JP2563884Y2 - Tractor tillage depth automatic control device - Google Patents

Tractor tillage depth automatic control device

Info

Publication number
JP2563884Y2
JP2563884Y2 JP1991092201U JP9220191U JP2563884Y2 JP 2563884 Y2 JP2563884 Y2 JP 2563884Y2 JP 1991092201 U JP1991092201 U JP 1991092201U JP 9220191 U JP9220191 U JP 9220191U JP 2563884 Y2 JP2563884 Y2 JP 2563884Y2
Authority
JP
Japan
Prior art keywords
rear cover
depth
control
automatic control
plowing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP1991092201U
Other languages
Japanese (ja)
Other versions
JPH0534802U (en
Inventor
辰彦 野島
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MITSUBISHI NOUKI KABUSHIKI KAISHA
Original Assignee
MITSUBISHI NOUKI KABUSHIKI KAISHA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MITSUBISHI NOUKI KABUSHIKI KAISHA filed Critical MITSUBISHI NOUKI KABUSHIKI KAISHA
Priority to JP1991092201U priority Critical patent/JP2563884Y2/en
Publication of JPH0534802U publication Critical patent/JPH0534802U/en
Application granted granted Critical
Publication of JP2563884Y2 publication Critical patent/JP2563884Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Soil Working Implements (AREA)
  • Lifting Devices For Agricultural Implements (AREA)
  • Control Of Position Or Direction (AREA)

Description

【考案の詳細な説明】[Detailed description of the invention]

【0001】[0001]

【産業上の利用分野】本考案は、リヤカバーの移動機構
を備えるトラクタの耕深自動制御装置に関するものであ
る。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tractor depth control device having a rear cover moving mechanism.

【0002】[0002]

【従来技術及び考案が解決しようとする課題】一般に、
この種トラクタのなかには、耕深設定器の設定耕深を維
持するようリヤカバーの揺動角度に基づいて耕耘作業部
を昇降制御する所謂耕深自動制御を行うものがあるが、
さらには、浅耕時と深耕時におけるのリヤカバーの接地
姿勢(目標揺動角度)を可及的に一致させて作業精度を
向上させるべく、上記設定耕深が浅耕値であるときには
リヤカバー支点を後方下方に移動させる一方、設定耕深
が深耕値であるときにはリヤカバー支点を前方上方に移
動させるようにしたものが知られている。ところで、前
記リヤカバーは、耕深自動制御時以外であつても例えば
畦立て機を装着する場合等においては移動させる必要が
あり、このため従来では、別途リヤカバー手動スイツチ
を設け、該手動スイツチの操作に基づいてリヤカバーの
移動を行うようにしていた。しかるにこの場合には、操
作具が多くなつて部品点数が増加する許りでなく、単一
のリヤカバーが複数の操作具に基づいて移動することに
なつて操作の複雑化を招き、操作性が問題となつてい
た。
2. Description of the Related Art
Some tractors of this type perform so-called automatic plowing control of raising and lowering the plowing operation unit based on the swing angle of the rear cover so as to maintain the set plowing depth of the plowing depth setting device,
Further, in order to improve the work accuracy by matching the ground contact posture (target swing angle) of the rear cover at the time of shallow plowing and at the time of deep plowing, the rear cover fulcrum is set when the set plowing depth is the shallow plowing value. It is known that the rear cover fulcrum is moved forward and upward when the set till depth is a deep tillage value while the rear till is moved downward and backward. By the way, the rear cover needs to be moved even when the cultivation machine is mounted, for example, even when the cultivation depth is not automatically controlled. For this reason, conventionally, a rear cover manual switch is separately provided, and the manual switch is operated. The rear cover is moved based on the However, in this case, the number of parts cannot be increased due to an increase in the number of operating tools, and a single rear cover moves based on a plurality of operating tools, which complicates the operation and increases operability. It was a problem.

