JPH03247201A - Retreating rise controller for rotary tilling device - Google Patents

Abstract

PURPOSE:To provide the title controller so designed that the elevation setting for a rotary tilling device being in retreating rise mode is made using a tilling depth setter for depth control and the elevation is controlled in a specified manner, thereby stabilizing the rise level from the ground. CONSTITUTION:The elevation of a rotary tilling device 14 being in retreating rise mode is set using a tilling depth setter 40 for depth control. In a state being in retreating rise mode, control is made so that the elevation of the tilling device becomes higher as the tilling depth set value for the setter becomes larger.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a rearward and upward movement control device for a rotary tiller connected to the rear of a power vehicle such as a commercial tractor.

[Prior Art and Problems to be Solved by the Invention] Conventionally, as a device of this type, one is known that, when the tractor is reversed, a working machine connected to the rear of the tractor is raised in conjunction with the reverse operation. There is.

However, with this kind of movement device (work equipment reverse and rise control device), when the machine is moved backward, the rotary tiller rises to the maximum rise position, so it is difficult to operate the change lever toward the forward or neutral position. In this case, there was a risk that the rotary tiller would fall violently from the high lifting position, which was extremely dangerous.

Also, if the rise setting position is set too low,
Due to differences in soil conditions in the field or changes in rear tire size, the lifting position of the working equipment varies and the amount of lifting of the working equipment is not constant.

The operator has to use unnecessary nerves, which causes fatigue and reduces work efficiency.

[Means for Solving the Problems] The present invention is proposed in view of the above-mentioned problems, and takes the following technical measures.

That is, a rotary tilling device 14 having a rear cover 36 for detecting plowing depth is connected to the rear part of the vehicle 1 so as to be movable up and down, and when the traveling vehicle 1 is operated in reverse, the rotary tilling device 1
4 to a predetermined height, the setting of the lifting height of the rotary tilling device 14 in the above-mentioned backward raising mode is performed using the tilling depth setting device 4° of depth control, and The configuration of the backward and upward control device for a rotary tiller is characterized in that a control means 27 is provided for controlling the upward height of the work implement so that the greater the set value of the tillage depth is, the higher the upward height of the work implement is.

[Example] Hereinafter, the present invention will be described in detail based on the drawings. First, to explain the structure, reference numeral 1 is a tractor having front wheels 2.2 and rear axles 3, 3 at the front and rear of the body, respectively, and a hydraulic cylinder case 5 fixed to the rear upper part of a transmission case 4. A single-acting hydraulic cylinder 6 is provided inside the hydraulic cylinder case 5, and lift arms 7.7 are rotatably supported on both left and right sides of the hydraulic cylinder case 5. Note that, herein, the hydraulic cylinder 6 and the lift arm 7.7 are collectively referred to as a hydraulic elevator [8]. A rotary tilling device 14 as a ground work device is connected to the rear end of the three-point link machine M12 consisting of the top link 10 and the lower link 11.11, and is connected between the lift arm 7.7 and the lower link 11.11. A lift rod 15.15 is interposed and connected. Reference numeral 20 denotes a hydraulic operating lever, and a ground height setting device 21 is attached to a rotating base of this operating lever 20 to set the height above the ground of a ground working machine connected to the rear of the tractor 1.

On the other hand, a ground height detector 23 is attached to the rotation base of the one-side lift arm 7 to detect its rotation angle, that is, the height of the ground work equipment, and the height detector 23 detects the rotation angle of the lift arm 7, that is, the height of the ground work equipment. To briefly explain the structure of the sixth-order rotary tiller 14, which has a position control system so that the lift arm 7.7 rotates and stops at that position, the rotary tiller 14 has a tiller section 34 and a tiller section 34. , Cultivation Department 34
It includes a main cover 35 that covers the upper part, and a shaft 36 that is rotatably pivoted at the rear of the main cover 35, and the lower end of the rear cover 36 is brought into sliding contact with the ground to level the tilled soil surface. The main cover 35 is configured to be elastically pressed as much as possible.
A plowing depth detector 37 for detecting the rotation angle of the rear cover 36 is provided at the upper rear end of the rear cover 36.

