JP2005000137A - Ascendance and descend-controlling device of implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To aim at the improvement of accuracy by using an usual dead zone width Vr in descending from the ascended position of e.g. a rotary plowing implement 12 until a position becoming a state of making a contact with ground, using a wider than usual dead zone width 3Vr after making the contact with the ground for delaying the descend of the implement 12 so as to suppress the rapid descend to an objective plowing depth and also make an initial plowing work state well by setting a pile of the soil A at an initial state of the plowing as small. <P>SOLUTION: This ascendance and descend-controlling device of the implement 12 equipped at a machine body as freely ascending and descending is provided by installing the variable dead zone width Vr of a controlling mechanism 60 for descend-controlling the implement 12. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lifting control device for a working machine such as a rotary tiller mounted on a tractor or the like.
[0002]
[Prior art]
There is means for controlling the tilling depth in the tilling device based on the vertical rotation of the rear cover of the rotary tilling device connected to the rear part of the machine body. (For example, see Patent Document 1)
[0003]
[Patent Document 1]
JP-A-6-189605 [0004]
[Problems to be solved by the invention]
At the time of descent control of work implements such as the above-mentioned tillage devices, the descent speed of the work implement is adjusted with the lowering speed dial to quickly descend the work implement and start good tillage for dry fields and wet fields In the case of the method of adjusting the descending speed with the speed dial, not only the adjustment is complicated, but there is a disadvantage that the performance is not stable.
[0005]
[Means for Solving the Problems]
Therefore, the present invention provides a lift control device for a work machine in which a work machine is mounted on the machine body so that the work machine can freely move up and down, and a dead zone width of a control mechanism for controlling the work machine to be lowered can be changed. The normal deadband width is used when descending to a position where it comes into contact with the ground, and the deadband width wider than usual after landing is used to slow down the lowering of the work equipment and suppress the sudden descent to the target tillage position to improve accuracy. In addition, the initial plowing work state is improved by reducing the initial piling of the plowing.
[0006]
In addition, the dead band width is increased for a certain period of time from the grounding of the work implement, and the dead band width is gradually reduced after a certain period of time, so that the descent speed is automatically adjusted to an appropriate speed according to the work condition of the work implement. This makes it possible to perform tillage work with initial adjustment and good accuracy.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below in detail with reference to the drawings. 1 is a side view of the whole, FIG. 2 is a plan view of the same, FIG. 3 is an explanatory side view of a tillage rotary working machine, 1 is a tractor which is an agricultural work vehicle, and a bonnet in which an engine 2 is installed 3 The left and right front wheels 4 and 4 are installed on both sides, the round steering handle 5 is provided at the rear of the bonnet 3, the driver's seat 6 is installed behind the handle 5, The wheels 7 and 7 are installed, the left and right brake pedals 9 and 9 and the clutch pedal 10 are disposed in the step 8 on the front side of the driver's seat 6, and the operator sits on the driver's seat 6 and travels and moves. A tilling rotary working machine 12 having a tilling rotary 12a is installed rearward via a three-point link mechanism 11 so as to be movable up and down.
[0008]
Further, a traveling main transmission lever 13, an elevating lever 14 for elevating the work implement 12, and an elevating switch 15 for raising and lowering the work implement 12 to the non-work raising position and the tilling work lowering position by one-touch operation are provided on the right side of the driver's seat 6. At the same time, a traveling auxiliary transmission lever 16 and a PTO transmission lever 17 that changes the output of the work machine 12 are arranged on the left side of the driver's seat 6.
[0009]
As shown in FIGS. 3 and 4, the rotary work machine 12 is a side drive type, and a gear box 18 is arranged in the center, and an input shaft 19 is connected to the PTO shaft of the tractor 1 through a drive shaft with a universal joint. Power is transmitted, the beam 20 is protruded on both sides from the side of the gear box 18, the upper part of the chain case 21 is fixed to the outer end of the beam 20, and the tilling claw shaft 22 that is a rotary shaft is provided at the lower part of the chain case 21. Horizontally, a plurality of rotary claws 23 made of nail claws are radially planted on the tillage claw shaft 22 in a radial manner, and the rotation trajectory of the tillage claws 23 is covered with a rotary cover 24. Both sides are covered with a side cover 25. The tillage claw shaft 22 is driven through a gear in the gear box 18, a transmission shaft in the beam 20, a sprocket and a chain in the chain case 21, and the tillage claw 23 is rotated to perform tillage. Yes.
