JP3332410B2 - Tilting device lifting 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 such as an agricultural tractor via a link mechanism so as to be able to move up and down.
Equipped with a sensor that detects the amount of vertical swing of the rear cover
The present invention relates to a lifting and lowering control device of a tilling device configured to automatically raise and lower a rotary tilling device so that a detection value of the sensor matches a control target value .

[0002]

2. Description of the Related Art In a lifting and lowering control device for a tillage device, a rotary control is performed so that a control target value as a set tillage depth set by a tillage depth setting device matches a detection value detected as an actual tillage depth by a sensor. The tillage device is configured to move up and down automatically, and the sensor for detecting the tillage depth is detected by a potentiometer attached to the rotary cover. Was adopted.

[0003] According to the above configuration, when the cultivation depth is deep, the rear cover is swung up greatly, and the rear end of the rear cover is oscillatingly displaced along a locus having many vertical components. When the depth is shallow, the rear end of the rear cover swings along a locus with a small vertical component, and the swing displacement of the rear cover per unit change in tillage depth increases as the tillage depth decreases. That is, the difference in the tillage depth causes a difference in the tillage depth detection sensitivity of the rear cover, which affects the accuracy of the elevation control.

In particular, a three-point link mechanism or a two-point link mechanism is used as a link mechanism for connecting the rotary tilling device to the tractor main body so as to be able to move up and down. The whole is configured to be inclined forward, and the deeper the plowing depth is set, the lower the height of the fulcrum of the rear cover from the field scene becomes, which further promotes the above phenomenon.

Therefore, as disclosed in, for example, JP-A-1-157302, a rotary cover on which a tillage depth sensor is mounted is configured to be rotatable around the axis of a claw shaft so that a set tillage depth can be adjusted. By rotating the rotary cover forward when deep, the swing fulcrum of the rear cover is raised, and when the set cultivation depth is shallow, by rotating the rotary cover backward and lowering the swing fulcrum of the rear cover, It has been proposed to prevent the difference in tillage depth from causing a large difference in tillage detection sensitivity of the rear cover.

[0006]

According to the structure for adjusting the rotation of the rotary cover as described above, since the tillage depth sensor for detecting the vertical swing amount of the rear cover is attached to the rotary cover, the rotation of the rotary cover is restricted. With the adjustment,
The posture of the tillage depth sensor also changes around the claw shaft axis, and at the same time, the grounding point of the rear cover becomes a position close to the claw shaft. As a result, when the rotary cover is rotationally adjusted forward when setting the cultivation depth as described above, the cultivation depth sensor is also rotated forward and the ground contact point of the rear cover is close to the claw shaft. Position, the detection signal of the tillage sensor when the rear cover is detecting a certain tillage depth is:
The signal is shallower than when the rotary cover is not adjusted to rotate forward. Conversely, if the rotary cover is rotated backward when setting the cultivation depth to be shallow, the cultivation depth sensor will also be rotated backward, and the ground point of the rear cover will be switched to a position away from the claw axis, When the rear cover detects a certain tillage depth, the output of the tillage depth sensor is a signal of a deeper eye than when the rotary cover is not rotated backward. That is, an error occurs between the actual tillage depth and the value detected by the tillage depth sensor depending on the work mode.

The present invention has been made in view of the above-mentioned circumstances, and has as its object to eliminate the above-mentioned disadvantages found in the conventional structure by improving the sensor support structure.

[0008]

