JP3073901B2 - Tiller control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary tilling device, which is connected to a traveling machine so as to be able to move up and down freely, based on detection information from ground height detecting means for detecting the ground height. Automatic tillage depth control means for raising and lowering the rotary tillage device so that the target ground height of the rotary tillage device preset by the tillage depth setting means coincides with
A tillage machine comprising: a forced elevating control means for forcibly raising the rotary tillage device to a predetermined ascending limit position in preference to a control operation of the automatic plowing depth control means based on a rising command from a lifting command switch. Related to a control device.

[0002]

2. Description of the Related Art The control operation by the automatic tillage depth control means in the above-described tiller control device is for maintaining the tillage depth during the tillage operation accurately and constant, so that the ground height is detected. If the ground height of the rotary tilling device detected by the means does not match the target ground height of the rotary tilling device preset by the cultivation depth setting means, the rotary tilling device is immediately corrected to the target ground height. There is a need to. Therefore, it is necessary to set the raising and lowering speed of the rotary tilling device to a relatively high speed so that the raising and lowering operation of the rotary tilling device can be performed quickly. on the other hand,
Since the control operation by the forced elevating control means is performed at the time of headland turning during the tillage work, the elevating speed of the rotary tillage device is set to a relatively high speed, and the elevating operation of the rotary tillage device is rapidly performed. It is desirable to be able to do so. Therefore, conventionally, in the tiller control device as described above, each of the ascent operation of the rotary tiller by the control operation of the automatic tillage depth control means and the ascent operation of the rotary tiller by the control operation of the forced elevating control means. Was configured to run at the same speed set at a relatively high speed.

[0003]

However, according to the above-mentioned prior art, when the rotary tilling device is lifted by the control operation of the forced lifting control means, the rotary tilling device is moved into the soil with its tilling claws entering the soil. From the state of plowing to the predetermined ascending limit position separated from the soil, it will be raised at once at a high speed, so in the soil part where the ascent operation has started, the soil of that part is However, there is a problem that the soil is not covered while being bounced off and large holes are formed.

[0004] It is an object of the present invention to provide a control device for a cultivator capable of obtaining a good cultivation state while allowing a rotary tilling device to be quickly raised by a control operation of a forced lifting control means. It is in.

[0005]

According to a first aspect of the present invention, there is provided a rotary tilling device which is connected to a traveling body so as to be able to drive up and down. Based on the detection information, the detection information, automatic tillage control means for raising and lowering the rotary tillage device, so that the target ground height of the rotary tillage device preset by the tillage depth setting means, A tillage machine comprising: a forced elevating control means for forcibly raising the rotary tillage device to a predetermined ascending limit position in preference to a control operation of the automatic plowing depth control means based on a rising command from a lifting command switch. In the control device, the rising speed of the rotary tilling device when the rotary tilling device is forcibly raised by the control operation of the forcible raising / lowering control means is set to a value equal to the previous speed in the moving range Frequency is slow, with an increase rate control means for adjusting as the second half region is increased, the increase rate system
The control means is related to the tillage depth setting position of the rotary tillage device.
Where the rotary tiller is raised at a slow speed
The control operation is performed so that the fixed ground distance is constant.
It is configured to change the changing point of the ascending speed .

According to the second aspect of the present invention, the driving body is
Detects the height above the ground of a rotary tillage device that is connected to descend freely
Based on the detected information from the detected ground height detecting means.
Output information and the row set in advance by the tillage depth setting means.
In order to match the target ground height of the tari cultivator,
Automatic tillage depth control means for raising and lowering the rotary tillage device;
Based on the up command from the down command switch,
The rotary tillage device in preference to the control operation of the depth control means
Forcibly raises and lowers to a predetermined ascending limit position
And a control device for a tiller having a control means.
The rotary tillage device according to the control operation of the control unit
Speed of the rotary tillage device at the time of forced ascent
In the movement range, the first half is slow and the second half is fast
With an increase rate control means for adjusting such that the rise
The speed control means includes a tillage depth setting depth of the rotary tillage device.
Is deeper, the rotary tiller is raised at a slower speed.
Control operation to increase the predetermined ground distance
The changing point of the ascending speed is changed .

