JPH02186903A - Controller for plowing depth of tractor tiller - Google Patents

Abstract

PURPOSE:To readily check suitability of the regulation standard position of a tillage cover by controlling a tiller so as to keep plowing depth thereof at the set value with a controller for the plowing depth and simultaneously calculating the standard position of the tillage cover. CONSTITUTION:The standard position for regulating longitudinal movement of a tillage cover 5 in a tiller 4 is calculated with a controller for plowing depth and the calculated values and actual regulating position are checked to inform suitability thereof. The tiller 4 is lifted or lowered relatively to a car body 1 with the controller for plowing depth to control the plowing depth at the set value.

Description

[Detailed Description of the Invention] Industrial Application Field This invention relates to a tillage depth control device for a tractor tillage device.
Specifically, it can be used to control the plowing depth during plowing and leveling with a tractor.

BACKGROUND ART AND PROBLEMS TO BE SOLVED BY THE INVENTION During tilling work on a tractor, a tilling device 1 mounted on the tractor, for example, a rotary tilling device, is provided with a tilling claw at the rear end position of a tilling cover that covers the upper circumference of the tilling claw. A leveling plate covering the rear circumference is supported so as to be movable up and down, and the tilling cover and leveling plate adjust the leveling of the tilled soil surface during tilling work, and also adjust the front and back movement position of the tilling cover and this. The tilling depth is controlled by detecting the vertical movement position of the leveling plate relative to the tilling cover and making appropriate adjustments based on this detected value and the set tilling depth value of the tilling depth setting device. Many are being implemented.

However, when controlling the plowing depth using these plowing covers and leveling plates, due to differences in field conditions, for example, between plowing work in dry fields and plowing work in flooded paddy fields, the posture of the tillage device relative to the tractor body, that is, the front and back Since the angle of inclination differs greatly, this difference requires adjustment and correction of the forward and backward movement position of the tillage cover, but in the past, the reference position for adjustment was not clear. Therefore, there was a dissatisfaction that the adjustment to find this reference position was very troublesome, and that the function could not be fully demonstrated.

Therefore, the present invention checks whether the actual adjustment position is appropriate with respect to the calculated value of the adjustment reference position when adjusting and correcting the longitudinal movement position of the tillage cover due to the difference in field conditions as described above. In addition, adjustment control is performed so that the calculated target value of the vertical movement position of the leveling plate with respect to the tilling cover matches the actual adjustment position.

(Invention of Claim 1) Means for Solving the Problem The present invention includes a vehicle height sensor (2) that detects the height of a vehicle body (11) above the ground, and a plowing depth setting device (3) that sets the plowing depth. a tilling cover (5) which covers the upper circumference of the tilling device (4) and can be moved back and forth; and a leveling plate attached to the rear end of the tilling cover (5) to level the tilled soil surface. (6) The tilling device (4) having the above-mentioned tilling cover (5) is controlled to be raised and lowered relative to the vehicle body (1) to maintain the tilling depth at a set depth, and the tilling device (4) is controlled to maintain the tilling depth at a set depth. A plowing depth control device for a tractor plowing device is configured to calculate a position.

Effect of the Invention According to the above configuration, the tilling cover (which is movable back and forth) that covers the upper circumference of the tilling claw that tilles the soil surface by its rotational action is provided.
5), and a flat plate (6) that is vertically movably supported at the rear end position of the tilling cover (5) and covers the rear circumference of the tilling claw (4). is attached to the vehicle body (1) of a tractor and is made to be able to move up and down with respect to the soil surface by means of a lift arm on the vehicle body (1) side which is operated by hydraulic pressure or the like.