According to a first aspect of the present invention, a rotary tilling device is connected to a traveling machine body via a link mechanism so as to be able to move up and down, and the rotor cultivator is connected to the traveling machine body.
Detects the amount of vertical swing of the rear cover provided in the tillage device
A sensor, the elevation control apparatus for tilling device configured to automatically lift a rotary plow to the detection value of the sensor matches the control target value, the rotary tilling instrumentation
Attach the rear cover to the rotary frame
It is said that it is supported to be adjustable back and forth through a bar switching mechanism.
Moni, the sensor is attached to the cover switching mechanism, wherein
Change the control target value and detect the ground reference of the rear cover
The power is in either the uplifted state or the deeply raised state
Even after the change, the ground cover inspection of the rear cover
Reduce the degree of change of the ground inclination angle in the outgoing posture
The rear cover is moved back and forth by the cover switching mechanism.
The cover switching mechanism
The sensor is moved in accordance with the operation of adjusting the forward / backward movement of the rear cover.
After changing the attitude of the cover switching mechanism
With respect to the ground reference detection attitude of the rear cover in the state of
The detected value of the corresponding detection sensor is transmitted to the cover switching mechanism.
Ground reference of the rear cover in a state before operating the vehicle
It is configured to match or approach the detection value of the detection sensor corresponding to the detection posture .

[0009] wherein the configuration of the invention according to claim 2, as well as vertically movably coupling the rotary plow through the link mechanism with respect to the traveling machine body, provided in the rotary tiller
A sensor for detecting the amount of vertical swing of the rear cover, and a lift control device of the tillage device configured to automatically lift and lower the rotary tillage device so that the detection value of the sensor matches the control target value . Rotary
Rotary supported for adjustable back and forth movement with respect to the frame
Mounted on the cover and the rotary cover so that it can swing up and down.
Moving the rear cover and the rotary cover back and forth.
Rutotomoni a section freely cover the switching mechanism, the cover
-Attach the sensor to the switching mechanism and change the control target value.
Further, the attitude of the rear cover for detecting the reference to the ground is slightly raised.
After being changed to one of two states
Even if there is, the ground with the rear cover's ground reference detection attitude
The cover so that the degree of change in the inclination angle is reduced.
Move the rotary cover back and forth by the switching mechanism
And the rear cover is configured to be adjustable in forward and backward movement.
In both cases, the rear cover is moved back and forth by the cover switching mechanism.
The attitude of the sensor is changed with the dynamic adjustment operation,
The rear portion in a state after operating the cover switching mechanism
Of the detection sensor corresponding to the ground reference detection position of the cover.
The detected value is reset to the state before operating the cover switching mechanism.
The rear cover corresponding to the ground reference detection attitude
It is configured to match or approach the detection value of the detection sensor .

[0010] wherein the configuration of the invention according to claim 3, in characterizing feature of the invention according to claim 1 or 2, wherein the cover
Swing adjustment supporting a switching mechanism on the rotary frame
A lever, and the rotary
-Consists of a push-pull link supported by the cover
The push-pull link is connected to the sensor via a support member.
It is in the point attached to .

According to a fourth aspect of the present invention, a rotary tilling device is connected to a traveling machine body via a link mechanism so as to be able to move up and down, and a sensor for detecting the tillage depth of the rotary tilling device is provided. In the lifting and lowering control device of the tilling device configured to automatically raise and lower the rotary tilling device so that the detected value of the rotary tilling device coincides with the control target value, the rotary cover of the rotary tilling device is supported on a rotary frame so as to be movable back and forth, The point is that control target changing means for changing the control target value in accordance with the operation of adjusting the position of the cover is provided.

According to a fifth aspect of the present invention, a rotary tilling device is vertically connected to a traveling body via a link mechanism, and a vertical swing amount of a rear cover provided in the rotary tilling device is detected. In the elevating control device that automatically raises and lowers the rotary tillage device so that the detection value of this sensor matches the control target value, the rotary cover of the rotary tillage device is supported on the rotary frame so that it can be moved back and forth, The present invention is characterized in that a cover switching mechanism capable of adjusting the rotary cover to a predetermined position is provided, and control target changing means for changing a control target value in accordance with the position adjusting operation of the cover switching mechanism is provided.