[0007] In the third aspect of the present invention, the vehicle is driven relative to the traveling body.
Check the height of the rotary tiller connected to the ground
Based on the detected information from the ground height detecting means.
The detection information and the row set in advance by the tillage depth setting means.
So that the target ground height of
Automatic tillage depth control means for raising and lowering the rotary tillage device;
Based on the lift command from the lift command switch, the automatic
The rotary tilling is prioritized over the control operation of the tillage depth control means.
Forcibly raises the device to the predetermined limit position
A control device for a cultivator, comprising:
The rotary tillage by the control operation of the forced lifting control means
Speed of the rotary tillage device at the time of forced ascent
The first half of the range of movement is slow, and the second half is fast.
With an increase rate control means for adjusting the Kunar so, the rise rate control means, wherein as the tilling depth setting position of the rotary cultivator is deep, the so rotary tilling rise time to raise the device at a slower speed longer The change point of the rising speed due to the control operation is changed.

According to the fourth aspect of the present invention, the rotary tilling device is connected to the traveling machine so as to be able to move up and down freely, based on detection information from a cover sensor for detecting a ground height of the rotary tilling device from a posture of a rear cover of the rotary tilling device. Automatic tillage depth control means for elevating and lowering the rotary tillage device so that the detection information matches a target ground height of the rotary tillage device preset by the tillage depth setting means; A control device for controlling the automatic tillage control means, based on the command, forcibly raising and lowering the rotary tillage device to a predetermined ascending limit position in preference to the control operation of the automatic tillage depth control means. The rising speed of the rotary tilling device when the rotary tilling device is forcibly raised by the control operation of the forced lifting control means is controlled by the cover sensor. Slower when it is detected the rear cover is not hanging down posture, said rear cover is hanging down posture with a rising speed control means to increase when it is detected by the cover sensor.

[0009]

According to the first aspect of the present invention, when an ascending command is issued from the ascending / descending command switch and the forcible lifting operation of the rotary tilling device is performed by the control operation of the forcible lifting control means, the control operation of the ascending speed control means is performed. In the first half of the range of movement of the rotary tilling device, in other words, on the side where the tilling claws of the rotary tilling device enter the soil and plow the soil, the rising speed of the rotary tilling device is reduced, and The rising speed of the rotary tilling device on the latter half in the moving range of the tilling device, in other words, on the side where the tilling claws of the rotary tilling device are separated from the soil, is adjusted to be fast. That is, in the first half of the moving range of the rotary tilling device, the rotary tilling device gradually ascends with the traveling of the fuselage. As in the case, there is no inconvenience that a large hole is formed without covering the soil while the soil in the soil portion where the lifting operation is started is flipped backward by the rotary tillage device. In the latter half of the range of movement of the rotary tilling device, the rotary tilling device is already separated from the soil, so that even if the rising speed is increased, there is no adverse effect on the soil. Speed can be set. Thereby, the raising operation of the rotary tillage device by the control operation of the forced lifting control means can be quickly performed without any inconvenience that a large hole is formed in the soil portion where the lifting operation is started.

According to the second aspect of the present invention, the control point of the ascending speed control means changes the ascending speed of the ascending speed in the moving range of the rotary tilling device as the setting position of the tilling depth of the rotary tilling device becomes shallower. Rotary tillage such that the first half movement distance becomes shorter, and the deeper the tillage depth setting position of the rotary tiller becomes, the longer the first half movement distance in which the ascent speed in the moving range of the rotary tiller becomes slower becomes longer. It will be changed according to the tillage setting position of the device. With this, the rotary tilling device rises at a slow speed even though the tilling claws of the rotary tilling device are already separated from the soil, or even though the tilling claws of the rotary tilling device have entered the soil. The disadvantage that the rotary tiller rises at a high speed is eliminated. That is, it is possible to change the ascending speed at a suitable point in time according to the tillage depth setting position of the rotary tillage device.

