JPH0431645B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides for, for example, attaching a rotary tiller to a tractor via a top link and a lower link, or attaching a rice transplanter to a passenger vehicle body via a top link and a lower link so that the rice transplanter can be moved up and down. A tilting sensor detects tilting of the working machine in the left-right direction, and an angle correction member such as a hydraulic cylinder that swings a lower link etc. based on the output of the sensor to keep the horizontal tilting of the working machine substantially constant. , relates to a device that maintains approximately the same plowing depth on the left and right sides of the working machine or the planting depth of left and right seedlings.

Conventionally, as shown in Japanese Unexamined Patent Publication No. 56-124303, there is a technology that detects the tilling drive load and performs rolling operation of a tilling machine, and as shown in Japanese Patent Application Laid-Open No. 56-101404, there is a technology that controls the tilling machine at a high speed. Later, a tractor work equipment support technology was introduced that controlled at a slow speed.

However, the above-mentioned prior art does not control the work machine attitude quickly from the start of work until it becomes horizontal, and after the work machine attitude becomes horizontal, control the work machine attitude slowly due to changes in the work machine attitude. Therefore, when performing reciprocating work by turning on a headland, the work machine posture cannot be properly controlled, such as when starting work after turning. There were problems such as not being able to do it.

However, in the present invention, a farm work machine is attached to a mobile farm machine via a traction link so that it can be raised and lowered, and the traction link is swung based on the output of a tilt sensor that detects tilting of the farm work machine in the left and right direction. In an angle control device for agricultural work that is equipped with an angle correction member that keeps the horizontal tilt of the machine approximately constant, when a load sensor detects the start of work on the farm work machine, the angle correction member is continuously operated to keep the farm machine in a horizontal position. In addition, after the agricultural working machine is in a horizontal position and the tilt sensor becomes a dead zone, when the agricultural working machine changes its inclination again, the angle correction member is operated in pulses to correct the attitude of the agricultural working machine. It is characterized by having the following configuration.

Therefore, even in reciprocating work where the left and right inclination is likely to be reversed, the machine can be brought into a horizontal position by continuous operation at the start of work after turning, eliminating problems such as disturbing the headland during plowing work, and improving rice planting. This eliminates problems such as uneven seedling planting depth on the headland from side to side during work, and also prevents hunting etc. by gently correcting the work machine posture with pulse operation once the work is level. Posture control can be performed appropriately, and the horizontal control function of the work machine and the followability of control operations can be easily improved. For example, 1
This eliminates the need for complicated operations such as changing the control speed midway through each control operation, and easily provides horizontal control suitable for agricultural work in the field.

Embodiments of the present invention will be described in detail below based on the drawings.

Figure 1 is an overall side view, Figure 2 is a plan view of main parts,
Figure 3 is a rear view of the same, in which a rotary tiller 2, which is an agricultural work machine, is installed at the rear of a tractor 1, which is a mobile agricultural machine, and in the figure, 3 is an engine, 4 is a clutch case, and 5 is a transmission case. , 6 is the front wheel, 7 is the rear wheel, 8 is the rear wheel, 9 is the PTO shaft, 10
13 is a hydraulic lift equipped with a lift arm 11 and a position control lever 12; 13 is a driver's seat;
14 is a steering handle. Further, in the figure, 15 is a tilling rotary, 16 is a rotary cover, 17 is a main beam, 18 is a tail wheel, and 19 is a depth adjust handle.

A tilling machine 2 is attached to the rear side of the tractor 1 via a top link 20 and a lower link 21 which is a traction link so that it can be raised and lowered. The front end of the top link 20 is connected and supported to the rear side of the hydraulic lift 10 via a top link hinge 22, and the rear end of the top link 20 is connected to the upper central part of the front end of the working machine 2, and the lower part of the transmission case 3 on both sides The front ends of a pair of left and right lower links 21, 21 are connected and supported at the corners via lower link pins 23, and the rear ends of each lower link 21, 21 are connected to both sides of the front end of the working machine 2.

Furthermore, lift rods 24, 2 are attached to the pair of left and right lift arms 11, 11 provided on the hydraulic lift 10.
Hydraulic cylinder 25 which is an angle correction member that connects the upper ends of 4 and keeps the horizontal inclination of the working machine 2 substantially constant.
is integrally connected to the lower end of the left lift rod 24, while a turnbuckle 26 is attached to the right lift rod 24, the piston rod 27 of the hydraulic cylinder 25 is connected to the middle of the left lower link 21, and the lift rod 24 and hydraulic cylinder 25 are used to lift the cylinder. A lower link 21 is movably connected to the arm 11, and the lower link 21 is independently swung by the forward and backward movement of the piston rod 27, and is moved to the rear side of the main beam 17 on the upper surface of the rotary cover 16 of the rotary tiller 2. A tilt sensor 28 is fixedly installed along the sensor 28, and includes a rise switch 28a that is turned on when tilted to the left, and a drop switch 28b that is turned on when tilted to the right.

