JP2531178B2 - Tractor lift control device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a work implement lift control device for a tractor equipped with position control and tilling depth control.

[Prior art] Conventionally, the position control which controls the working machine height to the set value by the position setter, and the working depth of the tilling device detected by the working depth sensor to the working depth setting value of the working depth setting device are controlled. In a work implement lift control device for a tractor equipped with plowing depth control, when the plowing device is lowered from the raised position to the ground, it is lowered by position control, and when plowing depth detection by the plowing depth sensor is started, the plowing depth control is started from position control. There was a configuration that switched to.

[Problems to be solved by the invention]

In the above conventional device, the descending speed is slow because the descending from the tilling depth sensor detects the ground to the tilling depth setting value is the descending by the tilling depth control, and the tilling depth of the tiller reaches the setting value. It took a long time, and at the start of the tilling work, the section with a shallow plowing depth became long.

[Means for Solving the Problems] In order to solve the above problems, the present invention provides a position control for controlling the work implement height to a set value by a position setter, and a plowing depth set value of a plowing depth setter. In a work implement lift control device for a tractor equipped with a plowing depth control that controls the plowing depth of the tilling device detected by the tilling depth sensor, when the tilling device is lowered from the raised position to the ground, the position is lowered to control the tilling depth. From the position control to the control of the working depth when the tiller descends to the state where a rising output request is generated.

[Operation and effect of the invention]

Since the work implement lift control device for the tractor of the present invention has the above-mentioned configuration, when the cultivating device is lowered from the position elevated above the ground to the ground, the tractor is lowered by the position control and even after the cultivating device reaches the ground. , The position control is lowered until it descends to the state where the rising output request from the plowing depth control is generated, and then the position control is switched to the plowing depth control based on the generation of the rising output demand from the plowing depth control, and the appropriate plowing is performed. Deep control is executed.

Therefore, since the tiller descends by the position control until it reaches the set value for the tilling depth, the descending speed is fast, and the time until the tiller depth of the tiller reaches the set value is short,
At the start of the tilling work, the tilling depth of the tiller is quickly reached to the set tilling depth, so that the tilling work can be performed well.

〔Example〕

An embodiment of the present invention will be described in detail with reference to the drawings.

The cultivating device 1 is a rotary cultivating device, which is a rotary cultivating device having a rotary shaft 10 having a cultivating sword 9 mounted between a side transmission case 11 on one side and a bearing body on the other side.
And a rear cover 13 which is rotatable by a shaft 17 and has a mission case 14 on the upper part of the frame that supports them, and an upper link connector 15 is provided above the case 14. 16
Is a tail wheel (gauge wheel) mounting body.

The working depth sensor 2 is a potentiometer and is provided on the upper surface of the upper cover 12 and provided with an interlocking link 18 that interlocks the rotation angle of the rear cover 13 around the shaft 17 with the rotation angle of the sensor shaft of the working depth sensor 2. Then, the rear cover 13 is caused to detect the position of the plowing soil surface B, and the rotation angle of the cover 13 shaft 17 is set in advance as a voltage value proportional to the rotation angle of the sensor 2 shaft. The relational data of is stored in the CPU 19 to detect the working depth.

The vehicle body 3 is used as a tractor, and an upper link 22 and a pair of left and right lower links 23 are connected between the rear wheel transmission 21 that is equipped with the rear wheel 20 and the tiller 1, and the rear wheel transmission 21
Hydraulic cylinder mounted on top 32 Internal cylinder case 24
An elevating rod 27 is pivotally connected between the lower link 23 and the pair of left and right elevating arms 5 which are mounted on the rear part of the shaft 25 and protruded rearward so that the working machine can be moved up and down. . An arm sensor 28, which is a potentiometer for detecting the rotation angle around the shaft 25, is provided at the end of the shaft 25 of the lifting arm 5. A setting lever 30 of the position setting device 6 and a working depth setting device 31 of the working depth control mechanism 4 are provided on the side of the cockpit 29 located above the cylinder case 24. Further, below the cockpit 29, a hydraulic cylinder for operating the lifting arm 5 is provided.
An ascending proportional solenoid valve 33 and a descending proportional solenoid valve 34, which operate by controlling the operation speed of 32, are provided. The tractor vehicle body 3 is configured to be transmitted to each part from a prime mover installed in a bonnet portion 35, and a transmission is formed by connecting a shaft transmission system 37 from a PTO shaft 36 at the rear of the rear wheel transmission body 21 to the mission case 14 of the tiller 1. I am configuring. In addition, the cockpit 29
"Tillage depth control""Draftcontrol""Positioncontrol"
A control mode selection switch 54 for designating the like is provided.

The tilling depth control mechanism 4 uses the tilling depth sensor 2, the tilling depth setting device 31 that sets the required tilling depth, and the arm sensor 28 as input devices, and the control circuit by the CPU 19 makes a determination process to make the lifting arm 5 move. The ascending proportional solenoid valve 33 and the descending proportional solenoid valve 34 provided in a hydraulic circuit 39 having a hydraulic pump 38 for expanding and contracting a hydraulic cylinder 32 for raising and lowering.
A control circuit using the same CPU 19 as the position setting mechanism 7 is configured by a mechanism for selecting any one of the above and selecting and operating the valve opening selectively.

