JPH03198701A - Rolling-controlling device of ground-working machine - Google Patents

Abstract

PURPOSE:To enable uniform tilling of the surface of a field independent of the soil condition by providing a controlling means for varying the width of the neutral zone of depth control according to the extent of the lateral inclination of the ground- working machine. CONSTITUTION:The width D of the neutral zone of depth control is determined by a controller 27 based on the signal transmitted from an inclination detector 16. The detected value transmitted from a tilling depth detector 37 of a depth controlling means is compared with a preset depth value set by a tilling depth setting device 40. A lifting command is outputted to a proportional control valve for lifting 46 when the difference X is larger than the width D of the neutral zone; the control valve is kept in neutral state when the difference X is within the range of -D<X<D; and a lowering command is outputted to a proportional control valve for lowering 47 when X<=-D. Furthermore, the length (l) of a hydraulic cylinder 15a necessary to keep a rotary tilling apparatus 14 in horizontal state is calculated, the solenoid of the extension-side control valve 48 is excited when the length (l) is smaller than the detected value STS of a stroke detector 7, the system is maintained in neutral state when the length is equal to STS and the solenoid of the contraction-side control valve 49 is excited when (l)>STS.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a rolling control device for a ground working machine such as a rotary tiller connected to the rear of a power vehicle such as a tractor.

[Prior art and its problems] Conventionally, as this type of device, a rotary tiller is connected to the rear part of 1 to 2 tractors via a three-point link mechanism consisting of a top link and a lower link, and 1 to
Lift the lift arm and lower link on the tractor side.
connected by a rod.

At least one of the left and right rift rods is constituted by an extendable hydraulic cylinder, and by operating this cylinder, the tilting posture of the rotary tiller is changed. In particular, in recent years, many have installed a tilt sensor on the 1-rafter side or the work machine side, and provided a rolling control mechanism that automatically maintains the work machine horizontally.

In addition, in the case of a rotary tiller, the lower end of the rear cover is brought into sliding contact with the ground to detect changes in the unevenness of the ground.
There is a system that feeds back the change to the hydraulic lifting mechanism on the tractor side to move the rotary tilling device up and down, and operates the depth control mechanism to always obtain a constant plowing depth. Conventionally, such rolling control and depth control were used. It was configured so that both could be done at the same time.

1-2 [Problems to be Solved by the Invention] By the way, these conventional devices perform depth control and rolling control independently and in parallel regardless of the degree of inclination of the working machine, so Depending on the conditions, the ground surface may not be level after the work is completed, and the plowing traces may be undulating.

This tendency was more noticeable when the field was sandy and the working equipment was tilted significantly.

FIG. 1 simply represents this state.

The reason for this is that when the tractor tilts significantly in the left and right directions, the work equipment also tilts in the same direction, but as the plowing depth increases, the movement of the rear cover that detects changes in plowing depth becomes difficult to follow due to the sandy soil. This is due to a significant decrease in

Under soil conditions with poor soil retention, it was found that the work marks were more beautiful if horizontal control was first applied first, followed by depth control to maintain a constant plowing depth. .

[Means for Solving Problem 1111] The present invention is proposed to solve the above-mentioned drawbacks, and for this purpose, the following technical measures have been taken.

That is, a ground working machine 14 having a plowing exploration mechanism 37 is connected to the rear of the power vehicle 1 so as to be able to rise and fall, and a depth control device that operates to maintain a predetermined plowing depth, and a ground working machine. In the rolling control device for a ground work machine, the width of the dead zone of the depth control is changed according to the degree of left and right inclination of the ground work machine 14. This is a low-link control device for a ground-based work machine, which is characterized in that a control means 27 is provided to control the load.

[Embodiment] The present invention will be described in detail below based on the drawings. First, to explain the configuration, 1 is a 1-actor equipped with a front wheel 2.2 and a rear wheel 3.3 at the front and rear of the fuselage, respectively, and a hydraulic cylinder case 5 is fixed to the rear part of the mission case 4. It is set up as follows. A single-acting hydraulic cylinder 6 is provided in the hydraulic cylinder case 5, and lift arms 7.7 are rotatably pivoted on both left and right sides of the hydraulic cylinder case 5. Here, the hydraulic cylinder 6 and lift arm 7.7 are collectively referred to as the hydraulic lifting mechanism 8, but by appropriately switching the control valves described later, hydraulic oil is supplied and discharged into the hydraulic cylinder 6, and the lift arm 7.7 is collectively referred to as the hydraulic lifting mechanism 8. 1~Arm 7.7"
1 Rotate downward.