Further, as shown in FIG. 4, a hydraulic pump 30 is connected to a double-acting hydraulic cylinder 25 for adjusting the horizontal inclination angle of the working machine 2 via a 3-position, 4-port type electromagnetic hydraulic switching valve 29, and the hydraulic pump 30 is valve 2
9. Raise and lower solenoid 29 to switch this
a, 29b.

FIG. 5 is a control circuit diagram of the hydraulic cylinder 25, which is equipped with a load sensor 31 that senses the phase shift of AC power generation due to the rotation of the PTO shaft 9 and rotary 15, and detects the start of plowing work.
a position switch 32 for detecting the vertical movement of the working machine 2 by the operation of the position control lever 12; and telescopic limit switches 33 and 34 for detecting the forward and backward limits of the piston rod 27;
It is provided with an automatic switch 35 that operates the hydraulic cylinder 25 based on the output of the tilt sensor 28, and a manual switch 36 having up and down switches 36a and 36b that operate the hydraulic cylinder 25 manually. And each of the above sensors 28, 3
1 and each switch 32 to 36, and a key switch 39 that applies a power source 38 to the circuit 37 and each of the solenoids 29a and 29b. The drive circuits 42 and 43 of the solenoids 29a and 29b are respectively connected through the AND cables 40 and 4.
1 is connected to the pulse oscillator 44, and the circuit 37
Continuous excitation directly via the oscillator 44 as well as the oscillator 44
The nosonoids 29a and 29b are configured to be excited by one of the modes of pulse (intermittent) excitation performed via the . Further, a left and right tilt angle setter 28a is connected to the tilt sensor 28, and the left and right tilt angle setter 28a is connected to the tilt sensor 28.
is manually adjusted to change the left-right tilt dead zone angle of the work implement 2 measured by the sensor 28, so that the work implement 2 can be supported at any left-right tilt angle.

FIG. 6 is an explanatory diagram of the operation of the horizontal control circuit 37. When the key switch 39 is on, the manual switch 36 and the position switch 32 are off, and the automatic switch 35 is on, the load sensor 31 is off and the above operation is performed. When the machine 2 is in a non-operating state, the lift solenoid continuous excitation circuit 45 continuously operates the lift solenoid 29a in conjunction with the ON operation of the lift switch 28a of the tilt sensor 28, and moves the position control lever 12 to the middle position. , work equipment 2
When the work equipment 2 is raised and supported close to the cultivated soil surface, the work equipment 2 is placed in a work standby state, and the direction is changed at the edge of a ridge, that is, when the position switch 32 and the load sensor 31 are off, each of the solenoids 45 ，
46 is continuously operated based on the outputs of the switches 28a and 28b, so that the working machine 2 can be quickly horizontally supported during standby.

On the other hand, when the rise switch 28a is off,
It is equipped with a lowering solenoid continuous excitation circuit 46 that continuously operates the lowering solenoid 29b in conjunction with the ON operation of the lowering switch 28b of the tilt sensor 28, and an output that resets each circuit 45, 46 when the respective switches 28a, 28b return to the OFF state. A stop circuit 47 is provided.

In addition, when the load sensor 31 is turned on and the work equipment 2 enters the working state, the continuous work signal is sent after the work equipment 2 is maintained in a horizontal position in conjunction with the on action of the lift switch 28a of the tilt sensor 28. a continuous work circuit 48 that outputs a continuous work circuit 48, a continuous work circuit 49 that continuously operates the rise solenoid 29a when the work signal of the circuit 48 is on at the start of work, and a continuous work excitation circuit 49 that continuously operates the rise solenoid 29a when the work machine 2 becomes horizontal after the start of work. and a rising solenoid pulse excitation circuit 50 that drives the pulse oscillator 44 to pulse-operate the rising solenoid 29a when the working signal of the circuit 48 is off. On the other hand, a continuous work circuit 51 outputs a continuous work signal after the work implement 2 is maintained in a horizontal position in conjunction with the ON operation of the down switch 28b of the sensor 28 when the rise switch 28a is off; At the time, the circuit 51
When the work signal is on, the lower solenoid 29b
A descending solenoid continuous excitation circuit 5 that continuously operates
2, when the work implement 2 becomes horizontal after starting work and the work signal of the circuit 48 is off, the pulse oscillator 44 is driven to lower the solenoid 29b.
A lower solenoid pulse excitation circuit 53 is provided for pulse-activating the solenoid, and an output stop circuit 54 is provided for resetting each circuit 49, 50, 52, 53 when each of the switches 28a and 28b returns to OFF. In the non-working state, the load sensor 31 is OFF and the lifting and lowering solenoids 29a and 29b are continuously excited based on the ON operation of the lifting and lowering switches 28a and 28b, and the continuous operation of the hydraulic cylinder 25 causes the work equipment to be activated. 2 is held horizontally, and after the load sensor 31 is turned on in the working state, the work implement 2 is kept in the horizontal (dead zone) position by the continuous operation of the hydraulic cylinder 25 in the same way as described above. After the work equipment 2 becomes horizontal and the tilt sensor 28 becomes a dead zone, the solenoids 29a and 29b are pulse-excited by turning on the switches 28a and 28b, and the hydraulic pressure is The working machine 2 is adjusted and held horizontally by the pulse operation of the cylinder 25. As is clear from the above, the work implement 2 is attached to the tractor 1 via the lower link 21 so as to be movable up and down, and the lower link 2 In the angle control device for agricultural machinery, which is equipped with a hydraulic cylinder 25 that keeps the horizontal inclination of the working machine 2 substantially constant by swinging the hydraulic cylinder 25, when the load sensor 31 detects the start of work of the working machine 2, the hydraulic cylinder 25 The hydraulic cylinder is configured to operate continuously to bring the work implement 2 into a horizontal position, and when the work implement 2 changes its inclination again after the work implement 2 is in the horizontal position and the tilt sensor 28 becomes a dead zone, the hydraulic cylinder 25 is operated in pulses to correct the attitude of the working machine 2, and when the working machine 2 lands on the ground, such as after changing direction on a headland, horizontal control is quickly performed by continuous operation of the hydraulic cylinder 25. , Also, during the work, hydraulic cylinder 2
The horizontal control is performed gently by the pulse operation No. 5, and the posture of the working machine 2 is corrected at a speed suitable for the working situation.