【0003】[0003]

【課題を解決するための手段】本考案は、上記の如き実
情に鑑みこれらの欠点を一掃することができるトラクタ
の耕深自動制御装置を提供することを目的として創案さ
れたものであつて、耕深設定器の設定耕深を維持するよ
うリヤカバーの揺動角度に基づいて耕耘作業部を自動的
に昇降制御すると共に、上記設定耕深に基づいてリヤカ
バーを自動的に移動制御せしめる耕深自動制御部を備え
てなるトラクタにおいて、前記耕深設定器の操作域
に、耕深自動制御を解除するための解除域を設けると共
に、耕深自動制御部には、リヤカバーを耕深設定器が解
除域に操作されたときの位置に停止せしめるための停止
手段を設けたことを特徴とするものである。そして本考
案は、この構成によつて、部品点数を削減すると共に、
リヤカバー操作を単純化して操作性の向上を計れるよう
にしたものである。
SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has been made with the object of providing an automatic tractor tillage depth control device capable of eliminating these disadvantages. The tilling depth control unit automatically controls the raising and lowering of the tilling work unit based on the swing angle of the rear cover so as to maintain the tilling depth set by the tilling depth setter, and automatically controls the movement of the rear cover based on the above set tilling depth. in tractor comprising a control unit, during operation region of the tilling depth setting device
In addition, a release area for releasing the automatic
In addition, the tillage depth setting device releases the rear cover in the tillage depth automatic control unit.
Stop to stop at the position when operated in the excluding area
A means is provided . And this invention reduces the number of parts by this structure,
The rear cover operation is simplified to improve operability.

【0004】[0004]

【実施例】次に、本考案の一実施例を図面に基づいて説
明する。図面において、1は農用トラクタの走行機体で
あつて、該走行機体1の後部には、昇降リンク機構2を
介してロータリ耕耘式の作業部3が昇降自在に連結され
るが、該作業部3を、油圧シリンダ4の伸縮作動に伴う
リフトアーム5の上下揺動により昇降させる等の基本構
成は従来通りである。
Next, an embodiment of the present invention will be described with reference to the drawings. In the drawings, reference numeral 1 denotes a traveling body of an agricultural tractor, and a rotary tilling type working unit 3 is connected to a rear portion of the traveling body 1 via a lifting link mechanism 2 so as to be able to move up and down. Is raised and lowered by the vertical swing of the lift arm 5 accompanying the expansion and contraction operation of the hydraulic cylinder 4, and the like, and the conventional configuration is the same.

【0005】6は前記作業部3のメインカバーであつ
て、該メインカバー6は、耕耘爪軸7に取付けられる耕
耘爪8を覆うべく円弧状に形成されるが、その上面に
は、前後方向に複数のガイドローラ9が並設された左右
一対のローラブラケツト10が固設されている。
[0006] Reference numeral 6 denotes a main cover of the working unit 3. The main cover 6 is formed in an arc shape so as to cover a tilling claw 8 attached to a tilling claw shaft 7. A pair of left and right roller brackets 10 in which a plurality of guide rollers 9 are arranged side by side are fixed.

【0006】一方、11は作業部3の後端部に設けられ
るリヤカバーであつて、該リヤカバー11は、支軸12
に上下揺動自在に取付けられるとともに、弾機11aに
より常時下方に向けて押圧付勢され、さらには耕深検知
センサ(リヤカバー11の揺動角度に基づいて耕深を検
知するポテンシヨメータ)13に連繋されるが、上記支
軸12には、メインカバー6の周面に沿うべく円弧状に
湾曲し、かつ断面略冂字状に形成された左右一対のガイ
ドレール14が固設されていて、これらガイドレール1
4が前記ローラブラケツト10のガイドローラ9にそれ
ぞれ外嵌している。つまり、リヤカバー11は、耕耘爪
軸7を略中心とする円弧に沿つて移動自在であるが、浅
耕時には後方下方側に、また深耕時には前方上方側に位
置することにより常に適正な接地姿勢を維持するように
なつている。
[0006] On the other hand, reference numeral 11 denotes a rear cover provided at the rear end of the working unit 3.
, And is urged downward constantly by a bullet 11a, and furthermore, a tillage depth detection sensor (a potentiometer that detects the tillage depth based on the swing angle of the rear cover 11) 13 On the support shaft 12, a pair of left and right guide rails 14, which are curved in an arc shape along the peripheral surface of the main cover 6 and are formed to have a substantially zigzag cross section, are fixedly provided. , These guide rails 1
Reference numerals 4 are externally fitted to the guide rollers 9 of the roller bracket 10, respectively. In other words, the rear cover 11 is movable along an arc having the tilling claw shaft 7 substantially at the center. I have come to maintain.

