JP2006340620A - Tilling control system for farming implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a tilling control system for farming implement, capable of performing in high accuracy a tilling depth automatic control by which the tilling depth of a tilling tine can be maintained at an approximately constant level. <P>SOLUTION: The tilling control system for farming implement is provided, wherein the farming implement is such that a working vehicle is mounted with a tiller via a link mechanism liftably. This tilling control system includes a lift control actuator functioning to make the tiller ascend/descend, a rear cover sensor for detecting the turning angle of the rear cover of the tiller, a tilling depth setter for setting the tilling depth of the tiller and a tilling control means for operating the above actuator. This tilling control system also includes a weight sensor for detecting the weight of the tiller. In this tilling control system, the tilling control means works in such a way as to operate the above actuator through correcting with a weight sensor value a control gain for calculating the speed of operating the tilling depth control of the tilling tine and calculating the tilling depth control speed of the tiller and the tilling depth of the tilling tine based on the corrected control gain and a rear cover sensor value. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a device for controlling the attitude of a rotary tiller pulled by a work vehicle such as a tractor, and more particularly, to a tilling control device for a farm working machine that automatically controls the tilling depth of the rotary tiller. Is.

  This type of rotary cultivator is connected to the work vehicle via a link mechanism so as to be movable up and down in order to adjust the tilling depth. Further, the upper side of the rotation trajectory of the tillage claw in the rotary tiller is covered with a tillage cover. A rear cover is connected to the rear end of the tillage cover. And, as shown in Patent Document 1, a lift arm sensor for detecting the height of the rotary tiller with respect to the vehicle body and a tilling depth sensor for detecting the height of the rotary tiller with respect to the ground are provided. A rear cover that can move and is grounded at a predetermined pressure is used as means for detecting the tilling depth of the tilling claws. Then, the tilling depth of the tilling claws is controlled so that the detected value of the tilling depth of the rotary tiller matches the target tilling depth (cultivation depth automatic control).

Further, as shown in Patent Document 2, a control gain (proportional constant) for calculating a tilling depth detection value is changed according to an engine load detection value or a vehicle speed detection value of the work vehicle, and a plow or the like It is also known to control such a ground working machine to automatically move up and down.
JP 2000-41415 A JP 2000-92913 A

  By the way, the cultivator tilling depth control speed and the tilling depth of the tilling claw are preset constant control gains (proportional constant determined by characteristics such as a mechanism for detecting tilling depth and an electric circuit). And the detected value of the rear cover and the tillage depth setting value of the tillage depth setting device. Then, the tilling depth control speed of the tiller was determined from the calculated tiller depth deviation and a constant control gain regardless of the weight of the tiller.

  Therefore, in the automatic tiller depth control using the rear cover, when the weight of the tiller changes, the tiller depth control speed of the tiller that is not adapted to the actual weight of the tiller is calculated. There has been a problem that, based on the erroneous tilling depth control speed, the tilling depth automatic control of the tilling claws is executed.

  For example, even if the deviation of the tilling depth automatic control of the tilling claw is the same, the weight of the tiller varies depending on the weight of the tiller, so that the weight of the tiller is small. When it is easy to move up and down, the automatic control of the tilling depth of the tilling claw becomes sensitive, and irregularities are likely to be formed on the finished soil surface after tilling. On the other hand, when the weight of the tiller is large and difficult to move up and down, the tilling depth automatic control of the tilling claw becomes stupid, and the time until the tilling depth of the tilling nail reaches the target value becomes longer. There was a problem that automatic control of tillage depth was likely to be delayed with respect to actual change of tillage depth. In the tillage work, there was no effective execution of effective tillage depth automatic control.

  An object of the present invention is to make it possible to easily perform tilling work of the tiller, and to perform cultivation depth automatic control for maintaining the tilling depth of the tilling claw substantially constant with high accuracy. A control device is provided.

  In order to achieve the above object, a farming machine tillage control device according to the first aspect of the present invention enables a tiller to be lifted and lowered via a link mechanism on a work vehicle supported movably by front wheels and rear wheels. A lifting control actuator that is mounted to move the tiller up and down, a rear cover sensor that detects a rotation angle of a rear cover of the tiller, a tillage depth setting device that sets a tilling depth of the tiller, and the lifting A tilling control device for a farm working machine comprising a tilling control means for operating a control actuator, comprising a weight sensor for detecting a weight of the tiller, wherein the tilling control means includes a tilling depth of a tilling claw of the tiller. A control gain for calculating the operating speed of the control is corrected with the weight sensor value, and based on the control gain corrected with the weight sensor value and the rear cover sensor value, A plow depth control speed of 耘機, calculates the tilling depth of the tilling claws, and controls to actuate the lift control actuator.

  According to a second aspect of the present invention, in the farming machine tillage control device according to the first aspect, the weight sensor is configured to measure the hydraulic pressure of the lifting control actuator and detect the weight of the tiller. It is what.

  According to a third aspect of the present invention, in the farming machine tillage control device according to the first aspect, the link mechanism includes a lower link and a top link, and the weight sensor measures distortion of the lower link. It is comprised so that the weight of the said tillage machine may be detected.

  According to a fourth aspect of the present invention, in the farming machine tillage control device according to the first aspect, the link mechanism includes a lower link and a top link, and the weight sensor connects the lower link to the main unit side. It is comprised so that the support load of the lower link pin for performing may be measured and the weight of the said tillage machine may be detected.

  According to a fifth aspect of the present invention, in the tillage control device for an agricultural machine according to any one of the first to fourth aspects of the present invention, the tiller control device includes an attitude sensor that detects an inclination in the front-rear direction of the work vehicle. The value is corrected based on the attitude sensor value, and the control gain for calculating the tilling depth of the tilling claw of the tiller is corrected based on the weight sensor value corrected by the attitude sensor value. It is something to control.

  According to a sixth aspect of the present invention, in the farming machine tillage control device according to any one of the first to fifth aspects of the present invention, the tiller control device includes a vehicle speed sensor that detects a moving speed of the work vehicle. Control is performed so that the control gain is corrected by the weight sensor value when stopped at a fixed position.