The position setting mechanism 7 uses the position setting device 6 and the arm sensor 28 as input devices, and the CPU 19 determines the processing and selects the proportional solenoid valves 33, 34 of the output devices in the same manner as the working depth control mechanism 4. It is a configuration that is controlled and operated. The position setting by the position setter 6 is to set the rotation angle at which the elevating arm 5 and the arm sensor 28 are desired to be positioned by a voltage value. The working depth setting device 31
When the plowing device 1 is located at a position where the required plowing depth is obtained, the voltage value of the rotation angle of the plowing depth sensor 2 corresponding to this is designated.

The control mechanisms 4 and 7 are shown in the control circuit diagram of FIG. 53 is an A / D converter.

The control start program 8 explains each step as shown in the flowchart of FIG. Step 40 reads each sensor value and set value, 41 is the raising / lowering arm in the raised position? 42 is the lowering position flag set, 43 is the raising operation? 44 is the raising / lowering arm operation determination from the set and detected working depth , 45 is the lifting arm movement up, down, or neutral? , 46 is OFF for both solenoids, 47 is the position flag when descending is set or NO? , 48 is the descending speed set by the lifting arm angle and the position setter, 49 is the descending solenoid excitation, 50 is the ascending speed set by the raising and lowering arm angle and the position setter, 51 is the position flag when descending, 52 is the rising solenoid excitation ,.

The progress of the program 8 in the case where the tilling apparatus 1 is lowered to a position near the upper limit position of the raising and lowering arm 26 to start the tilling depth control will be described with reference to the control flowchart of FIG. Control mode selection switch at the start
Set 54 to "plow depth control", set the position setting by the position setting device 6 and the plow depth setting device 31, and set the CPU1
Although 9 is made to read each sensor value and detection value in step 40, is the lift arm in step 41 in the raised position in a state where the cultivation depth sensor 2 cannot detect at this position? The position setting value and the detection value of the arm sensor 28 are used to judge that the vehicle is in the raised position.
Is the position flag set at the time of descending 42 set, and is the ascending operation in step 43? Is NO because the processing of step 43 is being performed, and the lift arm operation is determined from the specified working depth and the detected working depth of step 44. Since the working depth cannot be detected, the lift arm operation of the next step 45 rises. Is it descent or neutral? Is down, and is the position flag at the time of descending in step 47 set or NO? Since the process of step 42 is performed, it is a set.
The descending speed is determined by the elevating arm angle (arm sensor angle) of 48 and the position setter. The larger the difference is, the faster the speed is set to a constant speed, and the lowering solenoid is energized to lower the tiller 1 from the high position. . When the tiller 1 lands on the soil surface and starts to detect a working depth shallower than the set working depth, the reading of the detection value of the working depth sensor 2 starts at step 40, but it is compared with the detection value shallower than the set working depth at step 44. Then, in step 45, it is determined that the motor is descending, and although the solenoids for descending are currently being excited through steps 47, 48, 49, the process returns to the first step 40 at a minute time interval and repeats. When it is detected that the reading value of the tilling depth sensor 2 has exceeded the selected value due to the progress of descending, an ascending request will be issued, and the judgment at step 45 will become ascending, and the position flag at the time of descending will be reset at step 51, and at step 52, The raising solenoid is excited to raise the working depth device 1. After that, since the plowing depth control is entered, the tractor body 3 is moved forward to perform the plowing depth control. In this case, step 41 becomes NO and goes through steps 43, 44, and 45, but depending on the result of step 44, step 44 is divided into descending, neutral, and rising, and the descending at this time is from step 40 to step 49. Move to. When you want to raise the tiller 1 to a higher position because it turns at the end of the tilling work,
When the lever of the position setter 6 is operated to the "up" side, is it the up operation in step 43? Is YES and step 5
The ascending / descending arm angle is set to 0 and the ascending speed is set by the position setter, and the ascending solenoid is energized in step 52 so as to ascend at a high constant speed.

If the control start program is configured in this way, the control from the position setting mechanism 7 to the control by the working depth control mechanism 4 can be smoothly shifted. Further, it is preferable that the tiller 1 can be raised at high speed by the position setting mechanism 7 by button operation during the control by the tilling depth control mechanism 4.

Note that the working depth sensor 2 and the detection unit are not limited to the potentiometer and the rear cover 13, and may have other forms such as an ultrasonic position (distance) sensor.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is an overall side view, FIG. 2 is a control circuit diagram, and FIG. 3 is a flow chart of a control program. In the figure, reference numeral 1 is a tilling device, 2 is a tilling depth sensor, 3 is a vehicle body,
4 is a plowing depth control mechanism, 5 is a lifting arm, 6 is a position setter, 7 is a position setting mechanism, 8 is a control start program, 13 is a rear cover, 19 is a CPU, 28 is an arm sensor, 31
Indicates a plowing depth setting device.

Claims (1)

(57) [Claims] 1. A position control for controlling a working machine height to a set value by a position setter, and a working depth for controlling a working depth of a tilling device detected by a working depth sensor to a working depth setting value of a working depth setting device. In a work implement lift control device for a tractor equipped with a control, when the tiller is lowered from the raised position to the ground, it is lowered by position control, and when the tiller is lowered to a state where a rising output request is generated from the tillage depth control, position control is performed. A work implement lifting control device for a tractor, characterized in that it is configured to switch from control to plowing depth control.