[0010]
Further, a rear cover 28 having a rear side cover 27 is slidably connected to the rear end of the rotary cover 24 via a fulcrum shaft 26, and a support height can be adjusted to a fixed bracket 29 on the upper side of the rotary cover 24 via a support rod 30. A potentiometer type rear cover sensor 31 for detecting a change in the support height of the rear cover 28 is installed on the upper surface of the rotary cover 24.
[0011]
As shown in FIG. 5, a rolling cylinder 35 is interposed between a right lift arm 33 of a working machine lifting cylinder 32 for raising and lowering the working machine 12 and a right lower link 34 of the three-point link mechanism 11. It is configured to keep the working machine 12 horizontal by changing the horizontal inclination of the working machine 12 by the expansion and contraction control.
[0012]
As shown in FIGS. 5 to 7, a bolt 39 is attached to a bracket 38 for fixing a potentiometer type stroke sensor 36 for detecting the left-right inclination of the work machine 12 with respect to the tractor 1 body from the stroke of the cylinder 35 to the left outer surface of the transmission case 37. The base ends of the first and second arms 42 and 43 are fixed to a rotating boss 41 that is rotatably attached to a fixed shaft 40 of the bracket 38, and a receiving plate 45 is fixed to a standing plate 44 on the left outer side of the bracket 38. The body portion of the rolling cylinder 35 and the tip of the receiving plate 45 are connected by an outer tube 46, and the piston load 47 of the cylinder 35 connected to the right lower link 34 and the tip of the first arm 42 are connected by an inner wire 48, A tension spring 49 for returning the first arm 42 is stretched between the receiving plate 45 and the second arm 43, The detection body 51 attached to the detection shaft 50 of the clamp sensor 36 is engaged with the detection pin 52 of the first arm 42, and the left and right inclination of the work machine 12 by the rolling cylinder 35 is transmitted to the stroke sensor 36 via the inner wire 48. The stroke sensor 36 detects the amount of horizontal tilt of the machine 12. The detection shaft 50 of the stroke sensor 36 is provided on the extension of the axis of the fixed shaft 40 so that the inclination amounts of the detection body 51 and the first arm 42 are the same.
[0013]
Further, the sub-transmission part in the transmission case 37 is shifted to the left outer side of the transmission case 37 at the rear side position of the bracket 38 in an ultra-low speed (L speed), neutral (N), low speed (1st speed), and high speed (2nd speed). The auxiliary transmission operation shaft 53 is protruded, and the auxiliary transmission switch 54 for detecting the high speed (second speed) of the auxiliary transmission is attached to the upright plate 44, and the tip of the actuator 54a of the switch 54 is connected to the switch operation plate of the operation shaft 53. When the sub-transmission unit 16 is operated to the second sub-speed by the sub-transmission lever 16, the actuator 54 a is pressed by the operation plate 55 and the second sub-speed is detected by the switch 54.
[0014]
As described above, the stroke sensor 36, the first and second arms 42 and 43, and the auxiliary transmission switch 54 are mounted on the single bracket 38 to facilitate the compact mounting of these parts. This makes it possible to easily mount the unit in a single manner, thereby reducing the number of assembling steps in assembling work and improving the work efficiency, and by making the wire 48 always be pulled by the spring 49 and reducing the loss when the rolling cylinder 35 expands and contracts. This can reduce the detection accuracy of the stroke sensor 36.
[0015]
As shown in FIG. 8, an automatic tilling depth switch 56 that performs automatic tilling depth control, a tilling depth setting device 57 that sets the tilling depth of the tilling rotary 12, and a tilling depth deadband width setting device that sets a deadband width of a set value. 58 and a machine inclination sensor 59 for detecting the inclination of the machine side, and the switches 15 and 56, the sensors 31 and 36, and the setting devices 57, 58, and 59 are input-connected to the tillage controller 60. The controller 60 is connected to the elevating cylinder 32 and the rolling cylinder 35 in an output manner so that the horizontal horizontal control and tilling depth control of the work implement 12 are performed.
