JPH0260507A - Control device of tilling depth in tractor - Google Patents

Abstract

PURPOSE:To control tilling depth of ground working machine such as rotary by compensating an angle of a lift arm by an angle sensor attached to the lift arm for raising and dropping a working machine by an ultrasonic sensor to measure ground height fixed to a link arm part for connecting the working machine of tractor. CONSTITUTION:When a lift arm 3 is raised and dropped and tilling depth (d) of a rotary 18 is set, a detected value alpha1 of angle of an angle sensor 6 set to a revolution shaft 5 of the lift part 3 is inputted to CPU. Simultaneously ground height h1 detected by an ultrasonic sensor 14 is also inputted to CPU, calculated together with the detected value alpha1 of angle and retained as numerical data of the fixed tilling depth (d). Then rear wheels 19 having heavy load are dropped in the underground in a soft field. Therefore, when reduction in detected value of ground height of the ultrasonic sensor 14 is transmitted to CPU, CPU sends a raising order to the lift arms 3 and 4 to maintain the tilling depth (d). Then, when the detected value of angle of the angle sensor 6 and the detected value of ground height of the ultrasonic censor 14 are calculated and made into given values alpha2 and h2, respectively and the rotary is returned to the tilling depth (d), the lift arm 3 stops rising.

Description

[Detailed Description of the Invention] 1-Field of Industrial Application] This invention relates to a plowing depth control device for a tractor, and in particular, to a device for controlling plowing depth of a ground work machine, regardless of a conventional plowing depth sensor. The present invention relates to a plowing depth control device for a tractor.

[Prior Art] A conventional plowing depth control device for this type of tractor is provided with a CPU for controlling a lift arm for raising and lowering a ground working machine. Further, for example, an angle sensor is provided between the lower rear cover and the upper cover to be connected to the tractor, and is connected to the CPU, and the lift arm is raised and lowered based on the plowing depth value detected by the ground contact angle of the rear cover. The plowing depth of the rotary was controlled.

[Problems to be Solved by the Invention] 11;1 The conventional tillage depth control device for tractors described above has a sensor installed in the ground working machine, so in order to control the tillage depth and perform tillage work, Special ground work equipment had to be used. Therefore, regardless of the presence or absence of a plowing depth sensor, there arises a technical problem that must be solved in order to make it possible to control the plowing depth of a ground work machine without using the plowing depth sensor. aims to solve the problem.
It is considered to be I-like.

[Means for Solving the Problems] The present invention was proposed to achieve the above object, and includes a phosphor farm for connecting a work machine of a tractor.
An ultrasonic sensor is provided to measure the ground clearance, and an angle sensor is provided on the lift arm for lifting and lowering the work equipment, and the angle of the lift arm is corrected using the detected value of the ultrasonic sensor, and the rotary, etc. It is an object of the present invention to provide a plowing depth control device for a tractor, characterized in that it is configured to control the plowing depth of a ground work machine.

[Operations] In this invention, an ultrasonic sensor for detecting ground height is provided on the link arm for connecting the work equipment of the tractor, and an angle sensor such as a potentiometer is provided on the lift arm for raising and lowering the work equipment. The plowing depth of the ground working machine is controlled based on the detection values of both the ultrasonic sensor and the angle sensor. First, the height of the ground working machine relative to the tractor can be detected by the angle sensor, so The tilling depth value is set by controlling the lift arm at a predetermined angle. On the other hand, when cultivating soft fields, the rear wheels, which have a large weight distribution, may sink into the ground. In such a case, if the angle of the lift arm is controlled to be constant, the ground working machine will sink in the same way as the tractor, and the plowing depth will increase. At this time, an ultrasonic sensor provided on the link arm detects a change in ground height as the ground-based work machine sinks. Then, the CPU mounted on the tractor calculates the required angle of the lift arm according to the fluctuation and outputs a correction command to raise the lift arm, so that the ground work machine is not affected by the subsidence of the rear wheels. The plowing depth can be maintained constant.

[Example 1] Hereinafter, an example of the present invention will be described in detail with reference to the accompanying drawings. Incidentally, for convenience of explanation, conventionally known techniques will also be explained at the same time. In the figure, (1) is a tractor.

On both sides of the rear wheel axle (2) of the tractor (1), lift arms (3) and (4) for lifting and lowering the work equipment operated by a hydraulic mechanism (not shown) are rotatably pivoted. ing. An angle sensor (6) such as a potentiometer is provided on the rotation axis (5) of the lift arm (3) (/I), and the detected value of the angle sensor (6) is determined by the CI of a control circuit (not shown). )
It is input to U to control the height of the working machine.