[0013]

According to the first and second aspects of the present invention, a deeply raised state is provided.
When the control target value is changed to the
Of the ground reference detection position (the height of the swinging fulcrum of the rear cover)
And the control sensitivity greatly differs as described above.
The cover switching mechanism detects the ground reference of the rear cover.
Adjust the posture (or the height of the swinging fulcrum of the rear cover)
Suppress large differences in tillage depth detection sensitivity of the detection sensor
Control. However, the detection sensor is
Since the sensor was attached to the rotary cover as before
Is set as the detection value as described in the section to be solved.
It differs from the tillage value. Here, the detection sensor is
To the rotary cover.
The cover can be set to a different orientation from the
Along with adjusting the back and forth movement of the rear cover by the mechanism,
Operate the cover switching mechanism by changing the attitude of the sensor
Detection of the rear cover in the state after grounding
The detection value of the detection sensor corresponding to the
The rear cover in a state before operating the switching mechanism.
The detection value of the detection sensor corresponding to the ground reference detection attitude
Wear. As a result, the output of the detection sensor becomes a value corresponding to the actual tillage depth, and by performing the elevation control operation based on the detected value as it is, control corresponding to the actual tillage depth becomes possible.
The concrete structure of the above-mentioned control structure is specified in claim 3.
It is a structure concerning. Detection sensor during tilling work
The detection operation is applied to the push-pull link 22 as shown in FIG.
Rear cover for the attached detection sensor PM1
11 (detection arm 27) swings to detect
The operation is performed. Raise the control target value from a shallow state to a deep state
The cover switching mechanism 15 is adjusted.
Then, the ground reference attitude of the rear cover 11 is changed. To be so
Changes the reference position of the rear cover with respect to the ground,
The posture of the arm 27 fluctuates.
Since the force also changes with the push / pull link 22, the detection
The relative angle between the system 27 and the push-pull link 22 is
-Before or after the movement of 11
It is possible to maintain the actual tillage depth as described above.
The corresponding control becomes possible.

According to the fourth or fifth aspect, when the position of the rotary cover with respect to the rotary frame is changed back and forth, the detection sensor is configured to rotate integrally with the rotary cover. Even if the value does not correspond to the actual tillage depth, the set target depth and the actual tillage depth almost match by changing the control target value in the elevation control operation to correspond to the change in the relative attitude of the detection sensor. It is possible to do.

[0015]

According to the present invention, the position of the rotary cover can be changed while the ground position of the rear cover can always be maintained substantially constant in accordance with a change in the work form such as a change in the tilling depth. This makes it possible to reduce the error in the output of the tillage depth detection sensor due to the above, and to perform highly accurate elevation control.

[0016]

FIG. 4 shows the rear part of a riding type cultivator. This riding cultivator is configured by connecting a rotary tilling device 2 to a rear part of a traveling body of an agricultural tractor via a three-point link mechanism 1 so as to be able to move up and down freely. The three-point link mechanism 1 includes a pair of left and right long lower links 3 and a short top link 4 at the center in the left and right directions, and is lifted by left and right lift arms 6 driven up and down by a hydraulic cylinder 5 disposed on the tractor main body side. The lower link 3 is lifted up and down via the rod 7 so that the rotary plow 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 largely raised, the front and rear inclination becomes large and the tilling machine approaches the tractor main body side,
It is configured such that the front-rear length of the body is reduced during non-work traveling such as traveling on a road.

The riding type cultivator has an elevation control means for automatically raising and lowering the rotary tilling apparatus 2 so that the actual cultivation depth is maintained at the set cultivation depth by the cultivation depth setting dial 10 disposed on the machine operation unit 8. A is provided. More specifically, the rear cover 11 of the rotary tilling apparatus 2 is pivotally connected to the rear end of the rotary cover 12 that covers the upper part of the rotor so as to swing up and down around the horizontal axis P1. A potentiometer PM1 is provided as a detection sensor for detecting the swinging amount. The lower end of the rear cover 11 swings up and down while following the ground contact with the tilling operation to detect the actual tillage depth. That is, as shown in FIG. 3, the actual tillage depth detection signal output from the detection sensor PM1 and the potentiometer P as a tillage depth setting device operated by the setting dial 10 disposed on the aircraft operation unit 8
The tillage depth setting signal from M2 is input to a control device 13 including a microcomputer, and the control device 13 controls the hydraulic pressure of the hydraulic cylinder 5 so that the actual tillage depth detection signal substantially matches the tillage depth setting signal. By controlling the drive of the control valve V, automatic control is always performed so that the actual tillage depth is maintained at the set 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.