[0011] According to the third aspect of the present invention, the control point of the ascending speed control means determines that the changing point of the ascending speed is such that the deeper the setting position of the tillage depth of the rotary tillage device, the longer the time for raising the rotary tillage device at a slower speed. So that
Regardless of the tillage depth setting position of the rotary tillage device, regardless of the tillage depth setting position of the rotary tillage device, the deeper the tillage depth setting position of the rotary tillage device, the rising speed of the first half side in the moving range of the rotary tillage device is changed to a higher speed. The disadvantage that a large hole is formed in the soil portion where the ascending operation has been started can be suitably solved, and a stable and good tilling state can be obtained.

According to the fourth aspect of the present invention, when the ascending command is issued from the ascending / descending command switch and the forcible ascent operation of the rotary tillage device is performed by the control operation of the forcible elevating control means, the ascending speed control means is controlled by the cover sensor. While the rear cover is detected not to be in the hanging position, the rotary tiller is raised at a low speed, and as soon as the rear cover is detected to be in the hanging position by the cover sensor, the rotary tiller is moved to the high speed. To be raised. That is, the ascending speed control means can accurately determine the state in which the tilling claw of the rotary tilling apparatus is in the soil and the state in which the tilling claw of the rotary tilling apparatus is separated from the soil, based on the detection information from the cover sensor. Can be quickly switched.

[0013]

Therefore, according to the first aspect of the present invention, while the ascent operation of the rotary tillage device can be quickly performed by the control operation of the forced elevating control means, the portion of the soil where the ascent operation of the rotary tillage device is started is started. To provide a control device for a cultivator capable of obtaining a good tilling state without inconvenience that a large hole is formed.

According to the second aspect of the present invention, it is possible to change the ascending speed at a suitable time according to the setting position of the tillage depth of the rotary tillage device. The climbing operation can be performed more quickly, and a better tilling condition can be obtained.

According to the third aspect of the present invention, a stable and favorable tilling state can be always obtained regardless of the setting position of the rotary tilling apparatus.

According to the fourth aspect of the present invention, it is possible to change the ascending speed at a more accurate and suitable time regardless of the tillage depth setting position of the rotary tillage device. As a result, the ascent operation of the rotary tillage device can be performed more quickly, and a more favorable tillage state can be obtained.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an overall side view of a riding type cultivator. The riding type cultivator is mounted on a rotary tractor via a three-point link mechanism 2 at a rear portion of a riding type traveling machine 1 constituting an agricultural tractor. It is constituted by connecting the tillage device 3 so as to be able to move up and down. A transmission case 6 having a pair of left and right lift arms 5 arranged at an upper portion thereof, which swings up and down around a horizontal axis by operation of a lift cylinder 4, is provided at a rear portion of the traveling body 1. On the back of the transmission case 6, a PTO shaft 7 for taking out power is provided to project rearward.
The three-point link mechanism 2 includes a pair of left and right lower links 2A pivotally supported at a lower portion of the transmission case 6, a top link 2B disposed at the upper center of the pair of left and right lower links 2A, and the like. . Lift arm 5
And the intermediate portion of the lower link 2A are connected by a lift rod 8. That is, the rotary tillage device 3
It is suspended and supported by a lift arm 5 via a lift rod 8, and moves up and down by the operation of the lift cylinder 4.