【0007】さらに、14は作業部3のトツプマスト1
5に取付けられる電動シリンダであつて、該電動シリン
ダ14は、トルクリミツタを備え、そして先端部が枢結
されるリヤカバー11(支軸12)を、後述する制御部
16からの作動指令に基づく伸縮作動により移動せしめ
るようになつている。
[0007] Further, 14 is a top mast 1 of the working unit 3.
5, the electric cylinder 14 is provided with a torque limiter, and the rear cylinder 11 (support shaft 12), to which the tip is pivotally connected, is extended and retracted based on an operation command from a control unit 16 described later. To be moved.

【0008】また、17は運転席の側方に配設されるサ
イドパネルであつて、該サイドパネル17の露出部に
は、操作頻度の高い昇降操作レバー18、昇降操作スイ
ツチ19および耕深設定ボリユーム20が設けられる一
方、透明カバー21で覆われる覆蓋部には、操作頻度の
低いその他の操作具22が設けられている。
Reference numeral 17 denotes a side panel disposed on the side of the driver's seat. The exposed portion of the side panel 17 has a frequently operated elevating operation lever 18, an elevating operation switch 19, and a plowing depth setting. On the other hand, the volume 20 is provided, and the other cover 22 covered by the transparent cover 21 is provided with another operation tool 22 having a low operation frequency.

【0009】前記制御部16は、所謂マイクロコンピユ
ータ(CPU、ROM、RAM)等を用いて構成される
制御ユニツトであるが、このものは、前記耕深検知セン
サ13、昇降操作スイツチ19、耕深設定ボリユーム2
0に加え、電動シリンダ14の伸縮長さを検知するシリ
ンダ長センサ23、昇降操作レバー18の前後揺動角を
検知するレバー角センサ24、リフトアーム5の揺動角
を検知するアーム角センサ25等から信号を入力し、こ
れら入力信号に基づく判断で、油圧シリンダ4、電動シ
リンダ14等に作動指令を出力するようになつている。
即ち、制御部16においては、昇降操作レバー18の設
定高さを維持するようアーム角センサ25の検知に基づ
いて作業部3を自動昇降するポジシヨン制御と、耕深設
定ボリユーム20の設定耕深を維持するよう耕深検知セ
ンサ13の検知に基づいて作業部3を自動昇降し、かつ
耕深設定ボリユーム20の設定耕深に適したリヤカバー
姿勢を維持するようシリンダ長センサ23の検知に基づ
いてリヤカバー11を移動制御する耕深自動制御とを行
うべく構成されている。
The control unit 16 is a control unit constructed by using a so-called microcomputer (CPU, ROM, RAM) and the like. The control unit 16 includes the tillage depth detecting sensor 13, the up / down operation switch 19, and the tillage depth. Setting volume 2
In addition to 0, a cylinder length sensor 23 for detecting the length of expansion and contraction of the electric cylinder 14, a lever angle sensor 24 for detecting the longitudinal swing angle of the lifting / lowering operation lever 18, and an arm angle sensor 25 for detecting the swing angle of the lift arm 5. And the like, and an operation command is output to the hydraulic cylinder 4, the electric cylinder 14, and the like based on the determination based on these input signals.
That is, in the control unit 16, the position control for automatically raising and lowering the working unit 3 based on the detection of the arm angle sensor 25 so as to maintain the set height of the raising and lowering operation lever 18, and the set cultivation depth of the cultivation depth setting volume 20. The working unit 3 is automatically moved up and down based on the detection of the tillage depth detection sensor 13 so as to maintain the rear cover position based on the detection of the cylinder length sensor 23 so as to maintain the rear cover posture suitable for the set tillage depth of the tillage depth setting volume 20. 11 is configured to perform the plowing depth automatic control for controlling the movement of the pneumatic head 11.

