JPH03210104A - Connecting structure for power tiller of tractor - Google Patents

Abstract

PURPOSE:To maintain a longitudinal angle of inclination of power tiller from a machine during tilling operation at a fixed value by driving the power tiller by setting a sensor to detect an oscillating angle of lift arm from the machine and laying a first control device of expanding and contracting an actuator based on the detected value if the sensor. CONSTITUTION:Distance between supports of a top link 2A is made expandable by an actuator 14 and a sensor 11 to detect an oscillating angle of a lift arm 4 to drive, raise and drop a power tiller 3 from a machine 11 is set. Then a first controlling means of expanding and contracting the actuator 14 based on the detected value of the sensor 11 is laid. Consequently, during tilling operation by driving the power tiller, a longitudinal angle of inclination of the power tiller 3 from the machine can be maintained at a fixed value.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a connection structure for a tiller of a tractor, and more specifically, the distance between the front and rear pivot connection fulcrums of the top link is determined by the distance between the front and rear pivot connection fulcrums of the lower link. A connecting structure for a tiller of a tractor, which connects the tiller so that it can be driven up and down via a three-point linkage mechanism that is shorter than the distance, and is configured so that as the tiller is raised, the tiller is tilted forward more. Regarding.

[Conventional technology]

Conventionally, the above-mentioned connection structure for a tilling device of a tractor, as shown in Japanese Utility Model Application Publication No. 1-60618, has a ground leveling cover that is swingable around the horizontal axis attached to the rear of the tilling device. A cover sensor is provided to detect the relative angle of the tiller to the main body of the tiller, and by raising and lowering the lift arm for driving and lowering the tiller based on the detection value of the cover sensor, the depth of tillage by the tiller can be set using the setting device. It was equipped with a tillage depth control means to maintain it at a set value.

[Problem to be solved by the invention]

According to the prior art, the set plowing depth is maintained by maintaining the longitudinal inclination of the cover relative to the tilling device body at a set value, but the three-point link mechanism that supports the tilling device is an unequal length link mechanism. Therefore, as the tilling device moves up and down with respect to the machine body, the longitudinal inclination of the tilling device with respect to the machine body also changes, so that the actual tillage depth differs slightly from the set tillage depth.

Therefore, in operations that require particularly precise plowing depth settings,
For now, it is necessary to perform the tilling work for a short while with the tilling depth set, then stop once, check whether the tilling depth is as intended, and then make fine adjustments to the tilling depth again, which is a cumbersome adjustment process, and there is room for improvement. It was what was left.

The present invention aims to improve the above-mentioned problems.

[Means to solve the problem]

In order to achieve the above object, the characteristic configuration of the present invention is that, in the connection structure for a tiller of a tractor described at the beginning, the distance between the support points of the top link is configured to be extendable and retractable by an actuator, and the tiller is driven up and down. By providing a sensor that detects the swing angle of the lift arm with respect to the machine body for the purpose of driving the tillage device, and providing a first control means that extends and contracts the actuator based on the detected value of this sensor, the tilling device can be driven. The present invention is configured such that the longitudinal inclination angle of the tiller with respect to the machine body can be maintained at a constant value during tillage work.

Or, the distance between the front and rear pivot connection fulcrums of the top link is shorter than the distance between the front and rear pivot connection fulcrums of the lower link3.
The tilling device is connected via a point linkage mechanism so that it can be driven up and down, and as the tilling device is raised, the tilling device is tilted forward more. By attaching a possible soil leveling cover, providing a cover sensor that detects the relative angle of this cover to the tilling device main body, and raising and lowering a lift arm for driving and lowering the tilling device based on the detected value of the cover sensor, In the connecting structure for a tractor tillage device, which is equipped with a tillage depth control means for maintaining the tillage depth of the tillage device at a value set by a setting device, the distance between the supporting points of the top link is configured to be extendable and retractable by an actuator. , by providing a second control means for expanding and contracting the actuator based on the detection of the set value by the setting device, during tilling work by driving the tilling device, the front and back inclination angle of the tilling device with respect to the machine body can be controlled. may be configured such that it can be maintained at a constant value, or via a three-point linkage mechanism in which the distance between the front and rear pivot connection fulcrums of the top link is shorter than the distance between the front and rear pivot connection fulcrums of the lower link. The tilling device is connected to the tiller so that it can be raised and lowered, and as the tilling device is raised, the tilling device is tilted forward more. At the rear of the tilling device, there is provided a soil leveling cover that is swingable around a horizontal axis. By installing a cover sensor that detects the relative angle of this cover with respect to the tilling device main body, and raising and lowering a lift arm for driving and lowering the tilling device based on the detected value of this cover sensor,
A connecting structure for a tilling device of a tractor, which is equipped with a tilling depth control means for maintaining the tilling depth of the tilling device at a value set by a setting device, wherein the distance between the supporting points of the top link can be expanded and contracted by an actuator. In addition to configuring
By providing a pitching sensor that detects the pitching angle of the tilling device with respect to the ground, and providing a third control means that expands and contracts the actuator based on the detected value of the pitching sensor, the tilling device can be driven to perform tilling. During operation, the tilling device may be configured to be able to maintain a longitudinal inclination angle with respect to the machine body at a constant value.