  The invention described in claim 7 is the farming machine tillage control device according to any one of claims 1 to 3 or 5, further comprising a lift angle sensor that detects a height of the tiller relative to the main body, and the tillage control means includes: When the tiller is largely lifted on the ground and maintained at a substantially constant height, the control gain is controlled to be corrected by the weight sensor value.

  According to the invention which concerns on Claim 1, it mounts | wears with the working vehicle supported so that it can drive | work freely with a front wheel and a rear wheel so that raising / lowering is possible via a link mechanism, and the raising / lowering control which raises / lowers the said tilling device is carried out An actuator, a rear cover sensor that detects a rotation angle of a rear cover of the tiller, a tiller depth setting unit that sets a tilling depth of the tiller, and a tillage control unit that operates the lifting control actuator. The tillage control device for a farming machine comprises a weight sensor for detecting the weight of the tiller, and the tillage control means has a control gain for calculating an operation speed of a tilling depth control of a tilling claw of the tiller. , Corrected by the weight sensor value, and based on the control gain corrected by the weight sensor value and the rear cover sensor value, the tilling depth control speed of the tiller and the tillage of the tilling claw Since the depth is calculated and controlled to operate the lifting control actuator, for example, even if a chemical spreader or a fertilizer applicator is arranged in the cultivator and the weight of the cultivator changes, or Even if chemicals, fertilizers, etc. increase or decrease during tillage work and the weight of the tiller changes, or mud and grass in the field adhere to the tiller during the tillage work, the weight of the tiller changes Even so, the control gain is corrected according to the change in the weight of the tiller, and the operation speed of the tilling depth control of the tilling claw can be calculated with high accuracy. Therefore, based on the control gain adapted to the weight of the tiller, the tilling depth detection value of the tilling claw measured by the rear cover sensor, and the tilling depth setting value, the actual weight of the tiller is calculated. The adapted tilling depth control speed can be calculated, and the tilling depth automatic control of the tilling claws can be executed based on the tilling depth control speed. It is possible to improve the performance of the tilling depth automatic control in which the tilling claws maintain the depth of tilling the field at a predetermined depth.

  According to the invention which concerns on Claim 2, the said weight sensor is comprised so that the oil pressure (static oil pressure) of the said raising / lowering control actuator (hydraulic cylinder) may be measured, and the weight of the said tillage machine may be detected. Thus, even if the weight of the cultivator changes, the control gain can be corrected with high accuracy in accordance with the change in the weight of the cultivator. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw maintains the depth of tilling the field substantially constant.

  According to a third aspect of the present invention, the link mechanism includes a lower link and a top link, and the weight sensor is configured to measure the strain of the lower link and detect the weight of the tiller. Therefore, even if the weight of the cultivator changes, the control gain can be corrected with high accuracy according to the change in the weight of the cultivator. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw maintains the depth of tilling the field substantially constant.

  According to a fourth aspect of the present invention, the link mechanism includes a lower link and a top link, and the weight sensor measures a support load of a lower link pin for connecting the lower link to the machine side. Since it is configured to detect the weight of the field cultivator, the control gain can be corrected with high accuracy according to the weight change of the field cultivator even if the weight of the field cultivator changes. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw maintains the depth of tilling the field substantially constant.

  According to a fifth aspect of the present invention, the posture sensor for detecting a forward / backward inclination of the work vehicle is provided, the tillage control unit corrects the weight sensor value based on the posture sensor value, and the posture sensor Based on the weight sensor value corrected by the value, control is performed so as to correct a control gain for calculating the tilling depth of the tilling claw of the tiller. Even if the angle changes and the support load of the lift control actuator changes, the control gain can be corrected with high accuracy according to the change of the support load of the lift control actuator. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw maintains the depth of tilling the field substantially constant.

  According to a sixth aspect of the invention, the vehicle speed sensor for detecting the moving speed of the work vehicle is provided, and the tillage control means sets the control gain when the work vehicle is stopped at a substantially constant position. The control gain is controlled so as to be corrected by the weight sensor value. For example, even when a chemical spreader or a fertilizer applicator is arranged in the tiller and the weight of the tiller changes, It can be corrected with high accuracy according to the weight change of the machine. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw maintains the depth of tilling the field substantially constant.

  According to the invention which concerns on Claim 7, it is provided with the lift angle sensor which detects the height with respect to this machine of the said tillage machine, The said tillage control means is maintained at the substantially constant height when the said tiller is greatly lifted on the ground. The control gain is controlled so as to be corrected by the weight sensor value when the weight of the cultivator is changed, for example, when chemicals and fertilizers are increased or decreased during the cultivating work. Or, even if mud or hay on the field adheres to the cultivator during the cultivation work and the weight of the cultivator changes, the control gain is corrected with high accuracy according to the change in the cultivator's weight. it can. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw maintains the depth of tilling the field substantially constant.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, drawings when an embodiment of the present invention is applied to a farm tractor as a work vehicle will be described. 1 is a side view of a tractor, FIG. 2 is a plan view of the tractor, FIG. 3 is a side view of a lifting mechanism for a hydraulic working machine, FIG. 4 is a diagram of the same plane, and FIG. FIG. 6 is a back side explanatory view, FIG. 7 is a hydraulic circuit diagram of the tractor, FIG. 8 is a functional block diagram of the control means, FIG. 9 is a flowchart of control gain adaptive control, and FIG. Flow chart of automatic depth control, Fig. 11 is a diagram showing the relationship between the height of the tiller and the elapsed time when the tiller is raised, and Fig. 12 calculates the tiller depth control speed of the tiller. It is a diagram showing the relationship (map) between the control gain for carrying out and the weight of a tiller.