The rotary tilling apparatus 3 includes a gear case 10 in which a bevel gear mechanism (not shown) that is operatively connected to the PTO shaft 7 via a transmission shaft 9, and a relay transmission shaft (see FIG. 1) that is operatively connected to the bevel gear mechanism. (Not shown), a transmission case 12 containing a chain-type transmission mechanism (not shown) that is operatively connected to a relay transmission shaft, a tilling rotary 13 having a plurality of tilling claws 13a, and a tilling rotary. A rotary cover 14 covering the upper part of the rotary cover 13, and a rear cover 15 pivotally supported on the rear end of the rotary cover 14 so as to freely swing up and down around a horizontal axis in a state of covering the rear of the cultivating rotary 13. I have. That is, the rotary tilling device 3 transmits the power from the engine E extracted by the PTO shaft 7 to the tilling rotary 13 via the transmission shaft 9, the bevel gear mechanism, the relay transmission shaft, and the chain-type transmission mechanism. By rotating the rotary 13 about the horizontal axis, the tilling operation can be performed.

As shown in FIG. 1, a target height of the rotary cultivator 3 with respect to the traveling body 1, that is, a target height relative to the body, is provided on the right side of the driver's seat 16 provided in the control section of the traveling body 1. A control lever 17 for manually setting is provided to be able to swing back and forth. As shown in FIG. 2, the pivot portion of the control lever 17 is provided with a lever sensor S1 composed of a potentiometer for detecting the operation angle of the control lever 17. Lever sensor S1
Is configured to output the detected operation angle of the control lever 17 as a target height of the rotary tilling apparatus 3 with respect to the body to a control device 18 having a microcomputer mounted on the traveling body 1. On the other hand, an arm sensor S composed of a potentiometer for detecting the operation angle of the lift arm 5 with respect to the traveling machine body 1 is provided at the pivot of the lift arm 5.
2 are provided. The arm sensor S2 outputs the detected operation angle of the lift arm 5 to the control device 18 as the height of the rotary tilling device 3 with respect to the body. The control device 18 operates the hydraulic oil for the lift cylinder 4 so that the target anti-body height of the rotary tilling device 3 output from the lever sensor S1 matches the anti-body height of the rotary tilling device 3 output from the arm sensor S2. The control of the operation of the electromagnetic control valve 19 for switching the flow state of the electromagnetic wave is controlled. In other words, the control device 18 includes, as a control program, a position control means 18A for controlling the elevation of the rotary tilling device 3 based on an arbitrary target anti-body height artificially set by operating the control lever 17. . By executing the control operation by the position control means 18A, the rotary tilling device 3 can be held at an arbitrary anti-machine height set by operating the control lever 17.

As shown in FIG. 1, an operation box 20 is provided on the right side of the driver's seat 16. The operation box 20 is equipped with a tillage depth setting device 21 as a tillage depth setting device that is operated to artificially set a target ground height (plowing depth setting position) of the rotary tillage device 3. As shown in FIG. 2, the tillage depth setting device 21 is configured as a dial having a potentiometer, and outputs the operation angle of the rotary tillage device 3 to the control device 18 as a target ground height of the rotary tillage device 3. . On the other hand, the rotary cover 14 of the rotary tilling apparatus 3 is provided with a cover sensor S3 composed of a potentiometer for detecting the swing angle of the rear cover 15 with respect to the rotary cover 14. Cover sensor S3
After the detection, the swing angle of the cover 15 is output to the control device 18 as the ground height of the rotary tilling device 3. That is, the cover sensor S3 functions as a ground height detecting unit that detects the ground height of the rotary tillage device 3 as detection information. Control device 18
Is the rotary tillage device 3 output from the tillage depth setting device 21
The operation of the electromagnetic control valve 19 that switches the flow state of hydraulic oil to the lift cylinder 4 is controlled so that the target ground height of the rotary tilling device 3 output from the cover sensor S3 matches the ground height of the rotary tilling device 3. I have. That is, the control device 18 includes, as a control program, an automatic plowing depth control unit 18B that controls the elevation of the rotary tillage device 3 based on an arbitrary target ground height artificially set by operation of the plowing depth setting device 21. Have been. By performing the control operation by the automatic tillage depth control means 18B, a constant tillage depth can always be obtained during the tillage work.