[For production]

(b) With any of the configurations described in claim 1.2.3, the longitudinal inclination angle of the tilling device with respect to the machine body can be maintained at a constant value during the tilling operation by driving the tilling device. Therefore, the set plowing depth and the actual plowing depth match regardless of the set amount.

(b) The sensor in the structure of claim 1, and claim 2
Since both of the setting devices in the above configuration are provided on the side of the vehicle body, the tractor tillage device connection structure according to claim 1.2 requires a control means for maintaining the tillage device at a constant longitudinal inclination angle and its configuration. Since all the parts can be mounted on the vehicle body, this is advantageous in that there is less risk of staining or collision than when the control means is also installed on the tiller, and it is also easier to replace the tiller with a different one. Even as mentioned above (
The effect of b) can be exerted.

(c) According to the configurations of claims 1 and 3, the means for maintaining the tilling device at a constant longitudinal inclination angle can be provided in a separate system from the control means for tilling settings, making it easier to detect circuit failures and inspect and maintain them. can be performed separately without being influenced by each other.

(:) According to the structure of claim 2, since the second control means and tillage depth control means are linked, it is possible for the setting device to also serve as a detection sensor in the second control means. Therefore, a dedicated sensor can be omitted.

(e) According to the structure of claim 3, the actuator for the top link directly adjusts the relative angle between the cover and the tilling device main body;
That is, since the actuator operates based on the detection of the longitudinal inclination angle of the tiller relative to the vehicle body, there is no need to perform so-called feedback control in which the actuator returns the value of the top link length after actuation to the control circuit.

〔Effect of the invention〕

In the connecting structure for a tilling device of a tractor according to claim 1, the plowing depth as set can be obtained by the action (a), and the plowing depth setting work is simple and easy, and the first control means which is a means for that purpose is provided. Due to the effects of (b) and (c), it was possible to provide the device with excellent durability and reliability.

In the connecting structure for a tiller of a tractor according to claim 2, (
By the action of (a), the plowing depth as set can be obtained, and the work of setting the plowing depth is simple and easy, and the second control means, which is a means for that purpose, has excellent durability by the action of (b), Due to the effect of (d), it was possible to provide it in an economically advantageous state.

In the connecting structure for a tiller of a tractor according to claim 3, (
By the action of (a), the plowing depth as set can be obtained, and the work of setting the plowing depth is simple and easy, and the third control means, which is a means for that purpose, has excellent reliability by the action of (c), Due to the effect of (e), it was possible to provide accurate and rapid control of response speed.

Furthermore, the connecting structure for a tractor tillage device according to claims 1 and 2 has the advantage that the above-mentioned effects can be exhibited regardless of whether various tillage devices such as a row tiller or a plow device are attached or replaced.

[Example] As shown in Fig. 3, a tilling device (3) is attached to a three-point link mechanism (2) at the rear end of an agricultural tractor body (1), and a control device for this tilling device (3) I will explain about it. Top link (2A) and left and right lower links (2B),
A three-point link mechanism (2) consisting of (2B) is connected to a lift arm (4) that is swing-driven by a hydraulic lift arm cylinder (15), a lift arm (4), (4,), and the lower link. (2B), (2B) are connected to each other by lift rods (5A), (5B) for lifting and lowering, and a tilling device (3) is attached to the tip of the three-point linkage mechanism (2).
) is installed.

Next, the sensor and setting device will be explained. Tillage device (3
) is provided with a ground leveling cover (3B) that can move up and down relative to the case (3A), and this leveling cover (3B)
A potentiometer-type cover sensor (6) that detects vertical swinging force with respect to the case (3A) is connected to the case (3A).
). On the other hand, a potentiometer-type plowing depth setting device (7) is installed in the control section of the agricultural tractor (1), and the plowing depth value is set by this setting device (7), and the plowing depth value is set based on the feedback value from the cover sensor (6). A plowing depth control means (D) is provided for vertically moving the three-point linkage mechanism (2) to maintain this set value based on the plowing depth, thereby controlling the plowing depth.