Next, the control system of this device will be explained based on the block diagram shown in FIG. A ground height setting device 21 that sets the height of the ground work equipment 14 and a ground height detector 23 that detects the actual position of the lift arm 7.7 are controlled by a CPU via an A/D converter 25. 27. 28 is A/
When this switch 28 is turned on using a lift switch that is directly connected to the control unit 27 without passing through the D converter 25, the ground work equipment 14 rises to the maximum raised position, and when turned off, it lowers to the height determined by the hydraulic operating lever 20. do.

Dial-adjustable plowing depth setting device 4 located near the cockpit
0 and a tilling depth detector 37 that detects the tilling depth of the rotary tiller 14 is connected to the control section 27 via the A/D converter 25. Reference numeral 41 denotes a backward movement detection switch for detecting a backward movement operation of the aircraft, and the change lever 42 is connected to the change guide 43.
When the vehicle is operated to the reverse range within the vehicle, this switch 41 is turned on and sends a signal to the control section 27. 46 is a rising proportional control valve that controls the hydraulic lifting mechanism 8, and 47 is a descending proportional control valve.

Next, the present invention will be explained in detail based on the flowchart of FIG.

The control program is stored in a part of the memory of the control section 27. First, each set value and detected value are read into the CPU (step S1).

Then, it is determined whether the change lever 42 is operated to the reverse side and the reverse detection switch 41 is turned on (step S2). When the reverse detection switch 41 is detected to be in the ON state, the state A flag is set to store the aircraft reverse climb mode (step S3), and the control mode is fixed to position control (step S4).

Then, in step S5, the reverse detection switch 41 is turned on.
It is determined whether or not the state of (Bun+α) is maintained in step S6.
PLn). Here, BUn indicates the position of the lift arm 7 immediately before the rotary tilling device 14 is raised in the working machine backward and upward mode, and serves as a reference value. α is the amount by which the work machine is raised in the work machine backward and upward mode, and this value is constant. Also, P.L.
n indicates the current position of the hydraulic operating lever 20. When (BUn+α) is larger than PLn, that is, when the setting of the hydraulic operating lever 20 is exceeded and the lift arm 7.7 is on the upward side.

Rewrite the value of PLn to BUn+α (step S7),
This means that the position of the rotary tilling device 14 can be controlled using the hydraulic operating lever 20 above the lifted position, but it is impossible to control the position using the hydraulic operating lever 20 below that position. do.

In this state, move the change lever 42 to the forward side or the neutral position and turn the reverse detection switch 41 ○.
When set to I''F, the value of PLn that has been in the fixed state is released (step S9), the flag for the work implement backward and upward control mode is reset (step 5IO), and the control mode is released from the fixed state, that is, this embodiment In this case, the position control mode is canceled (step 5ll) and returns to the previously selected control mode, such as depth control or draft control.Then, from this state, the lifted rotary tiller 14 is lowered. The descending speed β is set to be slower than the normal descending speed β in each control mode (step 51).
2).

Note that from step S13 to step 818 shows the control flow for determining the amount of rise of the rotary tiller 14 to be lifted.

In this embodiment, the position of the lift arm 7.7 is constantly monitored horizontally by a ground height detector 23 attached to the rotating base of the lift arm 7 on one side. The value of this height above ground detector 23 is updated in the following cases. That is, this is a case where a rise output is issued from CPtJ to the solenoid of the rise proportional control valve 46, and the previous output command was on the fall side. Then, if the control mode is currently auto mode (depth or draft), the backward and upward movement amount α of the work implement is corrected while referring to the value set by the plowing depth setting device 40, and if the control mode is in any other control mode, the The increase amount α is corrected while referring to the updated B U n value. That is, in the auto mode, the increase amount α is increased as the plowing depth setting increases, and conversely, when the plowing depth setting is small, the increase amount is also corrected to become smaller (step 517). In this case, the backward and upward movement amount α of the working machine is corrected in proportion to the magnitude of the detection value of the ground height detector 23 attached to the rotation base of the one-sided lift arm 7.

