JPH03272606A - Automatic controlling mechanism in tractor - Google Patents

Abstract

PURPOSE:To make the subject tractor to be not affected to transient change of distance generating in rolling control by installing a plowing depth sensor of non-contact type for controlling plowing depth of a working machine on hitch frames. CONSTITUTION:A plowing depth sensor of non-contact type A1 is installed on an opposite side of a side having a rolling cylinder 4 on an intermediate PTO frame installed between left and right hitch frames 1. Thereby, ground surface before plowing is detected, accuracy of controlling is increased and setting of zero-depth of plowing is facilitated without requiring installing the sensor A1 in the working machine.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an automatic control mechanism for a working machine mounted on a tractor.

(b) Prior art Conventionally, in order to control the plowing depth of a working machine attached to a tractor,
The technique of providing a non-contact type sensor is known to the public.

For example, there is a technique described in Japanese Unexamined Patent Publication No. 56-1) 3202.

(C) Problems to be Solved by the Invention However, in the above-mentioned conventional technology, the non-contact tillage depth sensor was placed at the rear end of the depth beam of the rotary tiller, so the work machine automatic attachment mechanism When the non-contact plowing depth sensor was replaced, the non-contact plowing depth sensor was also removed at the same time, so it was necessary to install a non-contact plowing depth sensor on each working machine.

In addition, in the case of a non-contact plowing depth sensor, compared to the case where the plowing depth is detected using a rear cover sensor, the plowing depth is not detected over the entire tilling width, but the plowing depth is detected at a point below the non-contact plowing depth sensor. Therefore, if there is a mound of plowed soil in the area, there is a problem that the detected plowing depth varies.

Furthermore, when the plowing depth is detected using a rear cover sensor as in the past, there is a problem in that the tilled soil is kneaded by the rear cover.

In addition, in the conventional non-contact tillage depth sensor position, the tillage depth is detected by detecting the soil after tilling with a rotary tiller, and this detected value moves the front tiller claw axis up and down. The plowing depth of the next soil to be passed through is controlled by the plowing depth of the subsequent plowing depth, resulting in a time lag and indirect control.

In addition, when using a non-contact plowing depth sensor, measurements are taken at a single point in the lateral direction, so in the case of a work machine that is subject to rolling control, the non-contact plowing depth sensor The distance from the earth's surface detected by the sensor becomes closer or further away.

In the present invention, the non-contact plowing depth sensor is installed in the opposite direction of the rolling cylinder in which the non-contact plowing depth sensor is interposed in either of the lift links in order to avoid the change in distance during the transition period that occurs during rolling control as much as possible. The non-contact plowing depth sensor is placed on the side so that the change in distance due to the expansion and contraction of the rolling cylinder is not absorbed by the sensor, and the influence of the expansion and contraction of the rolling cylinder is corrected by the signal from the rolling sensor to compensate for changes in distance. It should be small.

In addition, a work equipment automatic installation mechanism is installed to attach the work equipment,
When performing automatic plowing depth control in this state, check 1! whether the automatic installation state of the work equipment and tractor is completed. It is necessary to set the plowing depth O position after confirming the
If the attachment is incomplete, the O position will be set too deep or too shallow.

The present invention makes it possible to control such defects by detecting the complete attachment state using a connection detection sensor.

B) Means for Solving the Problems The problems to be solved by the present invention are as described above, and next, the means for solving the problems will be explained.

In the tractor's work equipment automatic installation mechanism, a non-contact plowing depth sensor is placed on the Sochi frame that is installed on the tractor side of the work equipment automatic installation mechanism, and the work equipment is installed based on the signal from the non-contact plowing depth sensor. This system performs automatic tillage depth control.

In addition, in the automatic work equipment attachment mechanism of the tractor, a connection detection sensor is placed on the tractor side to detect when the lower link pin on the work equipment side of the automatic work equipment installation mechanism is connected to the connection part on the tractor side. This is what I did.

In addition, a rolling sensor is installed on the hitch frame, and a rolling cylinder is extended and contracted based on the signal from the rolling sensor to perform rolling control, and a non-contact plowing depth sensor is placed on the opposite side from where the rolling cylinder is placed. It is.

In addition, in a configuration in which a rotary tilling device is attached to the automatic work equipment attachment mechanism, a non-contact tilling depth sensor is placed in front of the tilling claw shaft of the rotary tilling device, and based on the signal from the non-contact tilling depth sensor, It performs feedforward control to raise and lower the rotary tiller.

