JPH02154602A - Tillage level controller for tractor - Google Patents

Abstract

PURPOSE:To prevent an increase in amount of pushed tillage soil and improve smooth tillage leveling by lifting a tiller relatively to a car body and controlling the plowing depth to a rather shallow value when a leveling pressure applied to the tilled soil surface by a leveling plate attains a prescribed region or above. CONSTITUTION:A level receptor sensor 4 for receiving aiming projected light 2 from a level projector 1 for aiming a prescribed level surface on a field surface and performing leveling control so as to keep a soil surface tilled with a tiller 5 mounted on a car body 3 at a horizontal surface while sensing travel height of the car body 3 is provided. When the leveling pressure applied to a tillage soil surface with a leveling plate 6 attains a prescribed region or above, the tiller 5 is lifted relatively to the car body 3 and controlled so as to regulate the plowing depth to a rather shallow value. As a result, an excessive increase in amount of the pushed tillage soil can be prevented to prevent overload and carry out smooth tillage leveling.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a tillage level control device for a tractor. The soil surface is plowed or leveled horizontally while receiving light with a level light receiving sensor on the vehicle body side.

BACKGROUND ART Techniques and Problems to be Solved by the Invention Techniques for guiding a vehicle body along a laser beam at a constant height on a field are known. 1. A level light receiving sensor that receives the laser beam or the like is installed on the tractor turret to detect the height of the vehicle body and maintain the tilled soil surface in a horizontal plane by the tilling device attached to the vehicle body. In terms of tillage level control, it is difficult to maintain a horizontal surface by stable tillage level control depending on the form of soil level changes.

(Invention of Claim 1) Means for Solving the Problem The present invention provides a method for using a 21i projector (3) that receives aiming light (2) from a level projector (1) that aims at a certain level surface on a field.
In a tractor equipped with a level light receiving sensor (4) that detects the running height of the vehicle and performs leveling control to maintain the tilled soil surface at the water qL level by the tilling device (5) attached to the vehicle body (3). When the leveling pressure exerted by the leveling plate (6) on the tilled soil surface becomes greater than a certain area, the tilling device (5) is moved upward relative to the vehicle body (3) to reduce the tilling depth to a shallow level. The tillage level control device is characterized in that it controls the tillage level so that

Function and effect of the invention A level floodlight (1
) and emit a aiming light (2) along this horizontal plane. While the tractor tilling device is running, the level light receiving sensor (4) of the tractor body (3) receives the projected light (2) and detects the height of the vehicle body (3) with respect to a horizontal plane serving as a reference. If the ground surface on which the vehicle body (3) is running changes in height, the vehicle body (3) also rises and falls up and down, and this is detected by the level light receiving sensor (4).

The tilling device (5) is maintained within a certain setting range by setting the tilling depth with respect to the vehicle body (3), and keeps the tilling depth constant. This tilling device (5) includes the level light receiving sensor (
4), the vehicle body (
3) floats to a high position, the tilling device (5) is lowered relative to this vehicle body, increasing the leveling pressure and upward push of the tilled soil by the leveling plate (6), and In low places,
Since the vehicle body (3) is in a lower position, the tilling device (5) and the leveling plate (6) are not moved downward, the plowing depth is no longer shallow, the leveling pressure and up-pressing force are small, and as a result, the leveling plate (6) Pushes the cultivated soil in high areas of the field to lower areas.

In this way, when the field area where level control is performed becomes locally high and the upward pressing force by the leveling plate (6) becomes extremely large and reaches a certain level or more of the leveling pressing force, the leveling control area is reached. Tilling device (5) for the maintained vehicle body (3)
) is automatically controlled to make the tilling depth shallower. As a result, it is possible to prevent an extreme increase in the upward pressure of the tilled soil, prevent overload, and perform smooth tilling and leveling.

(Invention of Claim 2) Means for Solving the Problem This invention provides a method for driving a vehicle body (3) by receiving aiming light (2) from a leveling projector (1) aiming at a certain level surface on a field. A tractor equipped with a level light receiving sensor (4) that performs leveling control to maintain the tilled soil surface in a horizontal plane by a tilling device (5) attached to the vehicle body (3) while detecting the height. A tilling level control device is configured to control the tilling device (5) to move upward with respect to the vehicle body (3) to reduce the tilling depth when the drag force increases above a certain range due to 5). .

