JPH0257101A - Control device of tilling depth of power tiller - Google Patents

Abstract

PURPOSE:To simplify structure and operation by equipping a cover efficiency compensating means to expand a top link cylinder when set tilling depth is changed to a shallow tilling side and to shorten the top cylinder when the set tilling depth is converted to a deep tilling side. CONSTITUTION:When set tilling depth by a tiling depth setting device is converted to a shallow tilling side and adjusted, a top link cylinder 21 is expanded and operated by a cover efficiency compensating means, a power tiller 4 is rocked and cover efficiency is made (approximately) the same before and after the conversion. When the set tilling depth is changed to a deep tilling side and adjusted, the top link cylinder is shortened and operated by the cover efficiency compensating means to maintain the cover efficiency unchangeable.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a rotary tilling device connected to the rear part of a self-propelled vehicle in a state where it is lifted and lowered by a lift cylinder via a three-point link mechanism, and the rotary tilling device is The rotary rear cover is attached to the tiller body so that it can freely swing up and down and the free end side is in contact with the ground, and the tillage depth is detected by a tillage depth sensor that detects the tillage depth based on the attachment angle of the rotary rear cover. and a plowing depth control means for automatically operating the cylinder so that the plowing depth matches or almost matches the plowing depth set by the plowing depth setting device, and the three-point link mechanism includes a top link cylinder. Regarding equipment.

[Conventional technology]

The above-mentioned tiller is capable of
The plowing depth control means is configured to allow work to be carried out while maintaining the plowing depth approximately constant. In addition, when the tiller is lifted by the lift cylinder, the top link cylinder can be shortened manually or automatically. The device oscillates and rises around the pivot axis, making it possible to lift the tiller to a higher level than with the lift cylinder alone.

In the tiller having the tillage depth control means described above, conventionally, the supporting member of the rotary rear cover is attached to the cultivating device body in a repositionable manner, and by changing the attachment position, the cover swing axis is aligned with the rotation axis of the tiller rotary. By adjusting the position of the supporting member in conjunction with changing the set plowing depth by the plowing depth setting device, the rotary rotary can be moved up and down relative to the plowing depth. The angle at which the rear cover swings is almost constant regardless of changes in the set plowing depth, that is, the swing efficiency of the rotary rear cover is almost constant, and when the set plowing depth is shallow and when the set plowing depth is increased. In both cases, it has become possible to perform plowing depth control with almost the same control accuracy.

[Problem to be solved by the invention]

Conventionally, a special structure was required to correct the cover efficiency so that it remained constant regardless of changes in the set plowing depth, which was disadvantageous in terms of structure.

An object of the present invention is to enable the above-mentioned cover efficiency correction to be advantageous in terms of structure and time.

[Means to solve the problem]

A characteristic configuration of the present invention is that in the tilling depth control device for a tiller described above, when the set tilling depth by the tilling depth setting device changes to a shallow tilling side, the top link-n-ring extends;
The present invention is further provided with a cover efficiency correcting means for automatically operating the top link ring to shorten the top link ring when the set plowing depth by the plowing depth setting device changes to a deeper plowing side. The functions and effects thereof are as follows.

[For production]

When the set plowing depth is adjusted to the shallow side, the top link cylinder is automatically extended by the cover efficiency correction means, and the cover efficiency is adjusted to the set plowing depth due to the rocking of the tilling device caused by this cylinder extension. If the setting plowing depth is adjusted to be the same or close to that before the change, and the set plowing depth is changed to a deeper side, the top link cylinder is automatically shortened by the cover correction means, and the top link cylinder is automatically shortened due to this cylinder shortening. By setting the cylinder stroke automatically operated by the cover efficiency correction means, the cover efficiency can be made to be the same as or close to that before changing the set plowing depth due to the rocking of the tilling device.

〔Effect of the invention〕

As for the cover efficiency correction means, the cover efficiency correction mentioned above uses a top link cylinder for lifting the tilling device and has a simple structure, and only requires an operation to change and adjust the set tillage depth. It is possible to easily operate the tiller, control the plowing depth with the same control accuracy regardless of changes in the tillage depth, at a low cost, and advantageously in terms of adjustment time.

〔Example〕

Next, an example will be described.