[0016]
As shown in FIG. 9, when the lowering switch 15 a is turned on by the elevating switch 15 during the working depth control in which the automatic working depth switch 56 is turned on, the work machine 12 is lowered at a predetermined speed, and the detected value of the inclination sensor 36 is detected. When the rotary 12a (rear cover 28) is in contact with the ground, the dead zone width of the control (plowing depth setting value) is larger than normal (3 Vr when the dead zone Vr is normal). (Approximately 3 times)), a large dead band width 3 Vr is maintained for a certain time T (T≈4 seconds) from the grounding state, and after a certain time has elapsed, the normal dead band width Vr is gradually returned. The rotary 12a that stops the descent within the large dead band width 3Vr gradually lowers the rotary 12a to the target tillage position in the process of gradually returning from the large dead band width 3Vr to the normal dead band width Vr. Decrease gently.
[0017]
As a result, as shown in FIG. 10, the rotary 12a accelerates the descending speed from the ascending position to the grounding position and quickly descends the rotary 12a. After the grounding, the rotary 12a gradually enters the target plowing position without deeply entering the rotary 12a. The initial pile A is made small, and the pile B after the initial stage is made to have a substantially uniform height and the surface of the pile is made smooth.
[0018]
As is clear from the above, in the lifting control device for the work machine 12 that allows the work machine 12 to be lifted and lowered on the machine body, the dead zone width Vr of the controller 60 that is a control mechanism that controls the lowering of the work machine 12 can be changed. Thus, for example, when the rotary tiller 12 is lowered from the raised position to the grounding position, the normal dead band width Vr is used, and after the grounding, the working machine 12 is lowered using a wider dead band width 3Vr than usual. It is possible to improve the accuracy by slowing down and suppressing a rapid descent to the target tillage position, and it is possible to improve the initial tillage work state by reducing the initial pile A.
[0019]
In addition, the dead band width 3Vr is increased for a certain time T from the grounding of the work machine 12, and the dead band width 3Vr is gradually decreased after the predetermined time T has elapsed, so that the appropriateness according to the working state of the work machine 12 can be obtained. It is possible to automatically adjust to a lowering speed and to enable tilling work with good initial embankment and accuracy.
[0020]
In the above-described embodiment, the control for gradually returning from the wide dead band width 3Vr to the normal dead band width Vr may be performed stepwise or proportionally.
[0021]
【The invention's effect】
As is apparent from the above-described embodiments, the present invention can change the dead band width Vr of the control mechanism 60 that controls the lowering of the work implement 12 in the lift control device for the work implement 12 that allows the work implement 12 to be mounted on the machine body so as to be movable up and down. Therefore, for example, when the rotary tiller 12 is lowered from the raised position to the grounded position, the normal dead band width Vr is used, and after the grounding, the working band 12 is wider than the normal dead band width 3Vr. This makes it possible to slow down the descent and suppress the sudden descent to the target plowing depth position to improve the accuracy, and to reduce the earth pile A in the initial stage of tilling to improve the initial tilling work state.
[0022]
Further, since the dead zone width 3Vr is increased for a certain time T from the grounding of the work machine 12 and the dead band width 3Vr is gradually reduced after the fixed time T has elapsed, the work machine 12 is adapted to the working state. Thus, it is possible to automatically adjust to the appropriate descending speed to enable the tilling work with the initial embankment A and good accuracy.
[Brief description of the drawings]
FIG. 1 is an overall side view of a tractor.
FIG. 2 is an overall plan view of the tractor.
FIG. 3 is a side view of a rotary working machine.
FIG. 4 is a side view of a tilling rotary.
FIG. 5 is an explanatory plan view of a work implement lifting unit.
FIG. 6 is a side view of a stroke sensor unit.
FIG. 7 is a plan view of a stroke sensor unit.
FIG. 8 is a tillage control circuit diagram.
FIG. 9 is a flowchart of tilling depth control.
FIG. 10 is an explanatory diagram showing a state of rising soil during tillage.
[Explanation of symbols]
12 Rotary tiller 60 Controller (Control mechanism)
Vr dead band width

Claims (2)

A lifting / lowering control device for a working machine, wherein the working machine is provided with a working machine so that the working machine can be moved up and down. 2. The lifting control device for a work implement according to claim 1, wherein the dead zone width is increased for a predetermined time from the grounding of the work implement, and the dead zone width is gradually reduced after a predetermined time has elapsed. .

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