Function and Effect of the Invention The tilling device (5) has a level light receiving sensor (4) as described above.
By level control, the field is maintained at a constant level regardless of the height of the field, but if the drag from this tilling equipment (5) increases beyond a certain area, this will cause the tilling equipment (5) to (3) to automatically control the tilling depth to a shallow level by moving it upward.

For this reason, if the field becomes locally high or the soil conditions change and tilling resistance becomes extremely large, the tilling device (5) is moved upwards due to this increased resistance, reducing the plowing depth. It is possible to perform smooth tillage level control while preventing an extreme increase in tillage resistance and preventing overload.

(Invention of Claim 3) Means for Solving the Problem This invention illuminates a certain level surface on a field scene when f<I! While detecting the traveling height of the vehicle body (3) by receiving the 1 (0) light (2) from the leveling floodlight (1), the soil surface tilled by the tilling device (5) attached to this vehicle body (3) is detected. In a tractor equipped with a level light receiving sensor (4) that performs leveling control to maintain a horizontal surface, the leveling force of the leveling plate (6) on the tilled soil surface is controlled to be stronger or weaker depending on changes in the height of the field. The tillage level control device is characterized in that it includes a flat pressure control device (7) to flatten the tilled soil surface.

Functions and Effects of the Invention The tilling device (5) is equipped with the Suitei light receiving sensor (4) as described above.
The soil level is maintained at a constant level regardless of the height of the field by level control. It is automatically controlled by the equalizing pressure control device (7) so that the suppressing force becomes weaker and becomes stronger at high places.

For this reason, the cultivated soil surface in high areas of the field is covered with the level plate (6
), and the leveling effect of the tilled soil surface can be enhanced.

Example 1 In Figures 1 to 7, the level floodlight (1)
is supported by a sensor ball (12) on the ridge (11) of the field. In this configuration, the laser light emitted from the laser emitting device [(13) is rotated by the motor (14) around the vertical axis (14).
5) by reflecting it on a reflecting mirror (16) rotated by
The structure is such that light is projected (2) as a laser beam while irradiating and moving within a certain angular range on a level plane perpendicular to this axis (14). (17) is the level setting device, and the leveling projector (1)
The setting is made so that the light projected from the center (2) is parallel to the horizontal plane. (18) are these level light receiving sensors (4)
A case that covers the outer periphery of the light emitting window (19) in the light emitting part (2).
) has been established. (20) is a vertical position adjustment screw that changes the vertical direction of this case (18) with respect to the sensor pole (12), and (21) is a tilt angle adjustment screw that adjusts the horizontal tilt angle with respect to the vertical direction.

The tractor body (3) has a cabin (23) that houses a control handle (22), a driver's seat, etc., and has steerable wheels (24) and four rear wheels (25) that are transmission-driven by an engine. As a four-wheel drive mode, a pair of left and right lower links (8), (9) and a top link (26) are connected to the rear so as to be movable up and down, and a lift arm (27), a lift rod (28) and a rolling cylinder are connected. (10) to move up and down, and a tilling device (5) is attached to the rear ends of the lower links (8), (9) and the top link (26).

The lower link (8) on the left side is connected to the lift arm (27) by a lift rod (28) of a certain length, but between the lower link (9) on the right side and the lift arm (27),
These left and right lower links (8) are connected by a telescopic rolling cylinder (10) to connect the hydraulic circuit of the rolling control device, and the lower link (9) is moved up and down by the extension and contraction of this rolling cylinder (10). ) (9) Rolling control of the tilling equipment W (5) connected over the interval.

The level light sensor (4) is located on this left lower link (8).
Provided above the rear of the nearby vehicle body (3).

A sensor pipe (33) is attached to a bracket (29) directly or indirectly attached to the rear frame of the cabin (23) via a boss (32) screwed onto a screw punch (31) rotated by a motor (3o). ) is provided so that it can be freely controlled up and down, and a sensor cylinder (35) is provided at the upper end of this sensor pipe (33), which is rotated around @ (37) in the vertical direction by a stepping motor (34). 35), light receiving elements (36) made of diodes or the like are arranged at regular intervals in the vertical direction.