As shown in FIG. 2, the operation box 20 is provided with a mode setting device 22 for switching the control mode executed by the control device 18 between "normal mode" and "automatic mode". The mode setting unit 22 is composed of a dial-type switch configured in a two-position switching type, and instructs the control device 18 to execute a control mode corresponding to the operation position. The control device 18 executes the control operation by the position control means 18A when the mode setting device 22 is set to the “normal mode”, and executes the control operation when the mode setting device 22 is set to the “automatic mode”. The control operation by 18B is executed. That is, the control device 18 is provided with an execution mode switching means 18C for switching the execution mode based on the setting position of the mode setting device 22 as a control program.

As shown in FIG. 1, on the lower left side of a steering handle 23 provided in a control section of the traveling machine body 1, an operation lever 25 for operating a two-position switching type elevation command switch 24 is provided. . As shown in FIG. 2, in a state where the mode setting device 22 is set to the “automatic mode”, when the operation lever 25 is switched to the upward position, an ascending command for raising the rotary tilling device 3 is controlled from the ascending / descending command switch 24. A command is sent to the device 18. Further, when the operation lever 25 is switched to the downward posture, a lowering command for lowering the rotary tilling device 3 is issued from the raising / lowering command switch 24 to the controller 18. When a lift command is commanded from the lift command switch 24, the control device 18 controls the automatic plowing depth control means 1
The operation of the electromagnetic control valve 19 that switches the flow state of hydraulic oil to the lift cylinder 4 is controlled prior to the control operation of 8B, and the rotary tilling device 3 is forcibly raised to a predetermined ascending limit position. . Further, when a descending command is issued from the elevating command switch 24, the operation of the electromagnetic control valve 19 for switching the flow state of the hydraulic oil to the lift cylinder 4 is controlled, and the target ground height set artificially by the tillage depth setting device 21. The rotary tilling device 3 is moved down to a height (tilting depth setting position). That is, the control device 18 has a forced elevating control unit 18 that elevates and lowers the rotary tillage device 3 prior to the control operation of the automatic tillage depth control unit 18B based on the elevating command from the elevating command switch 24.
D is provided as a control program. Then, by operating the operation lever 25, the control operation by the forced lifting control means 18D is executed, so that the rotary tilling device 3 can quickly move up and down over the plowing depth setting position and the ascending limit position during headland turning during tilling work. You can do it.

As shown in FIG. 2, the control device 18 includes a rotary tilling device 3 in a case where the rotary tilling device 3 is forcibly raised from a set cultivation depth position to an ascending limit position by the control operation of a forced lifting / lowering control means 18D. The ascending speed,
As shown in FIG. 3, a rising speed control unit 18E that adjusts based on the detection information from the cover sensor S3 is provided as a control program. More specifically, the rising speed control means 18E uses the cover sensor S3 to control the rear cover 1 regardless of the cultivation depth setting position set by the cultivation depth setting device 21.
5 is not in the suspended position (the rear cover 15 is in the ground contact state), the electromagnetic control valve 1 that switches the flow state of hydraulic oil to the lift cylinder 4
9, the duty cycle of the pulse signal for controlling the operation of the rotary tilling device 3 is reduced to reduce the rising speed of the rotary tilling device 3, and the rear cover 15 is detected by the cover sensor S3.
Is detected to be in the hanging posture (the rear cover 15 is in a non-ground state).
By increasing the duty cycle of the pulse signal for controlling the operation of the rotary tilling device 3, the rising speed of the rotary tilling device 3 is increased. That is, the ascending speed control means 18E moves the traveling machine 1 forward in the first half of the moving range of the rotary tilling device 3 (the side where the tilling claws 13a of the rotary tilling device 3 enter the soil and plow the soil). With the traveling in the direction, the rotary tilling device 3 is gradually raised at a low speed, and the latter half of the range of movement of the rotary tilling device 3 (the tilling claw 13 of the rotary tilling device 3).
On the side where “a” is separated from the soil), the rotary plow 3 is raised at once at a high speed from a point in time when the rotary till is separated from the soil to a rising limit position. Thereby, the rotary tillage device 3
Is raised all at once at a constant high speed from the cultivation depth setting position to the ascending limit position, and the soil of the soil portion where the ascent operation is started is covered while being flipped backward by the rotary tillage device 3. Rotary tilling device 3 while eliminating the inconvenience of forming a large hole without
Can be raised quickly.