In addition, a vehicle height sensor (2) using ultrasonic waves installed near the rear lower abdomen of the vehicle body (1) measures the amount of subsidence of the wheels of the vehicle body (11) relative to the soil surface, for example, by several meters or more. Based on the detected value of the height of the vehicle body (1) from the ground based on the average amount of subsidence, and the tilling depth control device that performs various controls by the CPU during tilling work, the tilling depth setting device (3 ) The vertical height position of the tilling device (4) with respect to the vehicle body (1) during work is calculated using, for example, the vertical elevation angle of the lift arm, and from this calculated value the tilling bag [( 4) The vehicle body (1
), and a reference position for adjusting the longitudinal movement of the tilling cover (5) with respect to this inclination angle can be calculated. It is possible to check whether the actual longitudinal movement adjustment position of the sensor is appropriate.

As described above, the tilling depth control device allows the tilling cover (5
) can calculate the reference position for the longitudinal movement adjustment of the tilling cover (5), which is necessary because the attitude of the tilling device (4) with respect to the vehicle body (1) changes greatly depending on differences in field conditions, etc. There is no need to rely on the operator's experience to adjust the tillage cover (5) because the adjustment reference position is not clear as in the past. The adjustment reference position of the tilling cover (5) can be checked very easily and the suitability of the adjustment reference position of the tilling cover (5) can be determined very easily.

(Invention of Claim 2) Means for Solving the Problem This invention includes a vehicle height sensor (2) that detects the height of the vehicle body tl) above the ground, and a plowing depth setting device (3) that sets the plowing depth. ,
The leveling plate (6) has a leveling plate sensor (7) that detects the vertical movement angle of the leveling plate (6) with respect to the rear end of the tilling cover (5) that covers the main local part of the tilling device (4). ) with respect to the tilling cover (5).
) is automatically raised and lowered relative to the vehicle body (1) to maintain and control a set plowing depth.

Effect of the Invention According to the above configuration, the reference position for adjusting the longitudinal movement of the tilling cover (5) is calculated as (invention of claim 1),
The target value of the vertical movement angle of the leveling plate (6) with respect to the tilling cover (5), which has been adjusted and corrected to match this calculation reference position, is adjusted from the adjustment reference position of the tilling cover (5) to the tilling depth control. Calculated by the device.

Based on the rotation reference angle of the leveling plate (6) with respect to the tilling cover (5) as the calculated target value.

The lift arm moves the tilling device (4) to the vehicle body (
1) by automatically raising and lowering the tillage cover (
The vertical movement angle of the leveling plate (6) with respect to 5) is controlled so as to match the rotation reference angle as a target value by detection by the leveling plate sensor (7).

As described above, the tillage depth is calculated by the tillage depth control device based on the adjustment reference position of the tillage cover (5). With respect to the rotation reference angle as the target value of the vertical movement angle of the leveling plate (6),
The tilling device 11 (4) is moved up and down to raise and lower the leveling plate (6).
) to match the vertical movement angles,
At this time, the rotation reference angle as the target value of the leveling plate (6) is normally corrected by the amount of subsidence of the vehicle body (1), that is, the deviation of the inclination angle of the tilling device (4) due to a change in height from the ground. However, this amount of subsidence does not correspond to moment-by-moment changes, but it is practically sufficient to take the average value over a distance of several meters or more, as mentioned above, so it can be used as a target value. Since the rotation reference angle is corrected infrequently and stably, follow-up control to match this target value is extremely easy, and maintenance control of the set plowing depth can be performed accurately.

(Invention of Claim 3) Means for Solving the Problem This invention provides a method for controlling the vertical movement angle of the leveling plate (6) with respect to the rear end of the tilling cover (5) that covers the upper row of the tilling device (4). As a reference, in a tractor tilling device that controls the tilling depth to maintain it at a set depth, a leveling plate pressure regulator (8) that changes the elastic force of the leveling plate (6) is installed in the cockpit (9).
) A plowing depth control device installed nearby.