(E) Embodiment The problems to be solved by the present invention and the means for solving them are as described above.Next, the structure of the embodiment shown in the attached drawings will be explained.

Figure 1 is a side view of the rotary tiller R attached to the tractor via the automatic work implement attachment mechanism, Figure 2 is a plan view of the same, Figure 3 is a rear view of the automatic work implement attachment mechanism, and Figure 4 is also a side view, FIG. 5 is an enlarged side view of the non-contact plowing depth sensor AI, rolling sensor A2, and connection detection sensor A3 attached to the work machine automatic attachment mechanism, and FIG. 6 is an automatic control of the tractor of the present invention. It is a flowchart of the mechanism.

In Fig. 1, a top link 2 and a lower link 3 are protruded from the rear of a transmission case M of a tractor.
A working machine automatic mounting mechanism, which is mainly composed of the hitch frame 1, is attached to the rear ends of the three links.

The top link pin 21 of the rotary tiller and the lower link pin 20 on the working machine side are automatically mounted on the working machine automatic mounting mechanism as the tractor moves backward.

In the present invention, the non-contact tillage depth sensor A1 is attached to the bottom frame 1 of the work machine automatic mounting mechanism, and the rotary tillage device R is located behind it.
There is a distance T between the position of the non-contact tillage depth sensor A1 and the position of the tiller claw shaft 8a.

Then, the non-contact plowing depth sensor A1 detects the distance of the part to be tilled, and as the tractor moves forward, at the position where the tilling claws are just above the detection position, the non-contact plowing depth sensor A1 first detects the distance. By setting the distance to the ground surface and the tilling depth, which is the distance from there to the tilling claws 8, just-time control can be performed using a feedforward signal.

A non-contact plowing depth sensor AI and a rolling sensor A2 are arranged on the pinch frame l.

A rolling cylinder 4 that controls the work machine horizontally or at a set inclination angle based on a signal from the rolling sensor A2 is installed on the side of the lift link 6R, and is opposite to the side where the rolling cylinder 4 is installed. A non-contact plowing depth sensor A1 is placed on the side.

There is also a non-contact plowing depth sensor A1 and a rolling sensor A.
A display panel 7 for displaying the detection results of the connection detection sensor A3 and the connection detection sensor A3 is arranged on the dash board.

The display panel 7 is configured to display whether or not the work implement has been correctly installed, particularly by the connection detection sensor A3, and the position of the plowing depth O is set in this state.

Next, explanation will be given with reference to FIGS. 3, 4, and 5.

The automatic work equipment mounting mechanism is mainly composed of a hitch frame l configured in an inverted U-shape.

An intermediate PTO frame 18 is interposed between the left and right switch frames 1.
An intermediate PTOI [h15 is provided at .

The front part of the intermediate PTO shaft 15 is connected to the PTO shaft 23 of the tractor.
The rear end of the joint shaft 13 protruding from the rotary tillage bag fR is completely fitted with a spline, but the rear end is configured as an automatically fitted dog clutch shaft, and the input shaft protrudes forward from the gearbox of the rotary tillage bag fR. Since the dog clutch shaft is also fitted to the rotary tiller R, both dog clutch shafts are configured to be fitted automatically following the automatic mounting of the rotary tiller R.

On the intermediate PTO frame 18, a non-contact plowing depth sensor A1 is arranged on the side opposite to the side where the rolling cylinder 4 is arranged, and a rolling sensor A2 is arranged near the non-contact plowing depth sensor A1.

The work machine automatic mounting mechanism is a top link locking body 10 at the upper part.
and a lower link locking body 14 at the bottom.The top link locking body 10 pivots the top link 2 on the tractor side to the front part, and connects the top link 2 on the tractor side to the rear hook part. The top link pin 21 can be locked from above.

In addition, at the front of the lower link locking bodies 14, the lower link pin 30 on the hit side is attached to the lower link 3 of the tractor.
・3 is pivoted.

And the pin insertion groove 14 of the lower link locking body 14.
After guiding and fitting the work machine side lower link pin 20 on the work machine side, the locking hook 12 biased from above by the biasing spring 31 rotates in the engagement direction, and the work machine side lower link pin 20 on the work machine side is rotated in the engagement direction. The pin 20 is held in to complete the installation.