In addition, a rotary tiller 14 is connected to the rear end of a three-point link mechanism 12 consisting of links 1 to 10, and lower links 1 to 1 in a manner that allows it to move up and down. In between, riff 1-rod 15.
15 are interposed and connected.

Of these, the right rift 1-rod 15a is composed of a double-acting hydraulic cylinder, and hydraulic oil is supplied and discharged into this hydraulic cylinder 15a by switching a control valve, which will be described later, and expands and contracts to move the work machine in the left-right direction. Tilt it.

Reference numeral 16 denotes an inclination detector attached to the lateral side of the hydraulic cylinder case 5, which detects the inclination of the tractor 1 in the left and right lateral directions. Reference numeral 17 is a stroke detector for detecting the relative rotation amount between the tractor 1 and the rotary tiller 14, and is composed of a linear potentiometer. It is arranged on the lateral side of the cylinder 15a.

Reference numeral 20 denotes a hydraulic control lever for position control 1 to roll, and a rotary base of this hydraulic control lever 20 has a potentiometer for setting the height above the ground of the rotary tilling device 14 connected to the rear of the tractor 1. A ground height setting device 21 is attached. On the other hand, one side 71
- A ground height detector 23 is also attached to the base of the arm 7 to detect its rotation angle, that is, the height of the ground work equipment, and the lift arm 7.7 is placed at the position set by the hydraulic control lever 20. is configured so that it rotates and stops at the set position.

Next, to briefly explain the structure of the rotary tilling device 14, this rotary tilling device 14 includes a tilling section 34, a main cover 35 that covers the top of the tilling section 34, and a main cover 3.
The main cover 35 is pivotally attached to the rear of the main cover 35 and is equipped with a palm bar 36, etc., so that the lower end of the rear cover 36 slides on the ground and presses elastically to level the tilled soil surface.
A plowing depth detector 37 is provided at the upper rear end of the plowing depth detector 37 for detecting the rotation angle of the plow cover 36.

Next, the control system of this device will be explained based on the block diagram shown in FIG.

The ground height setter 21 that sets the height of the ground work equipment, the plowing depth setter 40 that sets the plowing depth, and the inclination setter 18 that sets the left and right inclination angle of the ground work equipment are each an A/D converter. 25
It is connected to a control device 27 consisting of a CPU via a The stroke detector 17 that detects the relative angle with the machine is also connected to the control device 2 via the A/D converter 25.
7 is connected. On the output side of the control device 27, a lifting proportional control valve 46 and a lowering proportional control valve 47 for moving the lift arm 7.7 up and down, and a hydraulic cylinder 15a for changing the tilting posture of the ground work equipment 14 are extended and retracted. An extension control valve 48 and a shortening control valve 49 are connected to each other.

Note that 28 is a lift switch that is directly connected to the control device 27 without going through the A/D converter 25, and when this lift switch 28 is turned on, the ground work equipment 14 rises to the maximum -1-lift position. When turned off, the hydraulic control lever 20
It descends to a cavity defined by.

FIG. 4 is a flowchart illustrating the contents of a program showing the relationship between depth control and rolling control stored in the memory of the control device 27, and the operation will be explained based on the figure.

First, each detected value, that is, the detected value by the tilling depth detector 37, inclination detector 16, and stroke detector 17, is read into the CPU (step S1), and then the tilling depth setting device 40
The set value by the slope setting device 18 is read into the CPU (step S2).

Then, the dead zone width (D) for depth control is determined from the value of the tilt detector 16 (step S3).