[Other Embodiments] Other embodiments of the present invention will be listed below. As shown in FIG. 4, as the ascending speed control means 18E, the rotary tilling device 3 is moved from the start of the ascent to the time when the predetermined height H of the machine body is detected by the arm sensor S2 (moving). A configuration may be adopted in which the first half of the range is raised at a low speed, and the portion from the detection to the rising limit position (the second half of the movement range) is raised at a high speed. As shown in FIG. 5 (a), the rising speed control means 18E is configured to move the rotary tilling device 3 regardless of the cultivation depth setting position by raising a predetermined ground distance L which has been set in advance from the start of the raising. It is configured to rise at a low speed until the detection by the sensor S2 (the first half in the movement range), and to increase at a high speed from after the detection to the rising limit position (the second half in the movement range). It may be something. Further, as shown in FIG. 5 (b), the configuration may be such that the predetermined ground distance L is changed according to the tillage depth setting position. As shown in FIG. 6A, the rising speed control means 18E moves the rotary tilling device 3 from the start of the rising until a predetermined time T elapses from the start of the rising, regardless of the tillage depth setting position. A configuration may be adopted in which the space (the first half in the movement range) is raised at a low speed, and after a predetermined time from the predetermined time to the rising limit position (the second half in the movement range), the speed is raised at a high speed. FIG.
(B), the predetermined time T may be changed according to the tillage depth setting position. As shown in FIG. 7, the ascending speed control means 18E may be configured such that the deeper the tillage depth setting position, the faster the ascent speed in the first half side in the moving range of the rotary tillage device 3. .

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is an overall side view of a riding type tiller.

FIG. 2 is a block diagram showing a control configuration of a riding type tiller.

FIG. 3 is a diagram showing a change in a rising speed of a rotary tillage device;

FIG. 4 is a diagram showing a change in a rising speed of a rotary tillage device according to another embodiment.

FIG. 5 is a diagram showing a change in a rising speed of a rotary tillage device according to another embodiment.

FIG. 6 is a diagram showing a change in a rising speed of a rotary tillage device according to another embodiment.

FIG. 7 is a diagram showing a change in a rising speed of a rotary tillage device according to another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 3 Rotary tilling device 15 Rear cover 18B Automatic cultivation depth control means 18D Forced elevation control means 18E Ascent speed control means 21 Plowing depth setting means 24 Elevation command switch S3 Ground height detection means (cover sensor)

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-251102 (JP, A) JP-A-3-112208 (JP, U) JP-A-2-19900 (JP-A-3-112208) (JP, U) (58) Field of investigation (Int. Cl. ⁷ , DB name) A01B 63/10-63/114

Claims (4)

