JP2753645B2 - Rear cover movement control device for ground work vehicles - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movement control device for a rear cover in a ground work vehicle such as a tractor.

[Problems to be Solved by the Related Art and the Invention] Generally, in a tilling work unit connected to this type of ground work vehicle, a configuration is provided in which a rear cover can be moved in response to a change in tillage depth in order to maintain a proper grounding posture. There are things to be done. In such a device, it is known that the rear cover is moved and controlled based on the set value of the cultivation depth automatic control. However, conventionally, when the rear cover is moved to a position corresponding to the cultivation depth set value, Because the pitch was constant, the rear cover was often located at the lowest position (shallowest plowing position) despite the fact that the tillage depth setting value was not the lowest as shown in FIG. When the tilling work part is lowered from the non-working position to the working position, there is a disadvantage that the rear cover is easily damaged by pushing up the field.
On the other hand, on the deep plowing posture side, the rear cover frequently moves too much in response to a change in the plowing depth setting value, which adversely affects the plowing depth control.

[Means for Solving the Problems] The present invention has been conceived in view of the above-described circumstances, and aims to provide a rear cover movement control device for a ground working vehicle that can eliminate these disadvantages. The tilling work section connected to the traveling machine is provided with a rear cover movable in a shallow tilling posture side and a deep tilling posture side, and the rear cover is moved in a predetermined tilling direction based on a set value changing operation by a tilling depth control mechanism. In the ground work vehicle configured to be controlled to move to the deep posture, when the rear cover is moved to a position corresponding to the set value of the plowing depth control mechanism, the moving pitch is:
It is characterized in that it is set small in the shallow tilling posture side and large in the deep tilling posture side.

According to the present invention, with this configuration, it is possible to prevent damage to the rear cover and perform highly accurate plowing depth control.

Example Next, an example 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 body 1 via a lifting link mechanism 2 so as to be able to move up and down. Arm 5 associated with the extension and retraction of the hydraulic cylinder 4
The basic configuration, such as raising and lowering by swinging, is the same as the conventional one.

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 to which the guide rollers 9 are mounted are fixedly provided.

On the other hand, reference numeral 11 denotes a rear cover provided at the rear end of the working section 3. The rear cover 11 is attached to a support shaft 12 so as to be vertically swingable, and is constantly urged toward the field by a bullet 11a. , And a tillage detection sensor (rear cover 11
Is connected to a potentiometer 13 for detecting the swing angle of the main cover 6. The support shaft 12 is formed in an arc shape so as to follow the peripheral surface of the main cover 6, and is formed in a substantially square shape in cross section. A pair of guide rails 12a are fixedly mounted, and these guide rails 14 are used for the guide rollers 9 of the roller bracket 10.
Respectively. That is, the rear cover 11 is movable along an arc centered on the tilling claw shaft 7,
It is possible to move to the shallow plowing posture side moved forward and the deeply plowing posture side moved backward so as to always maintain the optimal ground contact posture.

Reference numeral 14 denotes an electric cylinder attached to the top mast 15 of the working unit 3. The electric cylinder 14 operates the rear cover 11 (support shaft 12) to which the tip is pivoted by an operation command from a control unit 16 described later. It is made to move by expansion and contraction operation based on.

The control unit 16 is a control unit configured using a so-called microcomputer (CPU, ROM, RAM) or the like. The control unit 16 includes the tillage depth detection sensor 13 and an automatic tillage depth automatic control switch. Signals are inputted from a switch 17, a tillage depth setting device 18 for setting a desired tillage depth, a limit switch 19 for detecting the most contracted state of the electric cylinder 14, a reverse detection sensor 20 for detecting the backward movement of the body 1, and the like. An operation command is output to the hydraulic cylinder 4, the electric cylinder 14, and the like based on the determination based on the input signal. That is, the control unit 16 performs the plowing depth automatic control and the rear cover control, which will be described later. The rear cover control includes a plurality of controls such as a basic control, an initial control, and a reverse control.

The automatic cultivation depth control is performed by correcting the detection value B of the cultivation depth detection sensor 13 based on the position of the rear cover, and then expanding and contracting the hydraulic cylinder 4 based on a comparison with the set value A of the cultivation depth setting device 18. The operation of the hydraulic cylinder 4 is switched to a low speed while the rear cover 11 is moving. That is, the detection value B that changes significantly when the rear cover 11 is moving.
This prevents a problem that the working unit 3 moves up and down rapidly based on the above.

On the other hand, the basic control of the rear cover control is a tillage setting device.
Set the rear cover 11 to the set value A based on the set value change operation of 18.
The corresponding position of the rear cover 11, which is set in advance, is set in a stepwise manner, and the movement pitch (response pitch) is small on the shallow plowing posture side as shown in FIG. , And the deep cultivation posture side is set large. That is, on the shallow plowing posture side, the range of the set value A corresponding to the shallowest position of the rear cover 11 is made as narrow as possible,
On the side of the deep cultivation posture, the control sensitivity in the movement control of the rear cover 11 is reduced. Further, in the basic control, based on the deepest posture position detected by the limit switch 19, the movement control is performed by recognizing the rear cover position by the operation time of the electric cylinder 14, but the latest rear cover position is always stored, At the beginning of the operation, movement control is performed based on the stored values.