【0010】さて、図5は制御部16のメインルーチン
であつて、該メインルーチンは、サブルーチンである前
記耕深自動制御とポジシヨン制御との切換え等を行うも
のであるが、リヤカバー移動制御を含む耕深自動制御
は、耕深設定ボリユーム20が通常設定域に位置するこ
とに基づいて実行される一方、耕深設定ボリユーム20
が深耕側設定端部に予め設定されるOFF域に位置する
ことに基づいて解除され、この状態でポジシヨン制御へ
の切換えがなされるようになつている。即ち、耕深設定
ボリユーム20を耕深自動制御のON−OFF切換え操
作具に兼用するものであるが、耕深設定ボリユーム20
をOFF域に操作した場合には、リヤカバー11の移動
も現在位置で直ちに停止されるようになつている。
FIG. 5 shows a main routine of the control unit 16. The main routine is for switching between the automatic plowing depth control and the position control, which are subroutines, and includes a rear cover movement control. The automatic plowing depth control is executed based on the fact that the plowing depth setting volume 20 is located in the normal setting area, while the plowing depth setting volume 20 is controlled.
Is released based on the fact that it is located in the OFF region preset at the deep cultivation side setting end, and switching to the position control is performed in this state. That is, the cultivation depth setting volume 20 is also used as an ON-OFF switching operation tool of the cultivation depth automatic control.
Is operated in the OFF range, the movement of the rear cover 11 is also immediately stopped at the current position.

【0011】叙述の如く構成された本考案の実施例にお
いて、リヤカバー移動制御を含む耕深自動制御は、耕深
設定ボリユーム20をOFF域に操作することで解除さ
れることになるが、その際にはリヤカバー11の移動も
同時に停止させるため、耕深設定ボリユーム20をリヤ
カバー11の手動操作具に兼用できることになる。即
ち、リヤカバー11を任意の位置に停止させたい場合に
は、まず設定ボリユーム20を通常設定域に操作してリ
ヤカバー11を設定耕深の対応位置側に向けて移動さ
せ、しかる後、リヤカバー11が希望の位置まで達した
段階で耕深設定ボリユーム20をOFF域に操作すれば
リヤカバー11を希望位置で停止させ得ることになる。
従つて、耕深設定ボリユーム20の兼用化によつて専用
のリヤカバー手動操作スイツチが不要となり、この結
果、部品点数を削減することができる。
In the embodiment of the present invention configured as described above, the automatic cultivation depth control including the rear cover movement control is released by operating the cultivation depth setting volume 20 to the OFF range. Since the movement of the rear cover 11 is also stopped at the same time, the working depth setting volume 20 can be used also as a manual operation tool of the rear cover 11. That is, when it is desired to stop the rear cover 11 at an arbitrary position, first, the set volume 20 is operated to the normal set area to move the rear cover 11 toward the corresponding position of the set plowing depth. If the working depth setting volume 20 is operated to the OFF range at the stage when the desired position is reached, the rear cover 11 can be stopped at the desired position.
Accordingly, the dual use of the tillage setting volume 20 eliminates the need for a dedicated rear cover manual operation switch, and as a result, the number of parts can be reduced.