(57) [Claims] The present invention relates to a rotary tilling device (3), which is connected to a traveling body (1) so as to be able to move up and down freely, based on detection information from a ground height detecting means (S3) for detecting the ground height. Automatic tillage depth control means for raising and lowering the rotary tillage device (3) so that the detection information matches a target ground height of the rotary tillage device (3) preset by the tillage depth setting means (21). 18B) and an ascending command from the ascending / descending command switch (24).
Control of a tiller having forcible lifting / lowering control means (18D) for forcibly raising the rotary tillage device (3) to a predetermined ascending limit position prior to the control operation of the automatic plowing depth control means (18B). an apparatus, the rising speed of the rotary tilling device (3) at the time of forcible increase of the rotary plow according to control operation (3) of the forcible lift control means (18D), slow first half region of the movement range, A rising speed control means (18E) for adjusting the latter half area to be faster is provided, and the rising speed control means (18E) is provided with the rotary tilling.
Regardless of the tillage depth setting position of the device (3), the rotary tillage
Predetermined ground distance for raising the tiller (3) at a slow speed
(L) so as to be constant, the ascending speed by the control operation
Tiller control device configured to change the degree of change . 2. The vehicle can be driven up and down freely with respect to the traveling body (1).
Detect the ground height of the connected rotary tilling device (3)
Based on the detected information from the ground height detecting means (S3)
The detection information and the tillage depth setting means (21) are set in advance.
The target ground height of the rotary tilling device (3)
Up and down the rotary tilling device (3) so that
Based on the automatic tillage depth control means (18B) to be lifted and the lift command from the lift command switch (24).
In preference to the control operation of the automatic plowing depth control means (18B)
The rotary tilling device (3) is moved to a predetermined ascending limit position.
Forcibly raising and lowering control means (18D) for forcibly raising
A controller for a cultivator, wherein said forcible raising and lowering control means (18D) performs a control operation.
The row when the rotary tilling device (3) is forcibly raised.
The rising speed of the streams cultivator (3), put in its movement range
Ascent to adjust so that the first half is slow and the second half is fast
A speed control unit (18E), wherein the climbing speed control unit (18E) includes the rotary tillage;
The deeper the setting depth of the device (3), the more the rotary tillage
A predetermined ground distance (L) for raising the device (3) at a slow speed
Change in the ascending speed due to the control operation.
A control device for a cultivator configured to change the breaking point . 3. The vehicle can be driven up and down with respect to the traveling body (1).
Detect the ground height of the connected rotary tilling device (3)
Based on the detected information from the ground height detecting means (S3)
The detection information and the tillage depth setting means (21) are set in advance.
The target ground height of the rotary tilling device (3)
Up and down the rotary tilling device (3) so that
Based on the automatic tillage depth control means (18B) to be lifted and the lift command from the lift command switch (24).
In preference to the control operation of the automatic plowing depth control means (18B)
The rotary tilling device (3) is moved to a predetermined ascending limit position.
Forcibly raising and lowering control means (18D) for forcibly raising
A controller for a cultivator, wherein said forcible raising and lowering control means (18D) performs a control operation.
The row when the rotary tilling device (3) is forcibly raised.
Increase the climbing speed of the tall cultivator (3) within its moving range.
Ascent to adjust so that the first half is slow and the second half is fast
Comprising a speed control means (18E), the increase rate control means (18E), the higher the tilling depth setting position of the rotary tilling device (3) is deep, rise time to raise the rotary plow device (3) at a slower rate A controller for a cultivator configured to change a change point of a rising speed by a control operation so that (T) becomes longer. 4. A cover for detecting the height of the rotary tillage device (3) above the ground from the posture of a rear cover (15) of the rotary tillage device (3) connected to the traveling body (1) so as to be able to drive up and down. The rotary tilling is performed based on the detection information from the sensor (S3) such that the detection information matches a target ground height of the rotary tilling device (3) preset by the tillage depth setting means (21). Equipment (3)
Based on the automatic tillage depth control means (18B) for raising and lowering the
Control of a tiller having forcible lifting / lowering control means (18D) for forcibly raising the rotary tillage device (3) to a predetermined ascending limit position prior to the control operation of the automatic plowing depth control means (18B). An apparatus for controlling a rising speed of the rotary tilling device (3) when the rotary tilling device (3) is forcibly raised by a control operation of the forced lifting / lowering control means (18D) by the cover sensor (S3). Ascending speed control means (when the cover sensor (S3) detects that the rear cover (15) is in the hanging position, the speed is increased when it is detected that the cover (15) is not in the hanging position; 18E).