Effect of the Invention According to the above configuration, the reference angle of the vertical movement of the leveling plate (6) at the adjustment reference position of the tilling cover (5) is calculated as (invention of claim 2), and this calculation The tilling device (4) is automatically moved up and down with respect to the vehicle body (1) by the lift arm based on the rotation reference angle determined, and the target value is determined by the detection by the leveling plate sensor (7). The plowing depth is controlled to be maintained at the set depth by matching the rotation reference angle of the leveling plate (6). The force is applied, for example, by installing a hydraulic telescoping cylinder or the like that pushes down the leveling plate (6) by means of a hydraulic action by proportional pressure control from the vehicle body (11 side), and acting in a direction opposite to the acting force of this hydraulic telescoping cylinder. The leveling plate (6
), the vehicle body (1) can be adjusted from a low-pressure elastic force to a high-pressure elastic force by installing a pull-up spring, etc.
A flat plate pressure adjustment installed near the cockpit (9) to change and adjust the spring force! +81 allows the elastic force of the leveling plate (6) against the soil surface to be freely changed and controlled from the cockpit (9) side.

As described above, the elastic force of the leveling plate (6) against the soil surface is pulled up using a pulling spring or the like so that the weight of the leveling plate (6) becomes zero balance, and in this state. The push-down action is performed by the hydraulic telescopic cylinder etc. using proportional pressure control, and the push-down action force can be freely set regardless of the extension/retraction position, so the range from low-pressure elastic force to high-pressure elastic force can be adjusted to the vehicle body ( The flat plate pressure regulator (8) placed near the cockpit (9) on the side 1) allows the elastic force to be freely changed and controlled. By using the hydraulic action that can control pressure for multiple purposes to control the elastic force of the leveling plate (6) against the soil surface, it is possible to easily follow even small fluctuations due to wheel subsidence of the vehicle body (1). Therefore, it is possible to accurately maintain and control the set plowing depth, and it is also possible to finish the soil surface with a smooth surface.

Example: When the tractor is turned over, the body (1) of the tractor is long from front to back, and the engine (!) is installed in the front part, and the transmission case (!υ are connected via a clutch device,
The transmission case (Ill) is configured to be able to transmit power to the left and right front wheels (18) located at the front side of the vehicle body (1) and the left and right rear wheels (13) located at the rear side, and the engine A control device (19) for controlling the tractor rearward from the rear end of this bonnet 04 and a control seat (9) for this control are provided.
The front wheels 03 are connected to each other so that the front wheels 03 can be steered by the handle (17) of the steering device (19).

In addition, in the lower rear end position of the mission case (Ill),
A pair of left and right lower links (11), which are strip-shaped pieces extending toward the rear, are connected so as to be able to rotate up and down, and a rotary cultivating device (4) is attached to the rear end of this lower link with its connecting support plate (11). It is configured to be rotatably connected at the lower end connecting position.

In addition, the tilling device (4) has a tilling claw rotatably supported in the width direction at its center position, and the tilling claw (2G
The interlocking case (21) that transmits power to the connecting support plate (
A tilling cover (5) fixed to the tiller 11 and covering the upper local part of the tilling claws 20 is placed under the interlocking case 21) with its upper and lower sides pinched and guided by guide rollers (215) at a plurality of locations in order to adjust the front and rear movement. A single transmission shaft (2I+1) is inserted into the left and right gear cases (towards) arranged on the upper side of the interlocking case 121), and each bevel pinion 4 which is pivotally attached to the transmission shaft Q4 is inserted into each gear case @. A combination of each longitudinally movable screw (5) and each longitudinally movable nut αe, each of which is rotatably attached to each bevel gear 9 that meshes with each bevel pinion 4, and which is protruded and extended from the rear side of each gear case 4. constitute each longitudinally movable cylinder 129), and connect the tip of each longitudinally movable cylinder (to) to the rear end of the tilling cover (5),
A stroke sensor (to) that detects the amount of longitudinal movement of the tilling cover (5) is connected in close parallel to the longitudinal movement cylinder (to) on one side, and the tilling cover (5) is moved by the detection of this stroke sensor 00. A back-and-forth moving motor 0υ for moving back and forth is configured to be interlocked and connected to the transmission shaft C4 of the gear case (i) on one side.Furthermore, with the rear end of the tilling cover (5) as a fulcrum, the tilling claw 12 (l) A leveling plate (6) that covers the rear circumference and controls the tilling depth and leveling of the soil surface by the tilling device (4) is provided and supported so as to be movable up and down, and this leveling plate (6) Left and right levelers rotatably protruding rearward from the rear end of case r21), between the vicinity of the rear position of the ti1 articulated arm rod (end) and the vicinity of the intermediate position of the leveling plate (6). , each of which is connected to a telescopic cylinder o3 by hydraulic pressure or the like so as to be rotatably adjustable in the pushing down direction, and a pulling rod (to) that acts in the pulling direction of the leveling plate (6) is provided parallel to this telescopic cylinder (to), One end of this lifting rod (B) and the tip of the piston part (33a) of the telescopic cylinder mouth are connected by a connecting pin (to), and the front end of the cylinder part (33b) of the telescopic cylinder 03 is connected to the front end of the cylinder part (33b) of the telescopic cylinder 03. A receiving plate OQ that supports the lifting rod is fixed, and a resiliently biased lifting spring is stretched between this receiving plate and the other end of the lifting rod. An adjustment screw (to) for vertically adjusting the leveling adjustment arm rod (to) is supported on a pedestal (to) that projects upward from the interlocking case 1211, and is attached to the leveling plate (6). Fix the tillage cover (5
), the leveling plate sensor (7) detects the vertical movement angle of the leveling plate +61 with respect to the tilling cover (5).
and configure it.

