JP3236340B2 - Rotary tilling device lift 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 cultivator connected to a traveling machine body via a link mechanism so as to be movable up and down.
The present invention relates to a lifting and lowering control device of a rotary tillage device that performs automatic raising and lowering control so that a detection value of a tillage depth sensor that detects a vertical swing amount of a rear cover coincides with a control target value provided by a tillage depth setting device.

[0002]

2. Description of the Related Art An elevating control device for a rotary tillage device as described above always controls the elevating and lowering so that a set tillage depth set by a tillage depth setting device and an actual tillage depth detected by the tillage depth sensor coincide. It is configured to be. However, as a link mechanism that connects the tillage device to the traveling machine so as to be able to move up and down freely, such as a three-point link mechanism having a well-known structure, such as one that tilts the tillage device back and forth with its up / down operation. When comparing the case of shallow raising and the case of deep raising, the front and rear inclination posture of the tilling device is different in each work form, so that the ground reference posture of the cultivation depth sensor changes due to it. Therefore, there is a possibility that the accuracy of the tillage depth control may be reduced.
Therefore, conventionally, in order to prevent such adverse effects,
The rotary cover on which the tillage sensor is mounted can be freely moved back and forth, and by adjusting the back and forth movement, a structure in which the reference position of the tillage sensor with respect to the ground can be set almost constant regardless of the forward and backward inclination of the tillage device is proposed. It had been.

[0003]

However, in the configuration in which the rotary cover is moved back and forth as in the above-mentioned prior art, the worker can move the rotary cover back and forth in a timely manner in accordance with the conditions of the field to be worked. Since the adjustment is performed, when the user moves to another field having different conditions, there is a possibility that the readjustment of the forward and backward movement adjustment of the rotary cover as described above may be forgotten. Therefore, for example, in the case where the rotary cover is kept at the working position raised deeply due to the forgetting, even if the operator sets the working depth to a shallower depth to perform the shallow work, the posture of the working depth sensor is changed. When the work is deeply raised, the posture is set to the reference position to the ground, so that a new adverse effect that the actual tillage depth is increased has occurred.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a lifting and lowering control device for a rotary tilling apparatus capable of solving the above-mentioned disadvantages and always performing tilling work in accordance with a set tilling depth regardless of the forward and backward movement adjustment of a rotary cover.

[0005]

In order to achieve the above object, a feature of the present invention described in claim 1 of the present invention is as follows.
Raising and lowering the tilling device for the traveling aircraft via the link mechanism
To detect the amount of vertical swing of the rotary rear cover
Value of the tillage depth sensor is given by the tillage depth setting device
Rotary with automatic lifting control to match the control target value
In the lifting control of the tilling device, the rotary cover
It is configured to be movable back and forth, and is compatible with a lift arm for lifting drive.
A detection sensor for detecting a body elevating angle, wherein the rotary
ー When the rear cover is grounded, the detection
Position of the rotary cover based on the
It is determined whether it is adjusted, and the determination result and the plow
The actual tillage depth is calculated based on the detection result of the depth sensor,
The tillage depth set by the depth setting device and the actual tillage depth are controlled to almost match.
The point is to automatically change the target value .

According to a second aspect of the present invention, there is provided a tilling apparatus for a traveling body via a link mechanism.
To be able to move up and down freely and swing the rotary rear cover up and down.
The detection value of the tillage depth sensor that detects the amount is given by the tillage depth setting device.
Control to automatically raise and lower to match the desired control target value.
Rotary control of the tally tilling equipment
The cover is configured to be movable back and forth around the axis of the claw shaft,
A detection sensor that detects the vertical angle of the drive lift arm
When the rotary rear cover is grounded
Based on the detection result of the detection sensor of
-Determine which position the cover is currently adjusted,
Based on the determination result and the detection result of the tillage depth sensor
The actual tillage depth is calculated using the tillage depth setting unit and the actual tillage depth.
The point is that the control target value is automatically changed so that the plowing depth substantially matches .

[0007]

According to the invention of the action] according to the first aspect, when the moving another in the field of different work forms, by forgetting to move adjusting front and rear rotary cover for securing the ground reference posture of the tilling depth sensors, rotary Even when the front / rear movement adjustment position of the cover does not match the work form, the lifting arm is lifted and lowered when the rotary rear cover touches the ground by lowering the tillage device from the ascending position during work in the field. By detecting the height of the tillage device, that is, the adjustment position of the rotary cover can be substantially determined, and based on the determination result, the detection value of the tillage depth sensor and the set tillage depth can be determined based on mechanical characteristics determined in advance. The actual plowing depth can be calculated in the control state where matches. If the actual tillage depth is significantly different from the set tillage depth, the control target of the elevation control device can be automatically changed to match the tillage depth set value.