As shown in FIG. 5, a rotary tiller (4) is installed at the rear of a wheeled self-propelled aircraft equipped with an operating cabin (1) and is operated to be raised and lowered by a lift cylinder (2) via a three-point linkage mechanism (3). ) are connected to each other, and the power is transmitted from the self-propelled body to the tilling device (4) via the rotating shaft (5), thereby forming a riding type cultivator.

In the tilling device (4), the rotary rear cover (7) provided to cover the rear of the tilling rotary (6) is attached to the rotary upper cover (8) forming the tilling device body. It is attached so that it can swing up and down around it, and is biased downward by its own weight and a spring (9) so that the free end side touches the ground after plowing. A rotary potentiometer-type plowing depth sensor (11) is connected to the rotary rear cover (7) by an interlocking rod (10).
is attached to the rotary upper cover (8). In other words,
The plowing depth sensor (11) is configured to detect the plowing depth based on the attachment angle of the rotary rear cover (7) and output the detection result as an electric signal.

As shown in Figure 1, the operating valve (
12) is configured as an electromagnetically operated valve, and this operating valve (1
The operating circuit (13) of 2) is connected to a microcomputer (C).
It is linked to a position control means (14), a control mode switching means (15), and a plowing depth control means (16). A first potentiometer (1) detects the operation, swing force direction, and swing stroke of the lift lever (17).
8), and a second device that detects the height of the tilling device (4) relative to the self-propelled aircraft based on the swing angle of the lift arm (3a) constituting the three-point linkage mechanism (13) relative to the self-propelled aircraft.
Position control hand & (14) with potentiometer (19)
), and the position control means (14), based on information from both potentiometers (18) and (19), sends a signal to operate the operating valve (12) to an operating position adapted to this information to the operating circuit ( 13). In other words, the lift lever (1
7) is swung in the upward direction (U) or downward direction (D), the lift lever (
The lift cylinder (2) is operated to the tilling device upward side or tilling device downward side corresponding to the swinging force direction of the tilling device (17), and the tilling device (4) is operated by a stroke proportional to the operated stroke of the lift lever (17). ) is used to stop the futon ring (2) when it is raised or lowered.

The plowing depth control means (16) compares the plowing depth detected by the plowing depth sensor (11) and the plowing depth set by the plowing depth setting device (20) to determine the magnitude relationship between them, and based on the result of this determination, It is configured to automatically output to the operating circuit (13) a signal for operating the operating valve (12) to an operating position adapted to the determination result.

That is, the lift cylinder (2) is automatically operated so that the plowing depth detected by the plowing depth sensor (11) and the plowing depth set by the plowing depth setting device (20) match or almost match.

The control mode switching means (15) switches the operating circuit (13) based on information from the first potentiometer (18) into a position control state operated based on a signal from the position control means (14) and tillage depth control. The plowing depth control state is configured to automatically switch to a plowing depth control state operated based on a signal from the means (16). That is, when the lift lever (17) is within the operating range (!JAN), the operating circuit (13) is operated to the position control state, and the lift lever (17)
When the control circuit (13) is switched to the operating position (8 [IT)], the operating circuit (13) is switched to the tilling depth control state.

The top link cylinder (21) constituting the three-point link mechanism (3) is constituted by a hydraulic cylinder (hereinafter referred to as the top link cylinder), and by shortening the top link cylinder (21), the tilling rotary (6
) and the shaft center (Pl) is the lower link connecting shaft center (P2
), and by extending the top link cylinder (2), the tilling rotary (6) can be rocked down. 4) The structure is such that the swinging operation can be performed.

As shown in FIG. 1, the operating valve (22) of the top link cylinder (21) is configured as an electromagnetic operating valve, and the operating circuit (23) of this operating valve (22) is configured by a microcomputer (C). The control means (24) and the cover efficiency corrector 1 (25) are linked to the control mode switching means (15). The lift control means (24) then moves the lift lever (17) to the upward stroke end (B).
When the detection switch (26) is in the detection state, the operation circuit (23) sends a signal to operate the operation valve (22> to the cylinder retracted position). ), the top link link (21) is automatically shortened to the stroke end, and the detection switch (24
) is in a non-detection state, the top link cylinder (21
) is configured to automatically extend the stroke to the end of the stroke.