  As shown in FIGS. 1 to 4, a tractor 1 as a work vehicle supports a traveling machine body 2 with a pair of left and right rear wheels 4 as well as a pair of left and right front wheels 3 and is mounted on a front portion of the traveling machine body 2. By driving the rear wheel 4 and the front wheel 3 with the engine 5, the vehicle 5 is configured to travel forward and backward. The engine 5 is covered with a bonnet 6. Further, a cabin 7 is installed on the upper surface of the traveling machine body 2. Inside the cabin 7, there is a steering seat 8 and a steering handle (round handle) 9 that moves the front wheel 3 left and right by steering. And are installed. A step 10 on which the operator gets on and off the cabin 7 is provided, and a fuel tank 11 for supplying fuel to the engine 5 is provided on the inner side of the cabin 10 and below the bottom of the cabin 7. .

  As shown in FIGS. 1 to 4, the traveling machine body 2 includes an engine frame 14 having a front bumper 12 and a front axle case 13, and left and right fixed to a rear portion of the engine frame 14 by bolts. It is constituted by the body frame 16. A mission case 17 is connected to the rear portion of the body frame 16 for transmitting the rotation of the engine 5 to the rear wheels 4 and the front wheels 3 with appropriate speed change. In this case, the rear wheel 4 is attached to the transmission case 17 via a rear axle case 18 mounted so as to protrude outward from the outer surface of the transmission case 17.

  As shown in FIGS. 3 and 4, a hydraulic working machine lifting mechanism 20 for lifting and lowering a rotary tiller 24 as a working machine is detachably attached to the upper surface of the rear portion of the transmission case 17. It has been. The rotary cultivator 24 is connected to the rear portion of the mission case 17 via a three-point link mechanism including a pair of left and right lower links 21 and a top link 22. The front end side of the left and right lower link 21 is rotatably connected to the left and right side surfaces of the rear portion of the mission case 17 via a lower link pin 25. The front end side of the top link 22 is connected to the top link hitch 26 at the rear part of the working machine lifting mechanism 20 via a top link pin 27. Further, a PTO shaft 23 for transmitting a PTO driving force to the rotary tiller 24 is provided on the rear side surface of the mission case 17 so as to protrude rearward.

  As shown in FIGS. 3, 4, and 7, the hydraulic working machine lifting mechanism 20 includes a pair of left and right lift arms that are rotated by a single-acting lifting control hydraulic cylinder 28 described later. 29 is installed. The lower link 21 and the lift arm 29 on the left side in the traveling direction are connected via a left lift rod 30. The lower link 21 and the lift arm 29 on the right side in the traveling direction include a right lift rod 31, a double-acting tilt control hydraulic cylinder 32 that forms a part of the rod 31, and a piston rod 33 of the cylinder 32. And are connected through.

  As shown in FIG. 1, the front end of the lower link frame 34 and the pair of left and right lower links 21 in the rotary tiller 24 are connected via a lower hitch pin 35 a, and each rear end side of the top link 22 and the upper link frame 34. Are connected to each other via an upper hitch pin 34a.

  As shown in FIGS. 1, 2, 5, and 6, the rotary tiller 24 includes a horizontally long main beam 36, a chain case 37 having upper ends connected to left and right ends of the main beam 36, and A bearing plate 38, a tilling claw shaft 39 whose left and right ends are rotatably supported on the lower ends of the chain case 37 and the bearing plate 38, and a plurality of tilling claws attached to the tilling claw shaft 39 in a detachable manner in a radial manner. 40, a cultivation upper surface cover 41 disposed so as to cover the upper side of the rotation trajectory of the tilling claw 40, a left and right cultivation side cover 42 disposed so as to cover the left and right sides of the rotation trajectory of the cultivation claw 40, and a cultivation claw A tilling rear cover 43 disposed so as to cover the rear of the rotational trajectory 40, a tilling depth adjusting frame 44 attached to the main beam 36 and extending long rearward, and a rear end side of the upper link frame 34 and a tilling depth adjustment. F Consisting stretchable adjustable tilling depth adjustment shaft 45 or the like which is connected to the longitudinal direction of the intermediate portion of the over arm 44.

  The lower link frame 35 is integrally connected to the main beam 36 (see FIGS. 2 and 6). The top link 22 is configured to be expanded and contracted by rotation of the turnbuckle 22a so that the length of the link 22 can be changed and adjusted (see FIGS. 3 and 4). An intermediate portion in the front-rear direction of the upper link frame 34 is connected to the main beam 36 via a tilling depth adjustment fulcrum shaft 34b (see FIG. 1). The front end side of the tilling depth adjusting frame 44 is connected to the main beam 36. When the tilling depth adjusting shaft 45 is expanded and contracted by the rotation operation of the tilling depth adjusting handle 45a, the rotary tiller 24 supported by the lower link 21 and the top link 22 changes to the forward tilting posture or the backward tilting posture. The tilling depth by the tilling claws 40 can be changed.

  As shown in FIGS. 1, 5, and 6, a gear case 46 for inputting a driving force from the PTO shaft 23 is disposed in the left and right central portion of the main beam 36. The PTO shaft 23 and the PTO input shaft 46a on the front side of the gear case 46 are connected via an extendable transmission shaft 46b having universal joints at both ends. The power from the PTO shaft 23 is cultivated via a bevel gear (not shown) built in the gear case 46, a rotating shaft (not shown) built in the main beam 36, a sprocket and a chain (not shown) built in the chain case 37, etc. It is transmitted to the nail | claw axis | shaft 39 and the tilling nail | claw 40 will be rotated counterclockwise in FIG.1 and FIG.5.

  As shown in FIGS. 5 and 6, the rear end portion of the tilling top cover 41 is connected to the front end side of the tilling rear cover 43 via a pivot shaft 47. A pair of left and right hanger frames 48 in a rearward inclined posture are erected on the rear portion of the upper surface of the tilling upper surface cover 41 that is long in the width direction of the traveling machine body 1. The rear end side of the upper surface of the tilling rear cover 43 and the left and right hanger frames 48 are coupled to each other via a pair of left and right hanger mechanisms 49 so as to be movable up and down. A pressure receiving shaft 48a is disposed at the upper end of each hanger frame 48 so as to be rotatable about a horizontal axis (center line).