In order to detect that the working machine side lower link pin 20 is completely attached to the locking hook 12 and the pin insertion groove 14a, a connection detection sensor A is installed at the locking hook 12.
3 is placed.

When removing the work equipment that has been installed using the work equipment automatic mounting mechanism, the operator sitting in the seat pulls the release lever 1) to release the locking hook 12, and from this state, while lowering the lift arm, the operator pulls the release lever 1). When the tractor moves forward, the working machine side lower link pin 20 and top link pin 21 are removed while remaining in place.

The lower link pin 20 on the work machine side projects from the lower link bracket 19 on the work machine side, and the top link pin 21
is protruded from the top link mast 22 on the work machine side, and if the work machine automatic mounting mechanism is not installed, both can be directly pivotally connected to the top link 2 and lower links 3 and 3 on the tractor side. This is possible.

(F) Operation of the Invention Next, the automatic control mechanism for a tractor according to the present invention will be explained based on the flowchart of FIG.

First, turn on the automatic control switch and start control.

Next, based on the signal from the connection detection sensor A3 displayed on the display panel 7, it is detected whether or not the attachment of the working machine is completed. (Sl) Next, the tilling claws 8 dig in on a flat surface such as a concrete surface.
・Put your nails on the ground in a safe place. (S2
) At this time, press the reset button to set the distance between the non-contact plowing depth sensor A1 detected by the non-contact plowing depth sensor A1 and the ground surface to the plowing depth 0 position. (S3) Then, the voltage value Va of the non-contact plowing depth sensor A1 at the plowing depth 0 position is read and stored. (S4) Next, the voltage value vb of the plowing depth dial is read and stored. (S5) Next, calculate the value of Vc=voltage value Va+voltage value vb. (S6) Then, the tilling work is started. (S7) Read the voltage value Vd of the non-contact plowing depth sensor A1 during tilling. (S8) Next, in order to calculate the actual plowing depth, Ve=Vd-Vc is calculated. (S9) And the Ve
If it is determined that Ve is larger than the dead zone X (SlO), the lift arm 5 is raised (51)), and if Ve is smaller than the dead zone X (S12), the lift arm 5 is lowered (S13).

If Ve is within the dead zone X, the lift arm 5 remains as it is (S14) and the plowing depth value is displayed on the display panel 7 (S15).

(G) Effects of the Invention Since the present invention has been established as described above, it has the following effects.

According to claim (1), in the automatic work equipment mounting mechanism for a tractor, a non-contact plowing depth sensor is disposed on the tractor-side hitch frame of the work equipment automatic mounting mechanism, and a non-contact plowing depth sensor is provided in response to a signal from the non-contact plowing depth sensor. Since the plowing depth of the work machine is automatically controlled based on this, the non-contact tillage depth sensor AI, which was conventionally provided for each work machine, can be installed on the side of the work machine automatic mounting mechanism, so that the tillage depth sensor AI for each work machine It is no longer necessary to provide the non-contact plowing depth sensor A1.

Furthermore, when using the rear cover as a plowing depth sensor as in the past, there was a large variation in the amount of soil since it detects soil that has a lot of bulges after plowing, but with the present invention, it detects the ground surface before plowing. Therefore, it was possible to reduce the parallax.

Also, unlike the case of the rear cover, there is no mixing of tilled soil.

In addition, before starting work, the value of the non-contact plowing depth sensor A1 when the work machine is placed on hard ground such as concrete is the plowing depth 0 position, so in this state, the plowing depth is 0. can be set, improving control accuracy.

Furthermore, since the plowing depth 0 can be easily set in this state, the plowing depth O can be easily set even if the working machine is different.

According to claim (2), in the automatic work equipment mounting mechanism for a tractor, connection detection detects that the lower link pin on the work equipment side of the automatic work equipment mounting mechanism is connected to the connecting portion on the tractor side. Since the sensor is placed on the tractor side,
With the work equipment fully attached to the automatic work equipment attachment mechanism,
As mentioned above, it is necessary to set the plowing depth to 0, but if the working machine is not fully installed in the automatic mounting mechanism, the plowing depth cannot be set to 0.
If the settings are made, errors will occur in the entire control.

In the present invention, the O setting can be performed after the connection detection sensor A3 detects the complete mounting state of the work implement automatic mounting mechanism, so that there is no error in the 0 setting.