The cover efficiency correction means (25) is controlled by a microcomputer (
C), and the target length calculating means (27) is linked to the tilling depth setting device (27).
The top link cylinder length to be produced is produced based on the set plowing depth according to 0) and a preset manual program. The cover efficiency correction means (25) determines that the length detected by the stroke sensor (28) that detects the extension length of the top link cylinder (21) and the cylinder length calculated by the target length calculation means (27) match or almost match. By automatically outputting a signal to the operating circuit (23) to cause the operating valve (22) to match, the set tilling depth at the tilling depth setting position (20) changes to the shallow tilling side. Then, the top link cylinder (21) extends the stroke corresponding to the change, and shortens the stroke according to the change when the plowing depth set by the plowing depth setting device (20) changes to the deep tilling side.
The top link cylinder is automatically operated and the top link cylinder is set to a length where the angle at which the rotary rear cover (7) swings for a unit depth change in tillage depth is constant or almost constant regardless of changes in tillage depth. It is configured to adjust the length.

In short, the lift lever (17) is within the operating range (MAN>
If the tilling device (4) is operated by swinging at a position other than the stroke end (ε), the tilling device (4) will be raised by the lifting force of the lift cylinder (2) by a stroke proportional to the operation stroke of the lift lever (17), or It is lowered by the weight of the tiller. Then, when you operate the lift lever (17) to the stroke end (E),
The tilling device 1 (4) is raised to the stroke end by lifting by the lift cylinder (2) and by lifting by the shortening operation of the top link cylinder ′ (21).

When the lift lever (17) is operated to the operating position (A[JT), the tilling device (4) is automatically controlled to raise and lower, allowing work to be done while maintaining the tilling depth almost constant regardless of the pitching of the self-propelled machine. It is.

In this case, simply by changing the set plowing depth, the top link cylinder (21) is automatically adjusted to extend.
Automatic plowing depth control is performed with the same or almost the same control accuracy as the control accuracy before changing the plowing depth.

The driving cabin (1) is attached to the traveling body part (30) via cushion rubber (29) as shown in FIGS. 2 and 3. Since the cushion rubber (29) has a cross-sectional shape in the free state as shown in Figure 3, the relationship between the amount of elastic deformation (X) and the spring constant (K) is as shown in Figure 5. It is composed of:

Incidentally, although reference numerals are written in the claims section for convenience of comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the plowing depth control device for a tiller according to the present invention, in which Fig. 1 is a block diagram of the control system, Fig. 2 is a cross-sectional view of the cushion rubber, and Fig. 3 is a line taken along the line ■-■ in Fig. 2. Cross-sectional view,
FIG. 4 is an explanatory diagram of cushion rubber performance, and FIG. 5 is a side view of the entire tiller. (2)...Lift cylinder, (3)...
... Three-point linkage mechanism, (4) ... Rotary tilling device, (7) ... Rotary rear cover, (8)
...... Tilling device body, (11)...... Tilling depth sensor, (16)...... Tilling depth control means, (20)
. . . Cultivation depth setting device, (21) . . . Top link cylinder, (25) . . . Cover efficiency correction means.

Claims (1)

[Claims] Three-point linkage mechanism (3) with lift cylinder (2)
The rotary tiller (4) is operated up and down through the
is connected to the rear of the self-propelled aircraft, and the rotary tilling device (4
) is attached to the tiller body (8) so that it can swing vertically and the free end side is in contact with the ground, and the tilling depth is determined based on the attachment angle of the rotary rear cover (7). plowing depth control means (16) for automatically operating the cylinder (2) so that the plowing depth detected by the plowing depth sensor (11) and the plowing depth set by the plowing depth setting device (20) match or almost match; ), and the three-point link mechanism (3) is provided with a top link cylinder (11), the tilling depth control device for a tiller, wherein the tilling depth set by the tilling depth setting device (20) is on the shallow tilling side. When the plowing depth changes, the top link cylinder (21) extends, and when the set plowing depth by the plowing depth setting device (20) changes to the deep plowing side, the top link cylinder (21) shortens. A tillage depth control device for a tiller, which is provided with a cover efficiency correcting means (25) for automatically operating (21).