  An elongated round bar-shaped hanger rod 50 in each hanger mechanism 49 penetrates the pressure receiving shaft body 48a so as to be slidable in a direction perpendicular to the horizontal axis (center line), and as shown in FIG. A lower end portion of 50 is rotatably connected to a bracket 54 on the upper surface of the rear portion of the tilling rear cover 43 via a support shaft 53. A lowering restriction pin 51 is provided on the upper end side of the hanger rod 50, and a donut-shaped lowering restriction plate 52 is arranged in the axial direction of the hanger rod 50 on the hanger rod 50 between the pressure receiving shaft body 48 a and the lowering restriction pin 51. It is slidably fitted. Further, an elevating restriction pin 55 is disposed on the lower side of the hanger rod 50 (above the support shaft 53), and the hanger rod 50 between the pressure receiving shaft body 48a and the elevating restriction pin 55 has a donut-shaped upper and lower seats. A pressure reducing compression spring 58 for applying pressure to the tilling rear cover 43 is fitted through the plates 56 and 57.

  With this configuration, when the rotary tiller 24 is lifted to a height away from the ground surface, the rear end side of the tilling rear cover 43 rotates downward about the pivot shaft 47, and the lowering restriction pin 51 is lowered. 52, the lowering restricting plate 52 comes into contact with the pressure receiving shaft body 49, and the tilling rear cover 43 is maintained in the posture in which the rear end side is lowered to the lowest. On the other hand, when the rotary cultivator 24 is lowered to the upper surface of the cultivated land and the cultivating claws 40 are landed or during the cultivating operation, the rear end side of the cultivating rear cover 43 is pivotally attached to the ground pressure with the cultivated soil. It will rotate upward about the axis 47. Further, when the rear end side of the tilling rear cover 43 is pivoted upward about the pivot shaft 47, the pressure reducing compression spring 58 is compressed via the rise restricting pin 55 and the lower seat plate 57, and the rear end of the tilling rear cover 43. The upward rotation of the side is restricted by the urging force of the compression spring 58 for pressure suppression. Therefore, the amount of cultivated soil discharged from the cultivating claw 40 to the rear of the cultivating rear cover 43 is limited, or the surface of the cultivated soil is leveled by the movement of the cultivating rear cover 43.

  FIG. 7 shows a hydraulic circuit 100 of the tractor 1 according to this embodiment, and includes a working machine hydraulic pump 101 that is operated by the rotational force of the engine 5. The work machine hydraulic pump 101 includes an ascending control solenoid valve 102 and a descending control solenoid valve 103 having an electromagnetic proportional valve structure for controlling the supply of hydraulic oil to the lifting control hydraulic cylinder 28 in the lifting mechanism 20 for the working machine, and a tilt control hydraulic pressure. The cylinder 32 is connected to an inclination control electromagnetic valve 104 for controlling the supply of hydraulic oil via a flow dividing valve 105. A diaphragm type hydraulic sensor 106 for detecting the pressure of the hydraulic oil in the lift control hydraulic cylinder 28 by converting it into an electrical signal, and for detecting the temperature of the hydraulic oil in the lift control hydraulic cylinder 28 by converting it into an electrical signal. The thermocouple type oil temperature sensor 107 is provided. As shown in FIG. 7, the hydraulic circuit 100 includes a relief valve, a flow rate adjustment valve, a check valve, an oil cooler, an oil filter, and the like.

  Next, tillage control (tilt angle control in the left-right direction, tillage depth control of the tilling claws 40) of the rotary tiller 24 of the present embodiment will be described. FIG. 8 is a functional block diagram of the tillage control means of the rotary tiller 24. The tillage control controller 110 such as a microcomputer having a ROM storing a control program and a RAM storing various data includes a power application key. The battery 112 is connected via the switch 111. The key switch 111 is connected to a starter 113 for starting the engine 5.

  Further, as shown in FIG. 8, an electronic governor controller 114 that controls the rotation of the engine 5 is connected to the tillage control controller 110. The electronic governor controller 114 is connected to a governor 115 that adjusts the fuel of the engine 5 and an engine rotation sensor 116 that detects the rotational speed of the engine 5. The position of a fuel adjustment rack (not shown) provided in the governor 115 is adjusted by a manually operated throttle lever 117. On the other hand, when the rotation position of the throttle lever 117 is detected by the throttle potentiometer 118 and the rotational speed of the engine 5 is set based on the detected value, the setting of the throttle lever 117 is set by a signal from the electronic governor controller 114. The position of the fuel adjustment rack of the governor 115 is automatically adjusted via the throttle solenoid 119 so that the rotation speed and the rotation speed of the engine 5 coincide with each other, thereby preventing the rotation of the engine 5 from changing due to load fluctuations, In other words, the engine 5 is configured so that the rotation speed of the engine 5 is maintained at a substantially constant rotation regardless of the load variation.

  Further, as shown in FIG. 8, the tillage control controller 110 includes various sensors and switches of the input system, that is, a pendulum type rolling sensor 120 that detects the tilt angle of the tractor 1 in the horizontal direction, and the tractor 1 is A gas rate type rolling gyro sensor 121 for detecting an angular velocity when starting to tilt in a direction, a potentiometer type work implement position sensor 122 for detecting a relative horizontal inclination angle of the rotary tiller 24 with respect to the tractor 1, An inclination setting dial 123 for setting the horizontal inclination angle of the rotary cultivator 24 with respect to the tractor 1 and a potentiometer type for detecting the rotation angle of the tilling rear cover 43 that changes depending on the tilling depth variation of the tilling claws 40. Limited by the output of the rear cover sensor 124 and the rear cover sensor 124 A filter 125 such as a low-pass filter or a notch filter for taking out the signal output of the area, a tilling depth setting dial 126 for setting the tilling depth of the tilling claw 40, and the rotational speed (traveling speed) of the front and rear wheels 3 and 4 are detected. A vehicle speed sensor 127, a hydraulic pressure sensor 106, a potentiometer type lift angle sensor 129 that detects the rotation angle of the lift arm 29, a strain gauge type link strain sensor 130 that detects strain of the lower link 21, A pressure-sensitive diode-type pin pressure sensor 131 that detects a support load of the lower link pin 25 for connecting the lower link 21 to the main unit side, and a pendulum-type pitching sensor that detects an inclination angle of the tractor 1 in the front-rear direction. 132 is connected.