According to the second aspect of the present invention, when the user moves to another field having a different working mode, he or she forgets to adjust the front and rear movement of the rotary cover for securing the ground reference attitude of the tillage depth sensor. Even when the front / rear movement adjustment position of the cover does not match the work form, the lifting arm is lifted and lowered when the rotary rear cover touches the ground by lowering the tillage device from the ascending position during work in the field. By detecting the height of the tillage device, that is, the adjustment position of the rotary cover can be substantially determined, and based on the determination result, the detection value of the tillage depth sensor and the set tillage depth can be determined based on mechanical characteristics determined in advance. The actual plowing depth can be calculated in the control state where matches. If the actual tillage depth is significantly different from the set tillage depth, the control target of the elevation control device can be automatically changed to match the tillage depth set value.

In addition, since the rotary cover is configured to be movable back and forth around the axis of the claw shaft,
When changing the work form between the shallow-raising work and the deep-raising work, adjust the rotary cover to move back and forth around the axis of the claw shaft to change the work form in which the front and rear inclination of the tilling device changes. Regardless, the ground reference attitude of the tillage depth sensor can be set more accurately and constantly.

[0010]

Effect of the Invention] Therefore, the invention of the claim 1, wherein
For example, even if the work of adjusting the rotary cover in each field is neglected, the set tillage depth and the actual tillage depth can be automatically made to substantially match, and a tillage operation with high precision can always be performed. became.

[0011] The above, according to the second aspect of the present invention, even if failure to regulate working in each field of the rotary cover, automatically set Kofuka the Jitsuko depth and can substantially match the In addition, the ground reference attitude of the tillage depth sensor can be set to a more accurate and constant position, which is more suitable for always performing a highly accurate tillage operation.

[0012]

Embodiments will be described below with reference to the drawings. FIG.
Shows the rear part of the riding cultivator. This tiller is configured by connecting a rotary tiller 2 to a rear part of an agricultural tractor via a three-point link mechanism 1 so as to be able to move up and down. The three-point link mechanism 1 includes a pair of left and right long lower links 3.
And a hydraulic cylinder 5 [an example of an actuator], which is composed of a short top link 4 at the center on the left and right and is provided on the traveling body side.
The lower link 3 is lifted up and down via a lift rod 7 by the left and right lift arms 6 which are driven up and down by swinging, so that the rotary tilling apparatus 2 can be driven up and down. As described above, since the front and rear links 3 and 4 have different lengths, when the rotary tilling device 2 is greatly raised, the front and rear inclination becomes large, and it is configured to approach the traveling machine side. Is configured so that the front-to-rear length is shortened. The tiller automatically controls the rotary tiller 2 so that the actual tillage is maintained at the tillage depth set by the tillage depth setting dial 10 [an example of a tillage depth adjuster] disposed on the machine operating unit 8. Elevation control means A is provided. More specifically, the rotary rear cover 11 of the rotary tilling apparatus 2 is pivotally connected to the rotary cover 12 so as to be vertically swingable around the horizontal axis P1.
A first potentiometer PM1 [an example of a tillage depth sensor] for detecting the vertical swing amount of the rotary rear cover 11 is provided. It is configured to detect depth. That is, as shown in FIG. 1, the output of the first potentiometer PM1 as the actual tillage depth data and the output of the second potentiometer PM2 operated by the setting dial 10 disposed on the aircraft operating unit 8 [control target value]. Is provided to a control device 13 having a microcomputer, and the control device 13 drives and controls the hydraulic control valve V of the hydraulic cylinder 5 so that these outputs substantially match, so that the actual plowing depth is always increased. The automatic control is performed so as to maintain the tillage depth set by the setting dial 10. As described above, the elevation control means A is provided in the control device 13 in the form of a control program. Further, a third potentiometer PM3 as a detection sensor for detecting a vertical movement angle with respect to the vehicle body is provided at the swing fulcrum of the lift arm 6, and the output of the third potentiometer PM3 is also input to the control device 13.
Further, the rotary cover 12 is provided with an axis P2 of the claw shaft 14.
A cover switching mechanism 15 that is supported by the rotary frame F so as to be rotatable in the front and rear directions and can be fixed at a predetermined position.
Is provided. That is, as shown in FIG. 2, a bevel gear case 16 to which power from the fuselage is supplied and a pipe frame 17 having a horizontal transmission shaft are integrally fixed, and the three-point link mechanism 1 is pivotally connected thereto. A rotary frame F is formed by rotatably supporting a tillage rotary 20 via a chain case 18 and a side frame 19 on both left and right sides of the pipe frame 17. The rotary cover 12 is rotatably supported around the axis P2 with respect to the claw shaft 14 of the tillage rotary 20, and a front-rear swing type adjusting lever 21 provided on the bevel gear case 16 is provided.
A bracket 23 formed on the rotary cover 12 is pivotally connected to the rotary cover 12 via a push-pull link 22, and the adjustment lever 21 is swung around the longitudinal axis so that the rotary cover 12 is rotated.
The cover switching mechanism 15 is configured so that the front and rear can be adjusted to rotate back and forth. The first potentiometer P
M1 is attached to the link 22 side at a pivotal connection point between the bracket 23 and the push-pull link 22, and rotates about the same axis as the relative rotation axis P3 of the link 22 and the bracket 23. The axes are aligned. By configuring the rotary cover 12 so as to be rotatable in this manner, for example, as shown in FIGS.
By adjusting the rotation, the ground reference posture of the rotary rear cover 11 can be made substantially constant.
It is designed to detect the actual tillage depth with high accuracy. Then, based on the detection value of the third potentiometer PM3 at the time when the rotary tillage device 2 at the ascending position is lowered and the lower end of the rotary rear cover 11 touches the ground, the rotary cover 12 is currently adjusted to any position. Determining means B for determining whether or not the actual tillage depth is calculated based on the determination result and the detection value of the first potentiometer PM1, and the set plowing depth and the actual plowing depth by the second potentiometer PM2 match. The control unit 13 is provided with a control target changing means D for changing the control target in the form of a control program. That is, the control device 13 performs control as follows. As shown in FIG. 3, when the rotary tilling device 2 is lowered from the state in which the rotary tilling device 2 is in the raised position, the output of the first potentiometer PM1 is read, and it is detected from the change in the output that the rotary rear cover 11 is grounded. [Steps 1 to 3], the output of the third potentiometer PM3 at that time is read, and it is determined from the detected value to which position the rotary cover 12 is rotated and adjusted [Steps 4 and 5]. Then, the elevation control is performed by driving the hydraulic control valve V of the hydraulic cylinder 5 so that the detection value (actual plowing depth) of the first potentiometer PM1 matches the detection value (set plowing depth) of the second potentiometer PM2 [step 6]. As described above, the actual tillage depth at that time is calculated from the output value of the first potentiometer PM1 in a state where the respective detected values match and the determination result based on the predetermined mechanical characteristics [Step 7]. next,
If the actual tillage depth and the set tillage depth set by the setting dial 10 are significantly different, the control target value in the elevating control operation is set so that the set tillage depth by the second potentiometer PM2 matches the actual tillage depth. Is changed, and the elevation control is executed based on the new control target value so as to match the detection value of the first potentiometer PM1 [Steps 8 to 1]
0]. Steps 6 and 10 constitute the elevation control means A, step 5 constitutes the determination means B, step 7 constitutes the arithmetic means C, and step 9
Forms the control target changing means D.