Further, the top link 60 connected to the top link hitch i40 provided at the upper rear end position of the mission case (11) and the upper position of the connecting support plate +191 of the tilling device (4) are rotatably connected. , the mission case (
11) The PTO shaft @no protruding from the rear end and the interlocking case (21) of the tilling device (4) are interlocked and connected by an interlocking shaft 03 having a universal joint, and the left and right lower links (For a pair of left and right lift arms that are fitted into the old positions near each middle and at the upper rear end position of the transmission case (11) and are supported and moved up and down by hydraulic action to move up and down)
The tip of the lift arm) is rotatably connected to the top end of the lift arm) by a connecting rod, and a lift sensor for detecting the up/down position of the lift arm) is located near the fulcrum of the lift arm).
and configure it.

In addition, ultrasonic waves are emitted and received at a position near the lower abdomen on the rear side of the mission case (10) to generate the front and rear wheels 02 (
A vehicle height sensor (2) is provided to detect the amount of subsidence of the vehicle body (1), that is, the height of the vehicle body (1) above the ground. Tillage depth control device (to) that performs various calculation controls during tillage work
The control box is equipped with a tilling depth setter (3) for setting the tilling depth and a proportional pressure control valve for changing the elastic force of the leveling plate (6). A flat plate pressure regulator (8) is provided, and this leveling plate pressure regulator (8) is provided.
8) and the telescopic cylinder 03 are connected in a hydraulically controllable manner,
Additionally, a horn (G) for warning the operator is provided near the control box (1). In addition, the tillage depth control device
PU, the vehicle height sensor (2), the plowing depth setting device (3), the leveling plate sensor (7), the leveling plate pressure regulator (8), the stroke sensor (to), and the elevation sensor) and the horn (g) are configured to be communicably connected.

In the tractor configured as described above, a rotary tilling device (4) attached to the vehicle body (1) of this tractor is used.
), the vehicle height sensor (2) detects changes in the height of the vehicle body (1) from the ground due to the average amount of subsidence of the front and rear wheels (12) (+3) at a level of several meters or more. ) and the detection signal when detected by.

The tilling device (4) according to the set tilling depth value of the tilling depth setting device (3)
A detection signal when a change in the vertical position relative to the vehicle body (1) is detected as the vertical lifting position of the lift arm (to the lift arm) by the lifting sensor (g) is sent to the plowing depth control device II.

This plowing depth control device (a) calculates the vertical height and longitudinal inclination angle of the tilling device (4) with respect to the vehicle body (1).