  As shown in FIG. 8, various types of output solenoid valves, that is, a lift control solenoid valve 102, a drop control solenoid valve 103, and a tilt control solenoid valve 104 are connected to the tillage control controller 110. Then, either the raising control solenoid valve 102 or the lowering control solenoid valve 103 is switched to operate the raising / lowering control hydraulic cylinder 28, and the tilling depth of the tilling claw 40 becomes the tilling depth setting value of the tilling depth setting dial 126. As described above, the tilling depth automatic control for automatically controlling the tilling depth of the tilling claws 40 is executed. On the other hand, based on the detection result of the rolling gyro sensor 121 and the detection result of the rolling sensor 120, the tilt angle automatic control for automatically controlling the tilt angle in the horizontal direction of the rotary tiller 24 by switching the tilt control electromagnetic valve 104 is performed. Will be executed.

  In this embodiment, as shown in FIGS. 1, 2, and 8, a round handle type steering handle 9 is placed on a steering column 60 that protrudes from a floor plate 59 in front of the steering seat 8 in the driving unit (cabin) 7. The throttle lever 117 and the left and right brake pedals 61 are disposed to the right of the steering column 60. A clutch pedal 62 is disposed on the left side of the steering column 60. On the right column of the control seat 8, a work implement lifting lever 63, a PTO speed change lever 64, an inclination setting dial 123, and a tilling depth setting dial 126 are arranged. A travel speed change lever 65 is disposed on the left column of the control seat 8. A differential lock pedal 66 is arranged in front of the left column of the control seat 8. A rolling sensor 120, a rolling gyro sensor 121, and a pitching sensor 132 are disposed on the rear side of the control seat 8 and on the upper surface side of the working machine lifting mechanism 20. As shown in FIGS. 2 and 5, a rear cover sensor 124 is disposed on the upper surface of the rear portion of the tilling upper surface cover 41. The tillable rear cover 43 and the rear cover sensor 124 are connected via a sensor arm 67, a sensor link 68, and the like. As shown in FIGS. 3 and 4, the link strain sensor 130 is attached to the side surface of the lower link 21. Further, the pin pressure sensor 131 is disposed in the lower link pin 25 installation portion of the mission case 17.

  Next, with reference to FIG.11 and FIG.12, the raising / lowering aspect of the cultivator 24 is demonstrated. For example, when one stroke in the reciprocating tillage operation is completed and the headland of the field is reached, or when the tilling work is completed, or when traveling on the road is started when moving between the fields, the work implement lifting lever 63 is moved to the operator. When the lift control operation is performed, the lift control solenoid valve 102 is switched, hydraulic oil is supplied to the lift control hydraulic cylinder 28, the lift control hydraulic cylinder 28 is operated to the lift side, and the cultivator 24 is moved above the ground (field pillows). It is lifted to a turning height at which the direction can be changed on the ground or a height at which the vehicle can travel on the road.

  On the other hand, for example, when the tractor 1 moves to a position where the tillage work is started, when the operator lowers the work implement elevating lever 63, the lowering control electromagnetic valve 103 is switched, and the hydraulic oil in the elevating control hydraulic cylinder 28 is changed. Returning to the mission case 17, the lifting control hydraulic cylinder 28 is actuated downward, the cultivator 24 is lowered to the tillage height, and the tillage claw 40 is landed on the ground. Then, when the tilling claw 40 is driven by the power from the PTO shaft 23 and the tilling work is started, the rear cover sensor 124 is read into the tilling control controller 110, and the tilling depth of the tilling claw 40 matches the value of the tilling depth setting dial 126. As shown, the tilling depth automatic control is executed.

  When the tilling depth automatic control is executed, as shown in FIG. 11, the relationship between the height Hv of the tiller 24 when the tiller 24 is raised and the elapsed time T is as follows. Taking the height Hv of this machine as the vertical axis and the elapsed time T as the horizontal axis, it is an elongated (narrow) S-shaped curve indicated by a solid line in FIG. A quadratic curve that changes proportionally so that the rate of increase of the machine height Hv (the angle of the tangent to the quadratic curve) increases, and a primary that the machine height Hv increases proportionally over time. It is expressed by a straight line (section where the ascending speed is the fastest) and a quadratic curve that changes proportionally so that the rate of increase in the machine height Hv (the angle of the tangent to the quadratic curve) decreases as time T elapses. The That is, when the height of the tiller 24 is near the current height, and when the height of the tiller 24 is near the high target height (plowing depth setting dial 126 value), the lifting operation time T is The rate of change of the height Hv of the cultivator 24 with respect to the cultivator 24 is small over time. On the other hand, when the cultivator 24 is at the height Hv of the cultivator 24 while the cultivator 24 is rising from the current height to the target height (value of the cultivating depth setting dial 126), the cultivator with respect to the elapse of the ascending operation time T. The rate of change of the machine height Hv of 24 is large.

  On the other hand, when the opening degree of the lift control solenoid valve 102 is the same with respect to the lift command from the tillage controller 110, the weight of the tiller 24 is greater than the weight of the tiller 24 when represented by the solid line in FIG. 11 is large, the change rate of the height Hv of the tiller 24 with respect to the cultivator 24 with respect to the elapsed time T is low as indicated by the two-dot chain line in FIG. 11 (the inclination angle of the two-dot chain line is a solid line). As compared with the case of the solid line in FIG. 11, the ascending operation of the tiller 24 becomes stupid (the descending operation becomes stupid). Further, when the weight of the cultivator 24 is smaller than the weight of the cultivator 24 as represented by the solid line in FIG. 11, the cultivator with respect to the elapsed time T as represented by the one-dot chain line in FIG. 11. The change rate of the height Hv of 24 with respect to this machine becomes higher (the inclination angle of the alternate long and short dash line is larger than the inclination angle θ of the intermediate weight represented by the solid line), and the cultivator compared with the solid line of FIG. The ascending motion of 24 becomes sensitive (the descending motion becomes stupid).