Furthermore, it was possible to prevent accidents that would occur when starting work due to an incomplete installation state of the work equipment automatic installation mechanism.

According to claim (3), a rolling sensor is provided on the pinch frame, and according to a signal from the rolling sensor, the rolling cylinder is extended and contracted to perform rolling control, and non-contact plowing is performed on the opposite side of the rolling cylinder. Since the depth sensor is installed, the rolling cylinder 4
In the transition period of rolling control, the side where
There is a high possibility that the value will go up and down significantly, and if the non-contact plowing depth sensor Al is placed in this area, there is a high possibility that the detected value will change greatly during the transition period of rolling.

In the present invention, by arranging the non-contact plowing depth sensor A1 on the side opposite to the rolling cylinder 4, the possibility that the non-contact plowing depth sensor A1 detects an unstable signal when the rolling cylinder 4 expands and contracts is reduced. This could be reduced.

Furthermore, by arranging the rolling sensor A2 near the non-contact plowing depth sensor A1, the rolling sensor A
The signal from the non-contact plowing depth sensor A1 can be corrected based on the signal from 2, and the fluctuation in rolling control can be flattened.

As in claim (4), in the structure in which the rotary tilling device is attached to the work implement automatic attachment mechanism, the non-contact tilling depth sensor is disposed in front of the tilling claw shaft of the rotary tilling device, and the non-contact tilling depth sensor is Since feedforward control is performed to raise and lower the rotary tiller based on the signal, the following effects are achieved.

The detection signal of the non-contact plowing depth sensor A1 is used as a start pulse signal, and in order to eliminate variations in data, a moving average is taken and control is performed using this value, so a response delay occurs in the calculation of the detected value.

Then, by making the distance traveled by the tractor during this response delay time equal to the distance T between the non-contact plowing depth sensor A1 and the tilling claw shaft 8a, the moving average of the response delay just calculated is the most This means that the well-expressed point is being tilled by the tilling claws 8.

Therefore, a situation occurs in which the detected position is plowed at just the right time, so it is possible to perform just-time feedforward control instead of conventional feedbank control, which greatly improves control accuracy. It is possible to do so.

[Brief explanation of drawings]

Figure 1 is a side view of the tractor with the rotary tiller R attached to the tractor via the automatic work equipment attachment mechanism, Figure 2 is a plan view of the same, Figure 3 is a rear view of the automatic work equipment attachment mechanism, and Figure 4 is a rear view of the automatic work equipment attachment mechanism. The figure is also a side view, FIG. 5 is an enlarged side view of the non-contact plowing depth sensor Al, rolling sensor A2, and connection detection sensor A3 attached to the work machine automatic attachment mechanism, and FIG. 6 is an enlarged side view of the tractor of the present invention. It is a flowchart of an automatic control mechanism. A1...Non-contact plowing depth sensor A2...Rolling sensor A3...Connection detection sensor...Hitchi frame 12...Locking hook 14...Lower link engagement body 20...Work machine side lower link pin

Claims (4)

[Claims] (1) In the automatic work equipment mounting mechanism of a tractor, a non-contact plowing depth sensor is arranged on the hitch frame mounted on the tractor side of the work equipment automatic mounting mechanism, and a signal from the non-contact plowing depth sensor is used. An automatic control mechanism for a tractor, which is characterized by automatically controlling the plowing depth of a working machine based on the system. (2) In the automatic work equipment attachment mechanism of the tractor, a connection detection sensor is installed on the tractor side to detect when the lower link pin on the work equipment side of the automatic work equipment installation mechanism is connected to the connection part on the tractor side. An automatic control mechanism for a tractor characterized by the following: (3) In claim (1), a rolling sensor is provided on the hitch frame, and according to a signal from the rolling sensor, the rolling cylinder is extended and contracted to perform rolling control, and the rolling cylinder is placed on the side opposite to the one where the rolling cylinder is placed. An automatic control mechanism for a tractor characterized by the arrangement of a contact plowing depth sensor. (4) In a configuration in which a rotary tilling device is attached to the work equipment automatic attachment mechanism, a non-contact tilling depth sensor is placed in front of the tilling claw axis of the rotary tilling device, and the tilling depth sensor is installed based on the signal from the non-contact tilling depth sensor. An automatic control mechanism for a tractor, characterized in that it performs feedforward control to raise and lower a rotary tiller.