The right lift rod (5B) is configured as a telescopic cylinder, and by telescopic operation, the left lift rod (5A)
) and the left lower link (2B). and,
A stroke sensor (8) for detecting the amount of expansion and contraction is attached to the right lift rod (5B).
) is configured to sense the amount of expansion and contraction of the agricultural tractor, and a weight type tilt sensor (9
), a potentiometer-type rolling setting device (lO) is provided in the control section, and this rolling setting device (lO
), the stroke sensor (
A rolling control device is configured to expand and contract the right lift rod (5B) based on the feedback value from 8) to perform rolling operation of the tilling device (3).

Further, a lift arm sensor (11) is provided at the center of rotation of the lift arm (4) to detect the amount of vertical movement of the lift arm (4) relative to the aircraft (1), and a tiller (3) is installed in the control section. An elevating lever (12) is provided as a position setting device that controls forced elevating.
A potentiometer type position sensor (12A) is provided at the rotational axis position of the lift arm sensor (11) to detect the amount of operation, and feedback from the lift arm sensor (11) is provided to maintain the set value of the position setting device (12). Based on the value, a position control structure is configured to set the height of the tiller (3) relative to the tractor.

The three-point link mechanism (2) has unequal lengths in which the distance (L) between the front and rear pivot connection fulcrums of the top link (2A) is shorter than the distance (1) between the front and rear pivot connection fulcrums of the lower link (2B). It is configured as a link mechanism, and when the tilling device (3) is raised when turning at the edge of a ridge or moving while traveling, the tilling device (3) falls forward and protrudes toward the rear of the tractor. However, the top link (2A) is configured with a hydraulic cylinder (14) as an actuator so that its length (L) can be expanded and contracted, and the lift arm sensor (11) detects the top link (2A). By providing the first control means (A) that expands and contracts the top link cylinder (14) based on the value, when the tilling device (3) is being driven for tilling work, the tilling device (3) is It is configured such that the longitudinal inclination angle with respect to the body (1) can be maintained at a constant value.

That is, the top link cylinder (14) is provided with an expansion/contraction sensor (16) that detects the amount of expansion/contraction of this cylinder, and the longitudinal inclination angle of the tilling device (3) with respect to the vehicle body is determined by the elevation and descent of the tilling device (3). The length of the top link cylinder (14) required to be constant regardless of the condition (TSO)
is determined by the lift arm sensor (11) in response to the detected value of the swing angle of the lift arm (4) with respect to the aircraft body.
The controller (18) calculates and calculates the index, and operates the control valve (17) of the top link cylinder (14) so that the top link length (TS) after the lift arm (4) swings becomes equal to that value. At the same time, the top link cylinder (
When the information from the expansion/contraction sensor (16) indicating that the length of the valve (14) matches the index value is fed back to the first controller (18), the control valve (17) is operated in neutral.

In other words, as shown in Figures 1 and 2, the elastic sensor (1
6) and the first controller (18), the first control means (A
), and this plowing depth adjustment control, for example, controls the conduction to the first controller (18) in conjunction with the driving on/off of a drive operating tool (not shown) of the tilling device (3). It is configured to operate when the tilling device (3) is driven, such as turning on and off, and to stop its operation when it is stopped, so that the control does not work except during tilling work.

[Another example]

■ As shown in Figures 4 and 5, top links (2A
), the distance between the fulcrums is configured to be extendable and retractable by an actuator (14), and a second control means (B) is provided for operating the actuator (14) to extend and retract based on detection of a set value by the setting device (7). By doing so, tillage equipment (
3) During tillage work by driving the tillage device (
3) may be configured such that the longitudinal inclination angle with respect to the body (1) can be maintained at a constant value.

In this case, the setting device (7) and this setting device (7)
The second controller (19) calculates the length between the front and rear pivot connection supports of the top link (2A) from the set value of the second control means (
B).

■ As shown in Figures 6 to 8, top links (2
The distance between the fulcrums in A) is configured to be extendable and retractable by an actuator (14), and a pitching sensor (20) for detecting the hitching angle with respect to the ground is provided in the case (3A) which is the main body of the tilling device, and this pitching sensor Based on the detected value of (20), the actuator (1
By providing a third control means (C) that expands and contracts the tiller (4), during tilling work by driving the tiller (3), the longitudinal inclination angle of the tiller (3) with respect to the machine body (1) can be controlled. It may be configured such that it can be maintained at a constant value.