  As described above, the ascending operation speed of the cultivator 24 can be maintained substantially constant regardless of the change in the weight of the cultivator 24 because the ascent control electromagnetic valve 102 is controlled to be increased or decreased. On the other hand, since the lifting control hydraulic cylinder 28 has a single-action structure, when controlling the lowering operation speed of the tiller 24, the tiller 24 when the tiller 24 is the lightest (the lowering action becomes silly). By using the descending speed as a reference, the descending control electromagnetic valve 103 is controlled to be decelerated, and the descending operation speed of the tiller 24 can be maintained substantially constant.

  Therefore, in order to cancel the influence of the weight change of the cultivator 24, as shown in FIG. 12, as the weight of the cultivator 24 increases, the control gain Gv (to calculate the operation speed of the cultivating depth control of the cultivating claw 40). The control gain Gv pattern (map) and / or mathematical expression represented by a linear line that changes in proportion to the weight Dv of the tiller 24 so that the proportional constant of It is stored in the RAM of the tillage control controller 110.

  Next, a control mode for determining the operating speed of the lifting control hydraulic cylinder 28 for executing the tilling depth control of the rotary tiller 24 will be described with reference to the control speed adaptive control flowchart (FIG. 9).

  The rotary cultivator 24 is connected to the rear side of the tractor 1 via the lower link 21 and the top link 22 so as to be movable up and down, and the engine 5 of the tractor 1 is started and automatically controlled (ON operation of an unillustrated automatic control switch). During this, the vehicle speed sensor 127 and the lift angle sensor 129 value are read (S1). Then, it is determined whether or not the tractor 1 is stopped at a certain place and the tiller 24 is lifted to a lifted position where the tiller 24 is lifted to the ground (at least the height of the tilling claws 40 away from the ground) (S2). .

  When the work implement elevating lever 63 is maintained in the raised position and the tiller 24 is in the raised position where it is greatly lifted on the ground (S2; yes), the hydraulic sensor 106 value, the link strain sensor 130 value, and the pin pressure sensor The 131 value and the pitching sensor 132 value are read (S3). Then, the current weight of the cultivator 24 is calculated based on the detection values of at least one of the hydraulic sensor 106, the link strain sensor 130, or the pin pressure sensor 131 as the weight sensor of the cultivator 24. To do. Further, the current weight of the cultivator 24 obtained from the calculation is corrected based on the pitching sensor 132 value. Then, from the current correction weight Dv of the tiller 24 corrected based on the value of the pitching sensor 132 and the pattern (or formula) of the control gain Gv in FIG. 12, the lift control hydraulic cylinder 28 is lifted in the tilling depth automatic control. A control gain Gv for determining the operating speed on the side is calculated (S4).

  On the other hand, whether or not the cultivator 24 is in the lowered position is determined based on the fluctuation of the lift angle sensor 129 value (S5). When the work implement lifting lever 63 is operated to the lowered position by the operator and the tiller 24 is in the lowered position (S5; yes), automatic tilling depth control is started (S6). When the tiller 24 is not lowered (S5; no), the tilling depth automatic control is maintained in the stopped state (S7).

  Next, a tilling control mode of the rotary tiller 24 will be described with reference to a flowchart (FIG. 10) of tilling depth automatic control.

  When the tilling depth automatic control in Step 6 is started, the tilling depth setting dial 126 value is read (S8). Further, the rear cover sensor 124 value, the hydraulic sensor 106 value as the weight sensor, the link strain sensor 130 value, the pin pressure sensor 131 value, and the pitching sensor 132 value are read (S9). Then, it is determined whether or not the tiller 24 has moved up and the rear cover 43 has moved to the fully closed position (the position at which the rear cover 43 is closest to the tilling claw 40) (S10).

  When the rear cover 43 is not moved to the fully closed position (the position where the rear cover 43 is closest to the tilling claw 40) (S10; no), that is, when the tilling operation is continued, the current tilling depth of the tilling claw 40 is continued. Is calculated from the value of the rear cover sensor 124 (S11). Then, it is determined whether or not the tilling depth of the tilling claw 40 matches the tilling depth setting value of the tilling depth setting dial 126 (S12).

  When the tilling depth of the tilling claw 40 calculated in the above step 11 does not match the tilling depth setting value of the tilling depth setting dial 126 (S12; no), tilling depth control is executed (S13). ). Either the raising control solenoid valve 102 or the lowering control solenoid valve 103 is operated in a direction to correct the tilling depth of the tilling claw 40, and the raising / lowering control hydraulic cylinder 28 is raised or lowered to till the tilling claw 40. Correct the depth.

  The operating speed of the raising / lowering of the raising / lowering hydraulic cylinder 28 at that time is the deviation obtained from the control gain corrected in Step 4 and the value of the rear cover sensor 124 (the value of the rear cover sensor 124 and the value of the tilling depth setting dial 126). And the difference). Therefore, even if the weight of the tiller 24 changes due to a change in model or specification, the operating speed of the raising / lowering of the lifting control hydraulic cylinder 28 is not affected by the weight change of the tiller 24, and the rear cover sensor 124. It becomes substantially constant with respect to the same deviation value obtained from the value. For example, even if a chemical spreader or a fertilizer applicator is arranged in the cultivator 24 and the weight of the cultivator 24 is changed, or the cultivator 24 is replaced with a cultivator or ground working machine having a different specification, The operating speed of raising or lowering of the lifting control hydraulic cylinder 28 does not change depending on the supporting load (powder 24 weight) or the pitching of the tractor 1.