The control flow from step S19 to step S21 shows the conditions for resetting the set speed β2 for lowering the rotary tiller 14 and returning to the original lowering speed β. The descending speed β2 of the work equipment in the backward ascent control mode is set to a relatively slow speed, but when that mode is canceled and the mode is shifted to position control, depth control, or draft control, the descending speed β2 is set to a fast normal speed. It becomes speed. The lowering speed of the work equipment backward and upward control mode can be changed when the positions of the position hydraulic operating lever 20 and the lift arm 7.7 match (step 519), and when the lowering command is issued again by pressing the lift switch 28 ( In step 520), or when the plowing depth set value and the detected value match during depth control (step 521), β2 is changed to β. Step S2
The controls after 3 are set in advance by the operator before the start of work, and one of draft control, depth control, and position control is selected and executed.

As described above, according to this embodiment, the change lever
42 to the reverse side to move the machine backward, the rotary tilling device 514 will rise by a certain height α from the height Bun of the lift arm 7 during deep tilling work. The value of this increase α is also corrected in proportion to the set plowing depth, so compared to the conventional method in which the height of rise is determined rigidly, it is possible to adjust the increase due to changes in tire size, etc. There is no problem with this, and even if the tires sink due to the hardness or softness of the field, the control takes into account the previous working posture and adds the corrected lift amount α to it. , the amount of rise from the ground is approximately constant, and 1. work efficiency is improved. Further, in this embodiment, step S1
As shown in Steps 9 to S22, the lowering speed of the work equipment in the backward and upward mode can be changed and returned to the original normal control speed, so the operator can check if the lowering speed of the work equipment that has been raised by the backward movement of the machine is slow. When you feel the need to do so, you can consciously perform the operations described above, and this allows you to perform the work smoothly and efficiently without causing a drop in efficiency or becoming irritated during tilling work at the edge of the ridge.

Note that FIG. 5 is a partially modified version of the flowchart shown in FIG. 4. The feature of this flowchart is that after step S21 in the flowchart of FIG.
The point is that the following controls have been added.

That is, when the detected value of the ground height detector 23 provided at the rotation base of the lift arm 7 does not change for a certain period of time, or when the rate of change becomes small, the normal descent speed β is reached.
, which was controlled to return to . The rate of change described above decreases from the moment the rotary tiller 14 lands on the ground, but there is no danger in returning the descending speed to the original high speed after the work equipment has landed. The target plowing depth can be reached quickly, improving work efficiency.

[Effects of the Invention] Since the present invention is configured as described above, it has the following technical effects. That is, a rotary tilling bag W14 having a rear cover 36 for plowing depth detection is connected to the rear part of the vehicle 1 so as to be movable up and down, and when the vehicle 1 is operated in reverse, the rotary tilling device 14 is raised to a predetermined height. In the device equipped with a backward and upward control mode, the height of the rise of the rotary tiller 14 in the "-reverse"-rise mode is set by the tilling depth setting device 40 of depth control, and this tilling depth setting value This system is characterized by controlling the height of the work equipment to increase as the height increases, so the amount of rise from the ground becomes stable, allowing stable work to be performed without being affected by field conditions, etc. It can be done.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is an overall side view, FIG. 2 is a plan view of essential parts, FIG. 3 is a block diagram, and FIGS. 4 and 5 are flowcharts. Explanation of symbols 1 Traveling vehicle (tractor) 8 Hydraulic lifting mechanism 14 Rotary tilling device 20 Hydraulic operation lever 27 Control means (control unit) 36 Rear cover 37 Tilling depth detector 0 Tilling depth setting device 1 Backward detection switch 2 Change lever

Claims (1)

[Claims] 1) A rotary tilling device 14 having a rear cover 36 for plowing depth detection is connected to the rear part of the traveling vehicle 1 so as to be movable up and down, and when the traveling vehicle 1 is operated in reverse, the rotary tilling device 14 is activated.
In the device equipped with a backward raising control mode in which the rotary tiller 14 is raised to a predetermined height, the raising height of the rotary tiller 14 in the backward raising mode is set by the tilling depth setting device 40 of depth control, and this tilling 1. A backward and upward movement control device for a rotary tiller, characterized in that a control means 27 is provided for controlling such that the rising height of the work implement increases as the depth setting value increases.