[0013] In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control block diagram

FIG. 2 is a side view showing a state in which the attitude of the rotary cover is changed.

FIG. 3 is a control flowchart.

FIG. 4 is a side view of the rear part of the cultivator.

[Explanation of symbols]

Reference Signs List 1 link mechanism 2 tillage device 6 lift arm 10 tillage depth setting device 11 rotary rear cover 12 rotary cover 14 claw shaft P2 shaft core PM1 tillage depth sensor PM3 detection sensor

Claims (2)

(57) [Claims] 1. A control target in which a tillage device is connected to a traveling body via a link mechanism so as to be able to move up and down freely, and a detection value of a tillage depth sensor for detecting a vertical swing amount of a rotary rear cover is given by a tillage depth setting device. A lift control device for a rotary tilling device that automatically controls lifting and lowering so as to match a value, comprising a rotary cover configured to be movable back and forth, and a detection sensor for detecting a vertical movement angle of a lift arm for lifting drive with respect to a machine; Based on the detection result of the detection sensor when the rear cover is in contact with the ground, it is determined which position the rotary cover is currently adjusted, and the actual tillage depth is determined based on the determination result and the detection result of the tillage depth sensor. , And automatically raises and lowers the control target value so that the set till depth set by the till depth setting device and the actual till depth substantially match. Place. 2. A control target in which a tillage device is connected to a traveling machine body via a link mechanism so as to be able to move up and down freely, and a detection value of a tillage depth sensor for detecting a vertical swing amount of a rotary rear cover is given by a tillage depth setting device. A lift control device for a rotary tilling device that automatically controls lifting and lowering to match a value, wherein a rotary cover is configured to be able to move back and forth around the axis of a claw shaft, and detects a lifting / lowering angle of a lift arm for lifting drive with respect to a machine body. A detection sensor is provided, and based on the detection result of the detection sensor when the rotary rear cover is grounded, it is determined which position the rotary cover is currently adjusted, and the determination result and the detection of the tillage depth sensor are provided. Rotary tillage that calculates the actual tillage depth based on the result, and automatically changes the control target value so that the tillage depth set by the tillage depth setting device substantially matches the actual tillage depth Equipment lifting control.