  It should be noted that the operating speed of raising or lowering of the lifting control hydraulic cylinder 28 is determined so as to change in proportion to the deviation value. For example, when the deviation value is large, the raising / lowering operation speed of the elevation control hydraulic cylinder 28 is increased. On the other hand, for example, when the deviation value is small, the ascending / descending operation speed of the elevation control hydraulic cylinder 28 is decreased. Therefore, it is possible to prevent the tilling depth control in step 13 described above from being delayed when there is a large change in tilling depth and to prevent hunting when there is a small change in tilling depth.

  When the tilling depth of the tilling claw 40 calculated in the above step 11 matches the tilling depth setting value of the tilling depth setting dial 126 (S12; yes), the ascent control solenoid valve 102 and the descending control solenoid The valve 103 is maintained at the neutral position (S14), and the elevation control hydraulic cylinder 28 is stopped.

  On the other hand, for example, in a tilling operation in which the tractor 1 reciprocates in the field, the tractor 1 reaches the headland of the field and raises the cultivator 24 to a height (turning height) at which the tractor 1 can change direction. When the rear cover 43 is moved to the fully closed position (position where the rear cover 43 is closest to the tilling claw 40) due to the raising of the tiller 24 (S10; yes), the hydraulic sensor 106 as a weight sensor of the tiller 24, Alternatively, the current weight of the cultivator 24 is calculated based on at least one or all of the detected values of the link strain sensor 130 or the pin pressure sensor 131. Further, the current weight of the cultivator 24 obtained from the calculation is corrected based on the pitching sensor 132 value. Then, from the current correction weight Dv of the tiller 24 corrected based on the value of the pitching sensor 132 and the pattern (or formula) of the control gain Gv in FIG. 12, the lift control hydraulic cylinder 28 is lifted in the tilling depth automatic control. A control gain Gv for determining the operating speed on the side is calculated (S15).

  Therefore, when the tractor 1 changes its direction and moves to the next stroke position, the tilling operation is resumed, and when the above-described tilling depth control in step 13 is executed again, mud and hay in the field are being plowed. Even if it adheres to the cultivator 24 and the weight of the cultivator 24 is changed, or even if the weight of the cultivator 24 is changed by increasing or decreasing the weight of the cultivator 24 due to spraying of chemicals and fertilizers, etc. The operating speed of raising or lowering of the hydraulic cylinder 28 depends on the control gain corrected in the above-described step 15 and the deviation value obtained from the rear cover sensor 124 value (the difference between the rear cover sensor 124 value and the tilling depth setting dial 126 value). It will be calculated from. Therefore, even if the weight of the cultivator 24 changes due to adhesion of mud or the like, the raising / lowering operation speed of the raising / lowering control hydraulic cylinder 28 is not affected by the change in the weight of the cultivator 24 and the value of the rear cover sensor 124 is It becomes substantially constant with respect to the obtained same deviation value. For example, even if a chemical spreader or a fertilizer applicator is placed on the tiller and the weight of the tiller changes, or even if the tiller 24 is replaced with a tiller or ground working machine having a different specification, the lifting control is performed. The operating speed of raising or lowering of the hydraulic cylinder 28 is not changed by its supporting load (plowing machine 24 weight) or the pitching of the tractor 1.

  As is apparent from the above description and FIG. 8 and the like, the tractor 1 as a work vehicle supported movably by the front wheels 3 and the rear wheels 4 is provided with a lower link 21 and a top link as a link mechanism. The lift control hydraulic cylinder 28 is mounted as a lift control actuator for moving up and down the tiller 24, the rear cover sensor 124 for detecting the rotation angle of the rear cover 43 of the tiller 24, Plowing of a farm working machine comprising a tilling depth setting dial 126 as a tilling depth setting device for setting a tilling depth of the tiller 24 and a tilling control controller 110 as a tilling control means for operating the lifting control actuator 28. The control device includes weight sensors 106, 130, and 131 for detecting the weight of the tiller 24, The means 110 corrects the control gain for calculating the operating speed of the tilling depth control of the tilling claw 40 of the tiller 24 by the value of the weight sensors 106, 130, 131, and the weight sensors 106, 130, Based on the control gain corrected by the 131 value and the value of the rear cover sensor 124, the tilling depth control speed of the tiller 24 and the tilling depth of the tilling claw 40 are calculated, and the lifting control actuator 28 is operated. For example, a chemical spreader or a fertilizer applicator is disposed on the cultivator 24 and the weight of the cultivator 24 changes, or chemicals and fertilizers are being cultivated. Even if the weight of the cultivator 24 changes due to increase / decrease, or mud and hay on the field adhere to the cultivator 24 during the cultivating work and the weight of the cultivator 24 changes. The control gain is corrected in accordance with a change in weight of the tiller 24 can calculate the operating speed of the tilling depth control of the tilling claws 40 with high accuracy. Therefore, based on the control gain adapted to the weight of the cultivator 24, the cultivating depth detection value of the cultivating claw 40 measured by the rear cover sensor 124, and the cultivating depth setting value, The tilling depth control speed adapted to the actual weight can be calculated, and the tilling depth automatic control of the tilling claws 40 can be executed based on the tilling depth control speed. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw 40 maintains the depth of tilling the field at a predetermined depth.

  As is clear from the above description and FIG. 8, the hydraulic sensor 106 as the weight sensor detects the weight of the tiller 24 by measuring the hydraulic pressure (static hydraulic pressure) of the elevation control actuator 28 (hydraulic cylinder). Thus, even if the weight of the cultivator 24 changes, the control gain can be corrected with high accuracy in accordance with the change in the weight of the cultivator 24. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw 40 maintains the depth of tilling the field substantially constant.

  As apparent from the above description and FIG. 8, the link mechanism includes a lower link 21 and a top link 22, and the link strain sensor 130 as the weight sensor measures the strain of the lower link 21 to measure the strain. Since it is configured to detect the weight of the cultivator 24, even if the weight of the cultivator 24 changes, the control gain is corrected with high accuracy in accordance with the change in the weight of the cultivator 24. it can. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw 40 maintains the depth of tilling the field substantially constant.