The rotary cover 12 has a claw shaft 14.
The rotary frame F can be freely rotated back and forth around the axis of the
And a cover switching mechanism 15 that can be fixed at a predetermined position. That is, as shown in FIG. 1, a bevel gear case 16 to which power from the fuselage side is supplied and a pipe frame 17 having a transverse 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 tilling 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 on the claw shaft 14 of the tilling rotary 20 around its axis P <b> 2 via a push-pull link 22 to a longitudinal swing type adjusting lever 21 provided on the bevel gear case 16. The cover switching mechanism 15 is configured such that the bracket 23 formed on the rotary cover 12 is pivotally connected and the adjustment lever 21 is swung around the longitudinal axis so that the rotary cover 12 can be rotated forward and backward. is there.

Means for maintaining the relative rotation posture of the detection sensor PM1 with respect to the rotary frame F substantially constant regardless of the rotation adjustment of the rotary cover 12;
That is, the front of the rear cover 11 by the cover switching mechanism 15
The posture of the sensor PM1 is changed in accordance with the rearward movement adjusting operation.
After the cover switching mechanism 15 is operated.
Detection sensor corresponding to the ground reference detection posture of the cover 11
The detected value of PM1 is determined before operating the cover switching mechanism 15.
Corresponds to the ground reference detection attitude of the rear cover 11 in the state
A description will be given of a point configured to match or approach the detected value of the detected sensor PM1 . As shown in FIG. 2, the main body 24 of the detection sensor PM1 is
3 and a push-pull link 22 at a pivotal connection point, which is attached to the link 22 side via a support member 25, and is linked around the same axis P3 as the relative rotation axis P3 between the link 22 and the bracket 23. The axes are aligned so that the detection arm 27, which is interlocked to the rear cover 11 via the, rotates.

By making the rotary cover 12 rotatable in this way, for example, as shown in FIGS. 1A and 1B, the rotary cover 12 can be used in either a shallow work or a deep work. Also, the ground reference posture of the rear cover 11 can be made substantially constant by the rotation adjustment, so that the actual tillage depth can be detected with high accuracy according to the work situation.
1A, the rotary cover 12 is pivotally moved rearward, so that the rear cover 11 following the ground is relatively rearward with respect to the rotary frame F. In the case of raising the depth as shown in FIG. 1B, the posture becomes relatively forward. The main body 24 of the detection sensor PM1 maintains substantially the same rotation posture as the rotary frame F,
Is rotated in conjunction with the rear cover 11, the output of the detection sensor PM1 is corrected to a value substantially corresponding to the actual plowing depth. That is, the detection arm 27 and the push-pull link
The relative included angle between the 22, before operating the cover switch mechanism 15
Later, it will be kept constant or close to
The detection value of the output sensor PM1 does not change.

[Second Embodiment] The main body 24 of the detection sensor PM1 is attached to the rotary cover 12 so as to be rotatable integrally therewith, and the rotary cover F is mounted on the rotary frame F.
A detection switch is provided for determining whether the rotation adjustment position 2 is in the upright position or the upright position. Based on the detection result of the detection switch, the control target in the elevation control means A is actually tillage. The controller 13 may be provided with a control means for changing the value to a value adapted to the depth in the form of a control program. In this case, the detection switch and the control unit constitute a control target changing unit.

[Brief description of the drawings]

FIG. 1 is a side view showing a state in which a position of a rotary cover is switched.

FIG. 2 is a plan view showing a potentiometer mounting configuration.

FIG. 3 is a control block diagram.