This outer peripheral portion is covered with a transparent cover (38) to constitute a level light receiving sensor (4). (41) is a spiral wiring section that conducts electricity between each light receiving element (36) section and a harness section (40) that passes through the sensor pipe (33) and connects to the controller (39). A magnetic body (42) is provided on the boss (32), and magnetic sensors (43) are disposed at regular intervals along the position facing the magnetic body (42) on the bra nut (29). The height position of the magnetic body (42) is constantly detected by the relationship between the magnetic body (42) and the magnetic sensor (43).

The motor (30) detects and controls the elevation control height of the level light receiving sensor (4).

Cultivate! Place A (5) is equipped with a tilling shaft (52) with tilling claws (44) on its circumference, and on the rear side of the upper tilling cover (45) there are also traces of tilling the field (46). Yojo side (4
A leveling plate (6) for leveling 7) is provided so as to be movable up and down,
A spring (50) is provided between the tiller body (49) and the soil surface (47), and the spring force is adjusted by a handle (51). A tilling shaft (52) having tilling claws (44) is interlocked with the power take-off shaft of the tractor body (3), and the height of this tilling device (5) relative to the vehicle body (3) is such that the tilling device (5) is raised and lowered. Riff 1 - Riff that detects the lifting and lowering position of the arm (27)] - Angle sensor is connected to the working height sensor (4
8). Further, a leveling plate angle sensor (53) is provided to detect the angle of the leveling plate (6) with respect to the tilling cover (45), and according to the tilling depth set by a tilling depth setting device (54) provided in the cockpit, While detecting the leveling angle of the leveling plate (6), the tilling depth is controlled so as to maintain the set tilling depth. (55) is a height adjuster for adjusting the height of the level light receiving sensor (4).

Projection light (2) is irradiated from the level projector (1).

The laser beam emitted from the laser emitting device (13) is reflected by the rotating reflecting mirror (1, 6) and passes through the light projection window (19).
) to a predetermined height position on the field scene (46) along a horizontal plane to irradiate a certain angle range (0).

The level light receiving sensor (4) of the tractor body (3) receives the light (2) directed to the level emitter (1), and then
Detect the height from the field reference plane. Horizontal light receiving sensor (
4) has a predetermined height relative to the vehicle body (3), so if the light receiving position of the light emitted (2) by the level light receiving sensor (4) is known, the height of the vehicle body (3) can be determined. That is, the light receiving element (36
) The controller (39) can detect the height of the vehicle body (3). When the projected light (2) is received at a high point of the light receiving element (36), the vehicle body (3) is at a low position and the ground surface on which the vehicle is traveling is low. On the other hand, the light is projected onto a low place (2
), the vehicle body (3) is in a high position.

The running soil level is high. This level light receiving sensor (4
) is automatically controlled up and down by the motor (30), and the light emitting (
2) is received by the light-receiving element (36) in the upper and lower center, and when the amount of vertical movement increases, the movement of the magnetic body (42) is detected by the magnetic sensor (43), and the controller (3) detects the movement of the magnetic body (42).
9) to calculate the height.

The tilling device (5) assumes a tilling working position due to the immobility of the lift arm (27), and the working position of this tilling depth is determined by the tilling depth setting device (54).

At this time, the leveling angle of the leveling plate (6) is measured by the leveling plate angle sensor (
53), the lift arm (27) is controlled to move up and down so as to maintain this leveling angle constant, and the plowing depth by the tilling device is controlled to be maintained at the set depth.

The working height sensor (48) detects the height of the tilling device (5) with respect to the vehicle body (3) from the angle of the lift arm (27). Based on the input from the working height sensor (48) and the controller (39), the current height of the tilling device (5) from the reference level plane is constantly calculated and displayed as 1.

In addition, when leveling the tilled soil surface parallel to the level surface with this tilling device (5), the pressing force of the leveling plate (6) for leveling this soil surface is controlled, and the leveling angle is adjusted. By controlling the soil surface, the cultivated soil at high points is moved to a lower place, thereby bringing it closer to the horizontal surface.

Further, the rolling control detects the left and right inclination of the vehicle body (3) and controls the distance between the lower link (9) and the right lift arm (27) by expanding and contracting the rolling cylinder (10). At this time, the left lower link (8) is used for cultivation! ! Since the right side is raised and lowered with the connection position (5) as the center, the height between the lower link (8) and the level light receiving sensor (4) during rolling control hardly changes. By this rolling control, the soil surface (47) is horizontally leveled by the tilling device.