In addition, the initial control in the rear cover control is performed only once when the working unit 3 has risen to the non-working position after the engine is started, and the control cancels the basic control in this state, The reference position of the rear cover 11 is corrected by reducing the electric cylinder 14 to the minimum contraction position.

Further, in the reverse control, the electric cylinder 14 is reduced and the reference position of the rear cover 11 is corrected in the state where the traveling body 1 is moving backward in the same manner as in the above-described initial control. This is performed every time the aircraft 1 moves backward.

In the embodiment of the present invention configured as described above, the movement of the rear cover 11 is controlled based on the operation of changing the set value of the tillage depth setting device 18 in order to always maintain the optimal grounding posture. The movement pitch at the rear cover-corresponding position is set to be small on the shallow cultivation posture side and large on the deep cultivation posture side. At the same time, frequent movements of the rear cover 11 are restricted on the deep tilling posture side. Therefore, when the working unit 3 is lowered from the non-working position to the working position, it is possible to reduce as much as possible the occurrence of a problem that the rear cover 11 located at the lowest position is damaged by pushing up the field. As much as possible, the frequent movement of the rear cover 11 in the deep cultivation posture side can also reliably prevent a problem that adversely affects the cultivation depth control, and as a result,
Accurate tillage depth control can always be performed.

Further, in the movement control of the rear cover 11, since the rear cover position is recognized based on the operation time of the electric cylinder 14 based on the deepest posture position, the position detection mechanism of the rear cover 11 is particularly provided with a position detection sensor such as a stroke sensor. Instead, it can be configured with only one limit switch 19, so that the structure can be significantly simplified.

In addition, since the reference position of the rear cover 11 is corrected at the start of the work and when the aircraft is moving backward,
Highly accurate rear cover control can always be performed based on accurate position recognition.

Further, when the aircraft is moving backward, the rear cover 11 is located at the deepest posture position, so that it is possible to prevent the rear cover 11 from being damaged due to contact with a ridge or the like.

Further, in the moving state of the rear cover 11, since the raising and lowering operation speed of the working unit 3 based on the automatic plowing depth control is controlled to be switched to a low speed, the working unit 3 is suddenly controlled based on the remarkably changing plowing depth detection value. In addition, the control accuracy of the automatic plowing depth control can be remarkably improved by preventing the problem of the lifting operation.

It should be noted that the present invention is not limited to the embodiment described above. For example, when the rear cover 11 is in the moving state, the lifting / lowering operation speed of the working unit 3 is not switched to a low speed as shown in FIG. The same effect can be obtained even if the dead zone in the automatic plowing depth control is widened and the control sensitivity is reduced. In addition, if a reset switch for detecting the most contracted and the most extended state of the electric cylinder 14 is provided, and the reference position of the rear cover 11 can be corrected in both states,
The position of the rear cover 11 can be more accurately recognized.In this case, the reference position is corrected by selecting the closest one of the most contracted and the most extended in the initial control. The operation time can be shortened.

[Operation and Effect] In short, the present invention is configured as described above, and therefore, controls the movement of the rear cover movably provided in the tilling work section based on the set value changing operation by the cultivation depth control mechanism. However, when the rear cover is moved to a position corresponding to the setting value of the tillage depth control mechanism, the movement pitch is set small in the shallow tillage position and large in the deep tillage position, so that the rear cover is located at the lowest position. The number of cases where the rear cover is moved is reduced as much as possible, and the frequent movement of the rear cover is restricted on the deep tilling posture side. Therefore, when the tilling work part is lowered from the non-working position to the working position, it is possible to reduce as much as possible the occurrence of the problem that the rear cover located at the lowest position is damaged by pushing up the field. Fortunately, a problem that adversely affects the plowing depth control due to the frequent movement of the rear cover in the deep plowing posture side can be reliably prevented, and control accuracy in the plowing depth control can be improved.

[Brief description of the drawings]

The drawings show an embodiment of a rear cover movement control device for a ground work vehicle according to the present invention. FIG. 1 is a side view of a main part of a tractor showing a shallow plowing state, and FIG. FIG. 3 is a plan view of a main part of the working unit, FIG. 4 is a perspective view of the same, FIG. 5 is a block diagram of a control mechanism, FIG. 6 is a flow chart of automatic plowing depth control, FIG. Fig. 8 is a flowchart of the basic control, Fig. 8 is a flowchart of the initial control, Fig. 9 is a flowchart of the control during reverse movement,
FIG. 10 is a graph showing the position of the rear cover corresponding to the tillage depth setting value, FIG. 11 is a timing chart showing another example, and FIG.
The figure is a graph showing a conventional example. In the figure, 1 is a traveling body, 3 is a working unit, 4 is a hydraulic cylinder,
11 is a rear cover, 14 is an electric cylinder, 16 is a control unit, and 18 is a tillage depth setting device.

Claims (1)

(57) [Claims] 1. A tilling work section connected to a traveling machine body is provided with a rear cover movable in a shallow tilling posture side and a deep tilling posture side,
In a ground working vehicle configured to move and control the rear cover to a predetermined cultivation depth posture based on a setting value change operation in the cultivation depth control mechanism, the rear cover is moved to a position corresponding to the set value of the cultivation depth control mechanism. A movement control device for a rear cover in a ground work vehicle, wherein a movement pitch is set to be small in a shallow plowing posture side and large in a deep plowing posture side.