In this embodiment, as shown in FIG. 5, when the detected inclination value is in the range of 0 to 3 degrees with respect to the horizontal, the dead zone width D is set to 1, and in the range of 3 to 6 degrees, the dead band width is set to D=2, and 7-6. In the range of ~9 degrees, D=3, and the dead zone width increases as the detected inclination value increases. Then, the magnitude of the plowing depth detection value R5 of the depth control and the plowing depth set value DD is compared (step S4), and if the difference To output the command (step S5), the difference X is 10 <
If x < D, the control valve is kept in a neutral state (step S6), and if X≦-D, a descending command is output to the descending proportional control valve 47 (step 87). and,
Further, in step S, the length 0 of the hydraulic cylinder 15a required to hold the rotary tillage device 14 horizontally is calculated.
8), whose length Q is the detection value S of the stroke detector 17
If it is smaller than TS, the solenoid of the extension side control valve 48 is energized (step 5IO), if they are equal, it remains neutral (step 511), and conversely, if Q>STS, the solenoid of the contraction side control valve 49 is energized. .

As described above, in this embodiment, as the horizontal inclination of the tractor 1 increases, the width of the dead zone of the depth control of the rotary tiller 14 connected to the tractor 1 increases, so that the inclination of the machine body can be controlled horizontally. After that, depth control is performed to maintain the plowing depth of the rotary tiller 14 at a constant depth. Therefore, when plowing in areas such as sandy soil with poor soil retention, with conventional equipment, rolling control and depth control are performed at the same time, which prevents the surface of the field from becoming heavily undulated after the work. However, according to the device of this embodiment, when the horizontal inclination of the machine body is large, the rolling control that keeps the rotary tiller 14 connected to the machine body horizontal works first, and then the depth control works first. Since the plowing depth is kept constant, there is no undulation in the left and right directions, resulting in a good finish.

The above example uses a tractor with a so-called main sensor system, in which a tilt detector 16 is installed on the tractor 1 to tractor 1 sides to keep the work equipment side always horizontal. may be provided, and the sensitivity of the depth control may be determined according to the degree of inclination of the working machine with respect to the horizontal plane.

Finally, the graph in FIG. 6 and the flowchart in FIG. 7 will be explained. In FIG. 6, the horizontal axis represents the amount Q of hydraulic oil supplied to and discharged from the hydraulic cylinder 6, and the vertical axis represents the difference between the set angle of the rear cover 36 and the detected angle, that is, the deviation. This graph means that the greater the horizontal inclination angle of the tractor 1, the less effective the depth control becomes, that is, the worse the sensitivity of the depth control becomes. Flowchart 1- in FIG. 7 corresponds to FIG. 4, but in FIG. 7, in step S3, the sensitivity a is set according to the value of the tilt detector 16. In this case as well, the effect is
When the machine's horizontal inclination is large, rolling control is prioritized, and depth control is performed after the machine is level, so the field surface does not wave from side to side after work.

[Effects of the Invention] Since the present invention is configured as described above, the surface of the field can be plowed evenly without being affected by the soil conditions of the field, and the work traces can be made beautiful. It is.

[Brief explanation of drawings]

Figure 1 is a diagram showing work traces of conventional equipment, Figure 2 is an overall side view, Figure 3 is a block diagram, Figure 4 is a flowchart, and Figure 5 is the amount of hydraulic oil and setting angle and detection for depth control. A graph showing the relationship between the angle and the difference, FIG. 6 is a graph of another embodiment corresponding to FIG. 5, and FIG. 7 is a flowchart of another embodiment corresponding to FIG. 4. Explanation of symbols 1 Power vehicle (tractor) 14
Ground work equipment (rotary tillage device) 16
Inclination detector 18 Inclination setter 21 Height above ground setting device 23 Height above ground detector 27 Control means (control device) 37
Tillage depth detector 40 Tillage depth setting device

Claims (1)

[Claims] 1) Depth control that operates to maintain a predetermined plowing depth by connecting the ground working machine 14 equipped with a plowing depth detection mechanism 37 to the rear of the power vehicle 1 so as to be able to rise and fall, and the horizontal tilting of the ground working machine 14 In a rolling control device for a ground-based working machine that enables rolling control that operates to maintain a substantially horizontal posture, a control means 27 changes the dead zone width of the depth control according to the degree of left-right inclination of the ground-based working machine 14. A rolling control device for a ground work machine, characterized in that it is provided with.