When the tractor body (3) returns from level control on the forward stroke to level control on the backward stroke, the stepping motor (3)
4), the sensor barrel (35) is rotated approximately one rotation, and the light receiving element (36) emits light from the level emitter (1) (
2).

The tilling device (5) is raised and lowered by the lift arm (27).
Level control by Suitei light receiving sensor (4) and leveling plate (6)
It is operated in accordance with plowing depth control by the leveling plate angle sensor (53) and drag (draft) control by the tilling and leveling resistance. Each of these controls may be performed separately by switching the control mode, or may be a composite control mode in which two or more of these controls are combined. The leveling pressure exerted by the leveling plate (6) on the tilled soil surface (47) by the tillage device (5) becomes stronger as the tillage depth increases, and
46) becomes stronger, and therefore, in these cases, the amount of upward pushing or upward pushing movement by the leveling plate (6) also increases.

Therefore, in level control, as the field level (46) becomes higher, the resistance by the tilling device (5), the leveling plate (6), etc. increases, and extreme suppression resistance acts on the leveling plate (6).
This creates a drag force on the tilling device (5). In such a case, the tilling depth set by the tilling depth setting device (54) is automatically corrected to shallow [], and the tilling device (5) is automatically raised by the lift arm (27). , the upward pushing effect is also reduced.

Moreover, when the field scene (16) returns to near the base surface, these shallow plowing depth controls are canceled and normal level control is resumed.

In Figures 8 and 9 on the ward side, the upper flat plate (6) is attached with a spring (50
), a hydraulic cylinder (56) is provided which is pressed by the hydraulic pressure of the hydraulic circuit (60), and the electromagnetic proportional pressure control valve (57) and the switching control valve (58) of this hydraulic circuit (60), By controlling the pressing force of the leveling plate (6) against the tilled soil surface, increasing the pressure at high places and weakening at low places, the tilled soil at high places can be moved to low places. An equalizing pressure control device (7) is configured.
(59) is a piston of a hydraulic cylinder (56) connected to the leveling plate (6) side, and the hydraulic cylinder (56) is connected to the tilling machine body (49) side. (P) is a hydraulic pump, (
T) is a tank boat.

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
Figure 2 is a partial rear view, Figure 3 is a slope view, Figures 4 and 5.
The figure is a partial side sectional view, Figures 6 and 7 are partial plan sectional views, Figure 8 is a side view showing another embodiment, and Figure 9 is a partial hydraulic circuit diagram. It is. In the figure, code (1) is a level floodlight, (2) is a floodlight, and (3)
is the vehicle body, (4) is the level light receiving sensor, (5) is the work device,
(6) is the working height sensor, (7) is the lift arm, (8)
(9) indicates the lower link, and (10) indicates the rolling cylinder.

Claims (1)

[Claims] 1. A leveling projector (1) that aims at a certain level surface on a field scene.
A tilling device (5) attached to the vehicle body (3) while detecting the running height of the vehicle body (3) by receiving the aiming light (2) from the vehicle body (3).
In a tractor equipped with a level light receiving sensor (4) that performs leveling control to maintain the tilled soil surface in a horizontal plane, when the leveling pressure exerted by the leveling plate (6) on the tilled soil surface becomes greater than a certain area. The tilling device (5) is attached to the vehicle body (3).
), the tillage level control device is characterized by controlling the tillage depth to be shallower by moving the tillage level upward relative to ). 2 Leveling floodlight (1) that aims at a certain level surface on the field
A tilling device (5) attached to the vehicle body (3) while detecting the running height of the vehicle body (3) by receiving the aiming light (2) from the vehicle body (3).
In a tractor equipped with a level light receiving sensor (4) that performs leveling control to maintain the soil surface in a horizontal plane, the tilling device (5) is A tillage level control device that controls the tillage depth to be shallow by moving it upward relative to the vehicle body (3). 3 Leveling floodlight (1) that aims at a certain level surface on the field
A tilling device (5) attached to the vehicle body (3) while detecting the running height of the vehicle body (3) by receiving the aiming light (2) from the vehicle body (3).
In a tractor equipped with a level light receiving sensor (4) that performs leveling control to maintain the tilled soil surface on a horizontal plane, the leveling pressure applied by the leveling plate (6) on the tilled soil surface can be increased or decreased depending on changes in the height of the field. A tillage level control device characterized in that a leveling pressure control device (7) is provided to flatten a tilled soil surface.