FIG. 4 is a side view of a rear part of a riding type tiller.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Link mechanism 2 Rotary tilling device 11 Rear cover 12 Rotary cover 14 Claw shaft 15 Cover switching mechanism F Rotary frame PM1 Detection sensor

Claims (5)

(57) [Claims] 1. A rotary tilling device is connected to a traveling body via a link mechanism so as to be able to move up and down .
Detects the amount of vertical swing of the rear cover provided in the tiller
In the lifting control device of the tilling device configured to automatically raise and lower the rotary tilling device so that the detection value of the sensor matches the control target value, with respect to the rotary frame of the rotary tilling device,
Adjusting the rear cover to move back and forth via the cover switching mechanism
The cover switching mechanism is
A sensor is installed, the control target value is changed, and the rear cover
The outgoing posture is in one of the shallow and deep raised states.
Ground cover on the rear cover, even after the
Reduce the degree of change of the ground inclination angle in the quasi-detected attitude
The rear cover is moved back and forth by the cover switching mechanism
The cover switching mechanism controls the forward and backward movement of the rear cover.
By changing the attitude of the sensor with the operation, the cover
Of the rear cover in a state after operating the switching mechanism.
Detection value of the detection sensor corresponding to the ground reference detection attitude
In the state before operating the cover switching mechanism.
The detection section corresponding to the ground reference detection attitude of the rear cover
A lifting and lowering control device of a tilling device configured to match or approach a sensor detection value . 2. A rotary tilling device is connected to a traveling machine body via a link mechanism so as to be able to move up and down .
Detects the amount of vertical swing of the rear cover provided in the tiller
A sensor that, in the elevator control apparatus for tilling device configured to automatically lift a rotary plow to the detection value of the sensor matches the control target value, previously for a rotary frame of the rotary tiller
A rotary cover supported for rearward movement adjustment,
Rear cover attached to the vertical cover so that it can swing up and down
And a cover opening for adjusting the rotary cover back and forth.
The Rutotomoni, this cover switching mechanism and a conversion mechanism
Attach a sensor, change the control target value, and check the ground reference of the rear cover.
The outgoing posture is in one of the shallow and deep raised states.
Ground cover on the rear cover, even after the
Reduce the degree of change of the ground inclination angle in the quasi-detected attitude
As described above, the cover switching mechanism
The back cover back and forth to adjust
And a front-back movement adjustment operation of the rear cover by the cover switching mechanism.
By changing the attitude of the sensor with the operation, the cover
Of the rear cover in a state after operating the switching mechanism.
Detection value of the detection sensor corresponding to the ground reference detection attitude
In the state before operating the cover switching mechanism.
The detection section corresponding to the ground reference detection attitude of the rear cover
A lifting and lowering control device of a tilling device configured to match or approach a sensor detection value . 3. The system according to claim 2 , wherein said cover switching mechanism is provided with said rotor lift.
A swing adjustment lever supported by the frame, and the swing adjustment lever;
Push and pull supported by the rotary cover
And a support member.
The lifting control device for a tilling device according to claim 1 , wherein the lifting control device is attached to the push-pull link via a link . 4. A rotary tilling device is connected to the traveling body via a link mechanism so as to be able to move up and down, and a sensor for detecting a tillage depth of the rotary tilling device is provided, and a detection value of the sensor matches a control target value. In a lifting and lowering control device of a tilling device configured to automatically raise and lower the rotary tilling device, the rotary cover of the rotary tilling device is supported on a rotary frame so as to be movable forward and backward, and with the position adjusting operation of the rotary cover, An elevation control device for a tillage device, comprising a control target changing means for changing a control target value. 5. A rotary tilling device is connected to a traveling body via a link mechanism so as to be able to move up and down, and a sensor for detecting a vertical swing amount of a rear cover provided in the rotary tilling device is provided. In a lifting and lowering control device of a tilling device that automatically raises and lowers a rotary tilling device so that a value matches a control target value, the rotary cover of the rotary tilling device is supported on a rotary frame so as to be able to move back and forth freely, and the rotary cover is set at a predetermined position. Equipped with an adjustable cover switching mechanism,
A lifting and lowering control device for a tilling device, comprising control target changing means for changing a control target value in accordance with a position adjusting operation of the cover switching mechanism.