【0012】しかも、リヤカバー11は、従来の如く複
数の操作具に基づいて移動することなく、単一の耕深設
定ボリユーム20に基づいて移動することになるため、
操作の簡略化が計れ、この結果、リヤカバー移動操作に
おける操作性を向上できる。
Moreover, since the rear cover 11 does not move based on a plurality of operating tools as in the related art, the rear cover 11 moves based on a single tillage setting volume 20.
Simplification of operations Hakare, this result, wear on improvement of operability in the rear cover moving operation.

【0013】尚、本考案は、前記実施例に限定されない
ものであることは勿論であつて、例えば前記耕深自動制
御の解除域は、深耕側設定端部位置に限らず、耕深設定
ボリユームにおける操作域であれば何れの位置に設定し
てもよいことは言うまでもない。また、前記解除域を分
割すると共に、一方の解除域においてはリヤカバーを直
ちに停止するべく設定する一方、他方の解除域において
はリヤカバーを直ちに停止することなく、深耕側限度位
置まで移動させた後に停止するべく設定してもよい。即
ち、リヤカバーの手動操作は、畦立て機、培土機等の装
着時において行われる場合が多いため、畦立て機、培土
機等の装着時において最適な深耕側限度位置まで自動的
に移動させることのできる解除域を別途設定すれば操作
性をさらに向上させることができる。また、従来のリヤ
カバー手動操作スイツチをそのまま設けておき、該操作
スイツチによるリヤカバー移動操作を耕深設定ボリユー
ムによるリヤカバー移動操作と差別化するようにしても
よい。つまり、リヤカバー手動操作スイツチによりリヤ
カバーを移動操作した場合に、以降のリヤカバー自動制
御を解除するべく構成すれば、耕深自動制御時において
リヤカバーを任意の位置に停止させることができるた
め、多様な作業に対応することを可能にできる。
The present invention is, of course, not limited to the above-described embodiment. For example, the release area of the automatic plowing depth control is not limited to the deep-plowing-side set end position, but may be a plow-depth setting volume. It goes without saying that the position may be set to any position as long as the operation area is set to. In addition, the release area is divided, and in one release area, the rear cover is set to stop immediately, while in the other release area, the rear cover is not stopped immediately, but is stopped after being moved to the deep cultivation side limit position. It may be set to do so. In other words, since the manual operation of the rear cover is often performed when mounting a ridger, soil cultivator, etc., automatically move the rear cover to the optimum deep cultivation side limit position when mounting the ridger, soil cultivator, etc. The operability can be further improved by separately setting a release area in which operation can be performed. Alternatively, a conventional rear cover manual operation switch may be provided as it is, and the rear cover moving operation by the operation switch may be differentiated from the rear cover moving operation by the plowing depth setting volume. In other words, if the rear cover automatic operation control is released when the rear cover is manually operated by the rear cover manual operation switch, the rear cover can be stopped at any position during the automatic plowing depth control. Can be supported.

【0014】[0014]

【作用効果】以上要するに、本考案は叙述の如く構成さ
れたものであるから、耕深自動制御時に、設定耕深に基
づいてリヤカバーを移動制御するものでありながら、耕
深設定器の操作域に耕深自動制御を解除する解除域を設
け、しかも該解除域に操作したとき、リヤカバーは解除
域に操作したときの位置に停止することになる。この結
果、リヤカバーを任意の位置に停止させて作業したい場
合、耕深設定器を通常設定域に操作してリヤカバーを設
定耕深の対応位置側に向けて移動させ、しかる後、リヤ
カバーが希望の位置まで達した段階で耕深設定器を解除
域に操作すればリヤカバーが希望位置で停止した作業が
できる。従つて、耕深設定器をリヤカバー手動操作具に
兼用できることになつて、従来の様に専用の手動スイツ
チを設ける必要がなく、部品点数の削減が可能になる許
りでなく、操作性が向上する
[Effects] In summary, since the present invention is configured as described above, at the time of automatic plowing depth control, the rear cover is moved and controlled based on the set plowing depth, while the operation range of the plowing depth setting device is controlled. A release zone to release the automatic plowing depth control.
The rear cover is released when operating in the release area.
It will stop at the position where it was operated in the area. This result
As a result, if you want to stop the rear cover at an arbitrary position and work , operate the tillage depth setting device to the normal setting area and move the rear cover toward the corresponding position of the set tillage depth. When the tillage setting device is operated to the release area when the position reaches the position, the work in which the rear cover stops at the desired position
I can . Therefore, the tillage setting device can also be used as the rear cover manual operation tool, and a special manual switch
No need to install a switch, allowing a reduction in the number of parts.
In addition, operability is improved .