The vertical height and longitudinal inclination angle vary greatly depending on the field conditions, for example, between plowing work in dry fields and plowing work in flooded paddy fields. Calculate the actual forward and backward movement adjustment position of the tilling cover (5) with respect to this calculated reference position! & In order to match the tillage cover (
5) Adjust by moving back and forth. Incidentally, if the result of the detection check is inappropriate, the operator may be notified by means of a horn.

In addition, the height of the vehicle body (1) above the ground and the plowing depth setting device (3)
Depending on the state of the plowing depth set by the plowing depth control device (7), the rotation reference angle of the vertical movement angle of the leveling plate (6) with respect to the tilling cover (5), which has been adjusted to move back and forth properly to its reference position, is set by the plowing depth control device (7). ), and in order to actually match the vertical movement position of the leveling plate (6) with the calculated rotation reference angle, the lift arm Tilling device (4) to vehicle body +1)
The plowing depth is automatically raised and lowered to maintain and control the set plowing depth. During this control, the elastic force or pressure of the leveling plate (6) on the soil surface is controlled by the vehicle body. (The leveling plate pressure regulator (8), which uses the equipment on the 11 side for multiple purposes, allows the telescopic cylinder 03 to be controlled to a constant pressure from the cockpit (9) by proportional pressure control regardless of the amount of expansion and contraction. Since the leveling plate (6) is held at substantially zero balance by the lifting spring, it is possible to apply a wide range of elastic force from low pressure to high pressure against the soil surface.

Further, a hydraulic drive system transmission mechanism may be used instead of an electric system such as the longitudinally moving cylinder 4, and instead of the stroke sensor O1, the scale attached to the tilling cover (5) may be set on a separate dial. It is also possible to adopt a method of inputting information using a computer, a method of providing microswitches in stages, etc.

Also, instead of hydraulic control like the telescopic cylinder 03,
A method using air pressure, a method using a combination of a DC motor and a spring, etc. may also be used.

Further, for the lifting spring (b), a constant force spring of another type may be used, or the spring may be installed inside the cylinder to improve handling.

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
FIG. 2 is a partial side view, FIGS. 3 and 4 are partial front views with a portion cut away, and FIGS. 5 and 6 are side views. In the figure, code (1) is the vehicle body, (2) is the vehicle height sensor, and (3)
is the tilling depth setting device, (4) is the tilling device, (5) is the tilling cover, (6) is the leveling plate, (7) is the leveling plate sensor, (8) is the leveling plate pressure regulator, (9) is the control Show your seat.

Claims (1)

[Claims] 1. Vehicle height sensor (2) that detects the height of the vehicle body (1) above the ground.
and a tilling depth setting device (3) for setting the tilling depth, and a tilling cover (5) that covers the upper circumference of the tilling device (4) and can be moved back and forth, and this tilling cover (5). The tilling device (4), which has a leveling plate (6) attached to the rear end to level the tilled soil surface, is controlled to move up and down with respect to the vehicle body (1) to adjust the tilling depth to a set depth. A tillage depth control device for a tractor tillage device, characterized in that the tillage depth control device performs control to maintain the tillage depth and calculates a reference position of the tillage cover (5). 2 Vehicle height sensor (2) that detects the height of the vehicle body (1) above the ground
Detects the vertical movement angle of the leveling plate (6) with respect to the rear end of the tilling cover (5) that covers the upper circumference of the tilling depth setting device (3) and the tilling device (4). and a leveling plate sensor (7), the tilling cover (
5) A plowing depth control device for a tractor tillage device, characterized in that the tillage device (4) is automatically raised and lowered with respect to the vehicle body (1) based on a reference angle with respect to the reference angle to maintain and control the set plowing depth. 3 The tilling depth is controlled to be maintained at a set depth based on the vertical movement angle of the leveling plate (6) with respect to the rear end of the tilling cover (5) that covers the upper circumference of the tilling device (4). A tillage depth control device for a tractor plowing device, which includes a leveling plate pressure regulator (8) for changing the elastic force of the leveling plate (6) near the driver's seat (9).