The present invention is configured as described above, and when performing work in which the tractor 1 is tilted to the left or right, such as breaking rows in a field or plowing on sloped land such as the edge of a ridge, the tractor 1
When the tilt sensor 28 tilts to the right or left, the up or down switches 28a and 28b of the tilt sensor 28 are turned on.
The piston rod 27 of the hydraulic cylinder 25 is activated by energizing the raising or lowering solenoids 29a, 29b.
The solenoids 29a, 29a and 29b move the solenoid 29a forward and backward, and raise the lower link 21 on the left side to keep the working machine 2 substantially horizontal. The hydraulic cylinder 25 is operated continuously via the solenoid 29b, and after the working machine 2 is supported in a horizontal position under working conditions, the hydraulic cylinder 25 is operated in pulses via the solenoids 29a and 29b.

As is clear from the embodiments described above, the present invention attaches the agricultural working machine 2 to the mobile agricultural machine 1 via the traction link 21 so as to be able to move up and down. In the angle control device for an agricultural working machine, which includes an angle correction member 25 that swings the traction link 21 based on the angle of rotation of the agricultural working machine 2 to keep the horizontal inclination of the agricultural working machine 2 substantially constant, the start of work of the agricultural working machine 2 is controlled by a load sensor 31. When detected, the angle correction member 25 is continuously operated to bring the agricultural machine 2 into a horizontal position, and
After the agricultural working machine 2 takes a horizontal position and the tilt sensor 28 becomes a dead zone, when the agricultural working machine 2 changes its inclination again, the angle correction member 25 is operated in pulses to correct the attitude of the agricultural working machine 2. Even in reciprocating work where the left and right slope is likely to be reversed, the work equipment 2 is continuously moved when starting work after turning.
It is possible to quickly bring the rice into a horizontal position and eliminate problems such as the headland being disturbed during plowing work, and problems such as the seedling planting depth on the headland being uneven on the left and right during rice planting work. After the work begins and the machine becomes horizontal, the posture of the actuator 2 is gently corrected by pulse operation, so hunting etc. can be prevented and posture control can be performed properly, improving the horizontal control function of the work machine 2 and controlling operation. For example, it eliminates the need for complex operations such as changing the control speed midway through a single control operation, and facilitates horizontal control that is suitable for agricultural work in the field. It is something that can be obtained.

[Brief explanation of drawings]

Fig. 1 is an overall side view showing an embodiment of the present invention, Fig. 2 is a plan view of essential parts, Fig. 3 is a rear view of the same, Fig. 4 is a hydraulic circuit diagram of the same, and Fig. 5 is a control system of the same. FIG. 6 is a diagram of the same control circuit. DESCRIPTION OF SYMBOLS 1... Tractor (mobile agricultural machine), 2... Rotary tilling machine (agricultural machine), 21... Lower link (traction link), 25... Hydraulic cylinder (angle correction member), 28... Tilt sensor, 31... ...Load sensor.

Claims (1)

[Claims] 1. The agricultural working machine 2 is attached to the mobile agricultural machine 1 via a traction link 21 so as to be movable up and down, and the traction link 21 is swung based on the output of a tilt sensor 28 that detects tilting of the agricultural working machine 2 in the left and right direction. In an angle control device for a farm work machine including an angle correction member 25 that keeps the horizontal inclination of the farm work machine 2 substantially constant, the angle correction member 25 is continuously operated when the start of work of the farm work machine 2 is detected by the load sensor 31. In addition, the angle correction member 25 is configured so that the agricultural working machine 2 is placed in a horizontal position, and when the agricultural working machine 2 changes its inclination again after the agricultural working machine 2 is in the horizontal position and the tilt sensor 28 becomes a dead zone. An angle control device for an agricultural working machine, characterized in that it is configured to correct the attitude of the agricultural working machine 2 through pulse operation.