In this case, since the pitching sensor (20) is also equipped with a feedback function to determine whether the set ground angle is reached, the expansion/contraction sensor (16) is not necessary, and the tilling device itself is determined by the plowing depth setting. The top link cylinder (
14) corresponds to the third control means (C).

Further, the working vehicle may be a tow vehicle other than an agricultural tractor, such as a lawn mower with a three-point linkage mechanism.

It should be noted that the present invention is not limited to the structure shown in the accompanying drawings by adding reference numerals in the claims for convenient comparison with the drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the connecting structure for a tiller of a tractor according to the present invention, FIG. 1 is a circuit diagram showing the first control means in the operation of the connecting structure, and FIG. 3 is a perspective view showing the connection structure, FIG. 4 is a circuit diagram of the second control means, FIG. 5 is an algorithm of the second control means, FIG. 6 is a circuit diagram of the third control means, and FIG. 7 is a circuit diagram of the second control means. Algorithm of the third control means. FIG. 8 is a perspective view showing the connection structure by the third control means. (1)... Airframe, (2)... Three-point linkage mechanism, (3)... Cultivation device, (4)...
... Lift arm, (6) ... Cover sensor,
(7)...Setting device, (11)...Sensor, (14)...Actuator, (20)...
...Pitching sensor, (2A) ...Top link, (2B) ...Lower link, (3B
)...Cover (3A)...Tilling device body, (A), (B), (C), (D)...
- Control means.

Claims (1)

[Claims] 1. Via a three-point link mechanism (2) in which the distance between the front and rear pivot connection fulcrums of the top link (2A) is shorter than the distance between the front and rear pivot connection fulcrums of the lower link (2B). tillage device (3
) is connected to the top link (2A) so that it can be driven up and down, and the tiller (3) is tilted forward as the tiller (3) is raised. The distance between the tillers is configured to be expandable and retractable by an actuator (14), and the tilling device (3
) of the lift arm (4) for driving up and down the fuselage (1).
), and a first control means (A) that extends and contracts the actuator (14) based on the detected value of the sensor (11). A connecting structure for a tractor tillage device, which is configured to be able to maintain a longitudinal inclination angle of the tillage device (3) with respect to the body (1) at a constant value during tillage work by driving the device (3). 2. The tilling device (3
) are connected to each other so that they can be driven up and down, and as the tilling device (3) is raised, the tilling device (3) is tilted forward more. Attach the ground leveling cover (3B) and use this cover (3B).
A cover sensor (6) is provided to detect the relative angle of B) to the tillage device main body (3A), and this cover sensor (6)
By raising and lowering the lift arm (4) for driving and lowering the tilling device (3) based on the detected value, the tilling depth by the tilling device (3) can be adjusted to the value set by the setting device (7). A connecting structure for a tillage device of a tractor, which is equipped with a tillage depth control means (D) for maintaining a top link (
2A), the distance between the fulcrums is configured to be extendable and retractable by an actuator (14), and a second control means (B) operates to extend and retract the actuator (14) based on detection of a set value by the setting device (7). By providing a tractor that is configured to be able to maintain a longitudinal inclination angle of the tilling device (3) with respect to the machine body (1) at a constant value during tilling work by driving the tilling device (3). Connection structure for equipment. 3. The tilling device (3) is connected to the tiller (3) via a three-point linkage mechanism (2) in which the distance between the front and rear pivot connection fulcrums of the top link (2A) is shorter than the distance between the front and rear pivot connection fulcrums of the lower link (2B).
) are connected to each other so that they can be driven up and down, and as the tilling device (3) is raised, the tilling device (3) is tilted forward more. Attach the suitable ground leveling cover (3B) and use this cover (3B).
A cover sensor (6) is provided to detect the relative angle of B) to the tillage device main body (3A), and this cover sensor (6)
By raising and lowering the lift arm (4) for driving and lowering the tilling device (3) based on the detected value, the tilling depth by the tilling device (3) can be adjusted to the value set by the setting device (7). A connecting structure for a tillage device of a tractor, which is equipped with a tillage depth control means (D) for maintaining a top link (
The distance between the fulcrums of 2A) is configured to be extendable and retractable by an actuator (14), and the distance between the fulcrums of the tiller body (3A
) is provided with a pitching sensor (20) for detecting the pitching angle with respect to the ground, and this pitching sensor (20)
By providing a third control means (C) that expands and contracts the actuator (14) based on the detected value of A connecting structure for a tiller of a tractor, which is configured to be able to maintain a longitudinal inclination angle with respect to the machine body (1) at a constant value.