  As is clear from the above description and FIG. 8 and the like, the link mechanism is composed of the lower link 21 and the top link 22, and the pin pressure sensor 131 as the weight sensor connects the lower link 21 to the machine side. Since the weight of the tiller 24 is detected by measuring the support load of the lower link pin 25, the control gain can be increased even if the weight of the tiller 24 changes. It is possible to correct with high accuracy according to the weight change of the tiller 24. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw 40 maintains the depth of tilling the field substantially constant.

  As apparent from the above description and FIG. 8, the tilling control unit 110 includes a pitching sensor 132 as an attitude sensor that detects the inclination of the work vehicle 1 in the front-rear direction, and the tillage control unit 110 includes the weight sensors 106, 130, 131. The value is corrected based on the posture sensor 132 value, and the tilling depth of the tilling claw 40 of the tiller 24 is calculated based on the weight sensor 106, 130, 131 value corrected by the posture sensor 132 value. Therefore, even if the tilt angle in the front-rear direction of the tiller 24 changes and the support load of the lift control actuator 28 changes, the control gain is Correction can be made with high accuracy in accordance with changes in the support load of the lift control actuator 28. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw 40 maintains the depth of tilling the field substantially constant.

  As is clear from the above description and FIG. 8 and the like, the vehicle speed sensor 127 for detecting the moving speed of the work vehicle 1 is provided, and the tillage control means 110 is used when the work vehicle 1 is stopped at a substantially constant position. In addition, since the control gain is controlled to be corrected by the weight sensors 106, 130, and 131 values, for example, a chemical spreader or a fertilizer applicator is arranged in the cultivator 24 and the cultivator 24 Even if the weight changes, the control gain can be corrected with high accuracy according to the weight change of the tiller 24. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw 40 maintains the depth of tilling the field substantially constant.

  As is clear from the above description and FIG. 8 and the like, a lift angle sensor 129 for detecting the height of the tiller 24 with respect to the main unit is provided, and the tillage control means 110 is configured so that the tiller 24 is greatly lifted to the ground. Since the control gain is controlled to be corrected by the weight sensors 106, 130, and 131 when the height is maintained at a substantially constant height, for example, chemicals and fertilizers increase or decrease during the cultivation work. Even if the weight of the cultivator 24 is changed, or even if mud and hay on the field are attached to the cultivator 24 during the cultivating operation and the weight of the cultivator 24 is changed, the control gain is increased. Can be corrected with high accuracy in accordance with the weight change of the cultivator 24. It is possible to improve the performance of the tilling depth automatic control in which the tilling claw 40 maintains the depth of tilling the field substantially constant.

It is a side view of a tractor. It is the same top view. It is side surface explanatory drawing of the raising / lowering mechanism for hydraulic working machines. It is the same plane explanatory drawing. It is a VV arrow directional cross-sectional view of the rotary tiller of FIG. FIG. It is a hydraulic circuit diagram of a tractor. It is a functional block diagram of a control means. It is a flowchart of control speed adaptive control. It is a flowchart of tilling depth automatic control. It is a diagram showing the relationship between the height of the tiller and the elapsed time when the tiller is raised. It is the diagram showing the relationship between the control gain for calculating the tilling depth control speed of a tiller, and the weight of a tiller.

Explanation of symbols

1 tractor (work vehicle)
3 Front wheels 4 Rear wheels 21 Lower link (link mechanism)
22 Top link (link mechanism)
24 rotary tiller 28 lift control hydraulic cylinder (lift control actuator)
40 tillage nail 43 rear cover 106 (weight sensor)
110 tillage control controller (cultivation control means)
124 rear cover sensor 126 plowing depth setting dial (plowing depth setting device)
127 vehicle speed sensor 129 lift angle sensor 130 link strain sensor (weight sensor)
131-pin pressure sensor (weight sensor)
132 pitching sensor

Claims (7)

Attach a cultivator to a work vehicle supported by the front wheels and rear wheels so as to be able to run freely through a link mechanism,
A lifting control actuator for moving the tiller up and down, a rear cover sensor for detecting a rotation angle of a rear cover of the tiller, a tilling depth setting device for setting a tilling depth of the tiller, and the lifting control actuator In the farming machine tillage control device comprising the tillage control means to be operated,
A weight sensor for detecting the weight of the tiller,
The tillage control means corrects the control gain for calculating the working speed of the tilling depth control of the tilling claw of the tiller by the weight sensor value, and the control gain corrected by the weight sensor value and The farming machine is characterized in that, based on the rear cover sensor value, calculates a tilling depth control speed of the tiller and a tilling depth of the tilling claw, and controls to operate the lifting control actuator. Tillage control device.   2. The tillage control device for an agricultural machine according to claim 1, wherein the weight sensor is configured to detect a weight of the tiller by measuring a hydraulic pressure of the lifting control actuator.   2. The link mechanism according to claim 1, wherein the link mechanism includes a lower link and a top link, and the weight sensor is configured to measure the strain of the lower link and detect the weight of the tiller. The farming machine tillage control device described.   The link mechanism includes a lower link and a top link, and the weight sensor detects a weight of the tiller by measuring a support load of a lower link pin for connecting the lower link to the main unit side. It is comprised, The cultivation control apparatus of the agricultural machine of Claim 1 characterized by the above-mentioned. An attitude sensor for detecting the inclination of the work vehicle in the front-rear direction;
The tillage control unit corrects the weight sensor value based on the posture sensor value, and calculates a tilling depth of the tillage claw of the tiller based on the weight sensor value corrected by the posture sensor value. 5. The tilling control device for an agricultural machine according to claim 1, wherein control is performed so as to correct a control gain. A vehicle speed sensor for detecting a moving speed of the work vehicle;
The said tilling control means is controlled so that the said control gain is correct | amended with the said weight sensor value, when the said working vehicle has stopped in the substantially fixed position. Farming machine tillage control device. A lift angle sensor for detecting the height of the tiller relative to the main unit,
The tillage control means performs control so that the control gain is corrected by the weight sensor value when the tiller is largely lifted to the ground and maintained at a substantially constant height. Item 6. The farming machine tillage control device according to Item 1 to 3 or 5.

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