined value (θ ≧ 3 degrees), the target cultivation depth set by the cultivation depth setting dial 16 and the depth sensor 1
The rear cover 13b is moved up and down by a predetermined rotation angle in accordance with the difference in the actual till depth at which the number 8 is detected.

When tilling a field that rises forward, the rear cover 13b is raised, and when tilling a field that falls forward, the rear cover 13b is lowered.

When climbing or descending continues for a predetermined distance, the relationship between the tractor 1 and the ground of the rotary tilling apparatus 11 is the same as that when tilling flat ground, so the control is stopped.
Thus, even when the tractor 1 runs on a field inclined forward and backward, appropriate plowing depth control can be performed.

At present, the lift arm 8 is moved up and down by the solenoid valves 20 and 21 by the electro-hydraulic system.
When removing the rotary tilling device 11 from the tractor 1 having the tillage depth control device and the like, the harness 35 that transmits the sensor signal from the rotary tilling device 11 to the controller 34 provided on the tractor 1 is removed. There is a case where the user forgets to remove the coupler from the coupler 35a, which causes sporadic derailment (FIG. 9).

To connect the rotary tilling device 11 to the tractor 1, as shown in FIG. 9, the rotary tilling device 11 is not moved at the same position, and only the tractor 1 is slightly retracted (in the direction of the arrow in FIG. 8). . Next, the rotary tillage device 1 is inserted into the engagement groove 7a at the end of the top link 7.
The pin 36a of one mast member 36 is inserted as shown by the arrow. Next, the pin 37a of the lower pin indicating plate 37 of the rotary tilling device 11 is inserted into the hook 6a at the end of the lower link 6 as shown by the arrow. Thereafter, the lock lever 38 is rotated to lock the connection portion to connect the rotary tilling device 11 to the tractor 1, and then, when the rotary tilling device 11 is detached from the tractor 1, the reverse operation to the connection operation is performed. However, first, by providing a switch on the operating portion of the lock lever 38, a warning buzzer sounds until the auto harness coupler 35a comes off, the forgetting to remove the coupler 35a is eliminated, and the forgetting to remove the harness 35 from the coupler 35a is performed. Is gone.

[0037]

As described above, the tillage depth control device according to the present invention satisfies the demand for raising the rotary tillage device by making the control sensitivity sensitive when the height of the rotary tillage device with respect to the tractor exceeds a certain level. It responds quickly, and the tillage load is reduced and the terrain is relatively improved.

[Brief description of the drawings]

FIG. 1 is a side view showing an operation state in which a rotary tilling device is mounted on a tractor according to an embodiment of the present invention.

FIG. 2 is a partially enlarged side view of the rotary tillage device of FIG.

FIG. 3 is a block diagram of the tillage depth control device of FIG. 1;

FIG. 4 is a flowchart showing an operation procedure of the tillage depth control device of FIG. 1;

FIG. 5 is a diagram showing a relationship between a detection value of a rear cover load sensor of the tillage depth control device of FIG. 1 and a width of a dead zone of tillage depth control.

6 is a diagram showing the relationship between the amount of soil discharged from the rotary tillage device of the tillage depth control device of FIG. 1 and the width of a dead zone for tillage depth control.

FIG. 7 is an explanatory diagram of a rotation angle control of a rear cover when the rotary tillage device of FIG. 1 travels on a slope.

FIG. 8 is a flowchart showing a procedure for mounting a rotary tillage device on the tractor according to the embodiment of the present invention to operate a tillage depth control device.

FIG. 9 is a side view showing a state in which the rotary tilling device is detached from the tractor according to the embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Tractor 2 Front wheel 3 Rear wheel 5 Connecting device 6 Lower link 6a Hook part 7 Top link 7a Engagement groove 8 Lift arm 9 Lift rod 11 Rotary tillage device 12 Tillage claw 13 Cover 13a Main cover 13b Rear cover 13c Side cover 13d Sub cover 14 Rear cover Suspension member 15 Controller 16 Cultivation depth setting dial 17 Rear cover load sensor 18 Depth sensor (Rear cover rotation angle sensor) 19 Front and rear inclination sensor 20 Ascending solenoid valve 21 Descending solenoid valve 31 Discharge amount sensor 34 Controller 35 Harness 35a Coupler 36 Mast member 36a, 37a Pin 37 Lower pin support plate 38 Lock lever

Continuing from the front page (72) Inventor Osamu Hyodo 1 Yachikura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Co., Ltd. F-term (reference) 2B304 KA12 KA13 LA02 LA06 LB15 LC02 MA04 MB02 MC20 MD02 MD03 PC15 PD02 PD19 QA01 QA12 QA22 QA25 QB03 QB15 QB26 QC03 QC06 QC12 QC14 QC17 RA28 RB02 RB06

Claims (1)

[Claims] 1. A tillage depth control device for an agricultural work machine having a rotary tillage device having a rear cover for leveling at a rear portion of a tractor and capable of ascending and descending. The depth sensor that detects the tillage depth of the rotary tillage device, the load sensor that detects the load on the rear cover, and the greater the measured value of the load sensor, the narrower the dead zone of the tillage depth control by raising and lowering the rotary tillage device. When the tillage depth target value of the tillage depth setting dial and the tillage depth detection value detected by the depth sensor are within the width of the dead zone, control means that does not perform the tillage depth control of the rotary tillage device is provided. And tillage control device.