In addition, as shown in Fig. 2, lower links Qo)Q for connecting the work equipment are installed at the lower part of the rear axle housings (9) (9) provided on both the left and right sides of the rear adhesive case (8) of the chassis (7). +) is pivoted at one end. Then, the intermediate portion of the left lower link (10) and the end of the left lift arm (3) are connected with the lift rod (1, !l), and the right lower link 01 and the right lift arm (4
) A hydraulic cylinder (1) is interposed between the two, and the hydraulic cylinder (0) is extended and contracted to control the horizontal posture of the working machine.

In addition, in this embodiment, an ultrasonic sensor (l/l) is provided inside the lower end of the lift rod (1), facing the ground surface. l)
The two heights are measured and plowing depth is detected together with the angle sensor (6).

In the center of the rear side of the rear transmission case (8), a PTO output shaft (1) for driving the work equipment is protruded, and a top link bracket (1) is provided above it. Together with the lower link (10) (l l) mentioned above, it forms a three-point sink Ja horizontal (r'l).
A working machine such as a rotary wheel is connected to the turning mechanism as shown in FIGS. 1 and 3, and a method of controlling the plowing depth will be explained with reference to the drawings.

In Figure 1, when the lift arm (3X/l) is raised and lowered and the plow depth (d) is set, the Angle sensor (
The detected angle value (al) of 6) is input to the CPU (not shown). At the same time, the ground height (hl) detected by the ultrasonic sensor (VD) is also manually input to the CPU, calculated together with the angle detection value (al), and is held as numerical data of a constant plowing depth (d).

As shown in FIG. If the angle of (/l) is kept constant, the rotor 1 n will also be the same as the rear wheel (1 (19
), it sinks and the plowing depth cannot be controlled.

Therefore, the decrease in the ground height detection value of the ultrasonic sensor H is caused by C
When the information is transmitted to the PU, as mentioned above, the CPU
d) Sends a two-up command to the lift arms (3) and (4) to hold the position. Then, the angle detection value of the angle sensor (6) is calculated together with the ground and height detection values of the ultrasonic sensor (1'l) to obtain predetermined values (α2) and (h2), respectively, and the plowing depth (d) is calculated. Upon returning, the lift arms (3) and (4) stop their lifting. However, since the above-mentioned operation is instantaneously performed in response to fluctuations in the ground/height detection values, there will be no uneven plowing depth.

Therefore, this invention can be modified in various ways without departing from the scope of the invention, and it is a matter of course that this invention extends to the modified version.

[Effects of the Invention] As detailed in the above-mentioned embodiment, the present invention is capable of detecting both the angle sensor provided on the lift arm of the tractor and the ultrasonic sensor for ground height detection provided on the link arm. The plowing depth of ground work equipment is controlled based on the value. That is, when the rear wheels of a tractor sink into the ground in a soft field, the CP decreases as the ground clearance detected by the ultrasonic sensor decreases.
U calculates the required angle of the lift arm and outputs a lift command. Therefore, the above-mentioned ground work machine is not affected by the subsidence of the rear wheels of the tractor (and can perform plowing work at a constant plowing depth). Now, the height of all types of work equipment can be controlled without the need for sensors.

In addition, since height control is performed using an angle sensor and an ultrasonic sensor, accuracy is significantly improved compared to mechanical sensors installed in conventional ground-based work equipment. It also eliminates the need to connect devices each time, contributing to improved work efficiency.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a side view of a tractor connected to a rotary, Fig. 2 is a rear view of the tractor,
FIG. 3 is a side view of the tractor and rotary when the rear wheels are lowered. (1) - Tractor (3) (4) Old lift arm (6) Angle sensor
(1o) (II)・・・Lower link (121・
...Lift arm (1■...Hydraulic cylinder (l/I)...Ultrasonic sensor (r7
)...3-point linkage mechanism (Japanese...Rotary

Claims (1)

[Claims] An ultrasonic sensor for measuring the ground clearance is provided on the link arm for connecting the work equipment of the tractor, and an angle sensor is provided on the lift arm for raising and lowering the work equipment, so that the angle of the lift arm is determined by the ultrasonic sensor. A plowing depth control device for a tractor, characterized in that the plowing depth control device for a tractor is configured to correct the plowing depth using a detected value and control the plowing depth of a ground working machine such as a rotary.