JPH02107102A - Controller for plowing depth of tractor - Google Patents

Abstract

PURPOSE:To prevent fluctuation of a plowing depth in operation of a rolling controller and improve working accuracy by providing a controlling part for reducing sensed values with plowing depth sensors in proportion to an angle of rolling control. CONSTITUTION:A CPU of a controlling circuit is provided with a controlling part for reducing sensed values with plowing depth sensors 14 in proportion to an angle of rolling control in a tractor 1 equipped with a rolling and a plowing depth controllers. The plowing depth on the tilting side above a rotary 2 having a rear cover 13 provided with the plowing depth sensors can be prevented from shallowing without causing a part having the set value or below of the plowing depth.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention relates to a plowing depth control device for a tractor, and in particular to a tractor that prevents variations in plowing depth during left-right posture control of a rotary. This invention relates to a tillage depth control device.

[Prior Art] A conventional plowing depth control device for this type of tractor includes a plowing depth setting device installed in the tractor, and a plowing depth control device connected to the tractor by a link mechanism such as a rotary. A sensor is provided. Then, the control circuit compares the detected value of the plowing depth sensor with the set value of the plowing depth setting device, and operates the hydraulic actuator to raise and lower the ground work machine so that the detected value becomes equal to the set value. ing. In addition, in order to prevent uneven plowing depth due to changes in the horizontal inclination, a rolling control device is installed that raises and lowers one of the lower link arms of the link mechanism, and the ground work equipment is controlled by the detected value of the inclination angle sensor fixed to the tractor. There are known devices that control the left and right tilt of the

[Problems to be Solved by the Invention] The plowing depth control device in the conventional tractor described above detects the plowing depth using a plowing depth sensor provided on the rotary rear cover. When the rotary is tilted relative to the ground surface by the rolling control device, the rear end of the cover on the side tilting downward touches the ground and detects the plowing depth, so the other side of the rotary rises relatively. There is a defect that the plowing depth becomes shallow.

Therefore, a technical problem arises that needs to be solved in order to prevent fluctuations in plowing depth during operation of the rolling control device and improve work accuracy.This invention aims to solve this problem. purpose.

[Means for Solving the Problems] This invention has been proposed to achieve the above-mentioned objects, and includes a set value of a plowing depth setting device provided on a tractor;
A detected value of a plowing depth sensor provided on a rotary connected to the tractor is compared so that the set value and the detected value match, and a hydraulic cylinder is connected to one of the left and right lift rods for raising and lowering the rotary. In a tractor equipped with a rolling control device that controls the horizontal inclination of the rotary by expanding or contracting the hydraulic cylinder according to a detected value of a tilt angle sensor provided on the tractor, the It is an object of the present invention to provide a plowing depth control device for a tractor, characterized in that a CPU is provided with a control section that proportionally reduces the detected value of a plowing depth sensor.

[Function] In a tractor equipped with a plowing depth control device and a rolling control device, when performing plowing work by connecting a rotary provided with a plowing depth sensor to the rear cover, the rolling control device controls the rotation of the rotary. The CPU is provided with a control unit that reduces the detected value of the plowing depth sensor in proportion to the angle with respect to the tractor. That is, when the rotary plows at an angle of inclination in the horizontal direction with respect to the ground surface, the entire rear edge of the rotary cover does not touch the ground, but rather touches the ground near the end on the side that tilts downward. Then, the plowing depth at the end is measured and the CPU
The detected value is input to the plowing depth control circuit.

In such a case, if the plowing depth is controlled based on the detected value, the plowing depth on the downwardly tilted side will be equal to the set value, and the plowing depth on the opposite side will become shallower, resulting in insufficient tillage. Therefore, when the rolling control device is activated, the control unit installed in the CPU reduces the detected value of the plowing depth sensor in proportion to the horizontal inclination angle of the rotary relative to the tractor, and sets the plowing depth on the ascending side of the rotary. Calculate to obtain the value. Then, based on the calculation result, the tilling depth control device avoids lowering the rotary all the way down, so that no part where the tilling depth is less than the set value is left.

[Example] Hereinafter, an example of the present invention will be described in detail with reference to the accompanying drawings. For convenience of explanation, conventionally known techniques will also be explained at the same time. In FIG. 1, (1) is a tractor. A rotary (2) is attached to the rear of the tractor (1) with left and right lower link arms (3) (4) and a top link arm (5) in the center.
and the left and right lower link arms (3)
(4) and the left and right lift arms (6) (6) of the tractor (1) are connected via lift rods (7) (8), and the lift arms (6) (6) are connected by a hydraulic mechanism. Rotate to raise and lower the rotary (2). Further, the drive shaft (not shown) of the rotor bar 2) is connected to the tractor (1).
Noriya transmission case (9) PTO protruding from the rear side
Power is transmitted by connecting to the shaft (1u), and the rotary claw θl
). And rotor iba 2)
The ends of the plowing depth sensor (+71) are pivotally attached to the main cover (12) and the rear cover (121) whose rear end is in contact with the ground surface. Measure and send the detected value to the CPU of the plowing depth control circuit.
(The tilling depth setting device installed in the S operator's room is set at l<9, and the detected value is compared with the set value input to the CPU (1cJ), and the detected value is set. An operation command is output to the lift arms (6) (6) to control the plowing depth so as to match the value.