【図面の簡単な説明】[Brief description of the drawings]

【図1】トラクタの側面図である。FIG. 1 is a side view of a tractor.

【図2】同上平面図である。FIG. 2 is a plan view of the same.

【図3】サイドパネルの平面図である。FIG. 3 is a plan view of a side panel.

【図4】制御機構の概略を示すブロツク図である。FIG. 4 is a block diagram schematically showing a control mechanism.

【図5】制御部における制御手順を締めるフローチヤー
トである。
FIG. 5 is a flowchart for closing a control procedure in a control unit.

【符号の説明】[Explanation of symbols]

1 走行機体 3 作業部 11 リヤカバー 14 電動シリンダ 16 制御部 20 耕深設定ボリユーム DESCRIPTION OF SYMBOLS 1 Traveling body 3 Working part 11 Rear cover 14 Electric cylinder 16 Control part 20 Tillage depth setting volume

Claims (1)

(57)【実用新案登録請求の範囲】(57) [Scope of request for utility model registration] 【請求項1】 耕深設定器の設定耕深を維持するようリ
ヤカバーの揺動角度に基づいて耕耘作業部を自動的に昇
降制御すると共に、上記設定耕深に基づいてリヤカバー
を自動的に移動制御せしめる耕深自動制御部を備えてな
るトラクタにおいて、前記耕深設定器の操作域中に、耕
深自動制御を解除するための解除域を設けると共に、耕
深自動制御部には、リヤカバーを耕深設定器が解除域に
操作されたときの位置に停止せしめるための停止手段を
設けたことを特徴とするトラクタの耕深自動制御装置。
1. A tilling operation unit is automatically raised and lowered based on a swing angle of a rear cover so as to maintain a set cultivation depth of a cultivation depth setting device, and a rear cover is automatically moved based on the set cultivation depth. in tractor comprising a control allowed to tilling depth automatic control unit, during operation region of the tilling depth setting device, plowing
A release area for releasing the deep automatic control is provided, and
In the deep automatic control section, the rear cover is set to
Stop means to stop at the position where it was operated
An automatic tractor depth control device, which is provided.
JP1991092201U 1991-10-15 1991-10-15 Tractor tillage depth automatic control device Expired - Lifetime JP2563884Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1991092201U JP2563884Y2 (en) 1991-10-15 1991-10-15 Tractor tillage depth automatic control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1991092201U JP2563884Y2 (en) 1991-10-15 1991-10-15 Tractor tillage depth automatic control device

Publications (2)

Publication Number Publication Date
JPH0534802U JPH0534802U (en) 1993-05-14
JP2563884Y2 true JP2563884Y2 (en) 1998-02-25

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Application Number Title Priority Date Filing Date
JP1991092201U Expired - Lifetime JP2563884Y2 (en) 1991-10-15 1991-10-15 Tractor tillage depth automatic control device

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Country Link
JP (1) JP2563884Y2 (en)

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Publication number Priority date Publication date Assignee Title
JP2021175405A (en) * 2019-12-27 2021-11-04 株式会社クボタ Agricultural implement

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Publication number Publication date
JPH0534802U (en) 1993-05-14

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