In addition, as shown in Figure 2, the left and right lift rods (7) (8)
) by expanding and contracting the lift rod cylinder (r7) installed on one side of the lower link arms (3) and (4).
The angle of the rotary (2) relative to the tractor can be changed by changing the horizontal height of the rotary (2). One end of a sensor rod (1(υ) is pivotally attached to the lower link arm (3) (/l) for detecting the inclination of the ground work equipment with respect to the tractor (1), and the other end is attached to the lift arm ( 6) It is pivotally connected to the sensor arm (A) [phase] provided coaxially with (6). The sensor arm (A) (A) is attached to the lift arm (6).
) (6) Hollow shaft that rotates) (21)
(to a sensor shaft passing through the sensor shaft). Then, a sensor rod (molded stroke sensor) is provided on the lift rod cylinder (r7) side to measure the expansion and contraction of the lift rod cylinder (0).

The stroke sensor (G) consists of a linear potentiometer, and when the lift rod cylinder (r'l) expands and contracts, the sensor rod on the other side (depending on the day, sensor arm OI (A), sensor shaft (A) The CPU (
Enter 1'9. In addition, as shown in Fig. 1, a tilt sensor (2) is installed on the negative side of the rear transmission case (9).
The CPU (+'i) compares the detected value with the set value of the inclination setting device (located in the driver's cab), and if there is a difference between the two, the lift rod cylinder (b) is The rotary (2) is operated to change its posture in the left and right direction. In such a case, the detected value of the stroke sensor (g) is input to the CPU (1) one by one, and when the detected value and the difference match, the operation of the lift rod cylinder (r7) is stopped and rolling control is performed. It will be done.

Therefore, when there is a difference between the detected value of the inclination sensor (c) and the inclination set value, the CPU (+' It is set up.

This operating procedure will be explained according to the flowchart in FIG. First, the respective values are set using the plowing depth setting device (10) and the slope setting device (c) in Stella 1b.Next,
In step (2), the detected values of the plowing depth sensor (VI), inclination sensor), and stroke sensor (2) are read. Then, in step (2), each set value and the detected value are compared, and if both the plowing depth and inclination match, it is determined that the rotary (2) is operating at the set value, and the process ends. On the other hand, if there is a difference between the set value and the detected value, the process is sent to step (2). Then, the required inclination angle with respect to the tractor is calculated from the difference between the detected value of the inclination sensor (g) and the stroke sensor) and the inclination setting value, and the plowing depth correction value is calculated in step (2) based on the calculated value. After that, in step (2), an operation command is output to the lift rod cylinder (r?) and the lift arms (6) (6), and the rotor 1 (bar 2) moves up and down and swings. Then, along with this operation, the detected values of each sensor also change, and the process returns to step (2) and is read into the CPU (+→), but the plowing depth detected value is corrected and inputted in the above-mentioned step (2).Thus, At step (2), the operation is terminated when each detected value coincides with the set value, and the control is continued through the following steps (2).

The effect of this plowing depth control will be further explained with reference to FIGS. 4(^) and (II). Figure (A) is a rear view of the tractor (1) connected to the rotary (2), and when the rolling control of the rotor 1 (2) is performed due to the unevenness of the ground surface and the lift rod cylinder (r7) contracts, Rotary (2) carrier cover (11 is grounded at the left end in the figure. And,
Since the plowing depth is measured at the grounding point, if control is performed to reach the set value (d), the plowing depth will be shallow on the right side of the rotary (2) as shown in the figure. Therefore, the control section provided in the CPU0→ calculates the required plowing depth (d) from the angle of the rotary (2) with respect to the tractor and corrects the detected value of the plowing depth sensor (b). ) as shown in the lift arm (6
) (6) is lowered and the plowing depth (d) does not become shallow.

Therefore, this invention can be modified in various ways without departing from the spirit of the invention, and it goes without saying that this invention extends to such modifications.

[Effects of the Invention] As described in detail in Embodiment 1 above, the present invention provides a tractor equipped with a plowing depth control device and a rolling control device, in which the CPU of the control circuit controls plowing in proportion to the rolling control angle. A control unit is provided to reduce the detected value of the depth sensor. Therefore, when the rotary whose rear cover is equipped with a plowing depth sensor tilts with respect to the ground surface and touches the ground at one end of the rear cover, the plowing depth is corrected, and the plowing depth becomes shallower on the upwardly tilted side of the rotary. (This can be prevented.) Furthermore, since the correction described above is automatically determined from the angle of the rotary relative to the tractor, the work accuracy is significantly improved.

[Brief explanation of drawings]

Figures 1 to 3 show one embodiment of the present invention. Figure 1 is a side view of a tractor with a rotary connected to it, Figure 2 is a partial slope view showing the main parts, and Figure 3 shows the control procedure. FIG. 4(A) is a rear view of a tractor and rotary showing the operating state of a conventional example, and FIG. 4(B) is a rear view of the same showing the operating state of an embodiment of the present invention. (+)・・・Tractor (2)・・・・・・
・Rotary (3) (4)...Lower link arm (5)...Top link arm (6)...
... Lift arm (7) (8) ... Lift rod (1) ... Main cover θ ■ ...
...Rear cover 04) ...Plowing depth sensor
(1... CPU (1G... Cultivation depth setting device (r7)... Lift rod cylinder (1011)
--- Sensor rod (A) --- Sensor arm (To) --- Stroke sensor

Claims (1)

[Claims] Comparing a set value of a plowing depth setting device provided on the tractor and a detected value of a plowing depth sensor provided on a rotary connected to the tractor so that the set value and the detected value match, and
Rolling control in which a hydraulic cylinder is interposed on one of the left and right lift rods for raising and lowering the rotary, and the hydraulic cylinder is expanded and contracted based on a detected value of a tilt angle sensor provided on the tractor to control the horizontal tilt of the rotary. Plowing depth control in a tractor equipped with the device, characterized in that the CPU is provided with a control unit that proportionally reduces the detection value of the plowing depth sensor according to the angle of the rotary with respect to the tractor. Device.