JPH0431646B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a system for lifting and lowering working equipment until the setting signal from a manually operated position setting device and the detection signal from the machine level detector of the working equipment are balanced. An electric position control means that operates the drive mechanism; and an electric automatic tiller that operates the drive mechanism until a setting signal from a manually operated plowing depth setting device and a detection signal from a plowing depth detector of the working device are balanced. The present invention relates to an electric automatic control device for an agricultural tractor equipped with a depth control means, and more particularly relates to improvements in the proper use of position control means and automatic plowing depth control means and improved operability.

[Prior art]

Conventionally, the operations for raising and lowering the working device include, firstly, operating a dedicated lever to forcibly raise or lower the working device during work, and secondly, using the position setting device or the plowing depth. This was done by operating the setting device.

[Problem that the invention seeks to solve]

The first operation is to raise or lower the working device using a dedicated lever, so when working using the automatic plowing depth control means, when turning the machine, or when raising the working device all at once, the plowing depth setting device can be used. Although it is effective because it does not change the settings, it requires a dedicated lever to be operated in addition to the position setting device and plowing depth setting, making the operation complicated and prone to errors, so improvements were desired.

The second operation is performed by selectively using the honing control means and the automatic plowing depth control means. One of the control means is selected by operating a changeover switch, and the other is to raise and lower the work equipment by operating the setting device of this control means, and the other is to select one of the control means by operating the changeover switch, and to raise and lower the working equipment by operating the setting device of this control means. After the device is set to its deepest position above the ground, the work device can be raised and lowered by operating the other setting device.

In the former case, it is necessary to operate a changeover switch, and the number of parts increases, leaving room for improvement.

In addition, in the latter case, although the operation of a switch is not required, the operation procedure is complicated, and furthermore, since the setting device must be operated once, there is a problem that it is difficult to accurately restore the ground position of the work equipment to its original state. . By the way,
In the latter case, a changeover switch is not used, so 2
Two control devices are each in an operable state, and interference with the other control means is avoided by setting one setter at the end of its setting range.

The present invention has been made in view of the above-mentioned circumstances, and has an object to provide an automatic control device in which the above-mentioned problems are solved.

[Means for solving problems]

The feature of the present invention is that the electric automatic control device for agricultural tractors as described above is configured as follows. In other words, the position setting device is configured to be operable over the position setting range where the electric position control means operates and the control position where the automatic plowing depth control means operates, and the position setting device is operable between the position control range and the control position. In between, there is a floating control area that allows the work equipment to be freely raised and lowered.

[Effect]

With the configuration as described above, position control can be performed by operating the electric position control means by operating the position setting device to a desired position within the position setting area.

If the position setting device is operated to the control position from this state, the electric automatic plowing depth control means is activated and the plowing depth of the work device is controlled. In this case, the target value for tilling depth control is set by another tilling depth setting device.

By operating the position setting device to the floating control range, the working device can be brought into a state where it can freely rise and fall, that is, a state where the working device is in contact with the ground under its own weight.

Such floating control is set when performing ground work in deep wet fields. In deep wet fields, the tiller is extremely uneven, and the attitude of the aircraft tends to change up and down as it travels. Therefore, even if the electric automatic plowing depth control means is operated in this state, it is difficult to say that the working equipment will be able to move up and down quickly following the violent up-and-down movement of the machine, and the lifting and lowering operations of the working equipment may be delayed. be.

On the other hand, with floating control, the work equipment is in contact with the ground due to its own weight, so even if the attitude of the machine changes suddenly up and down, only the work equipment moves up and down on the machine side. It is like being in contact with the ground regardless of the situation. This may cause the work equipment to leave the ground or
It does not get into a state where it goes too deep into the ground.

When the position setting device is operated from within the position setting area to the control position, the floating control area must be passed through.

When operating the electric automatic plowing depth control means, the work equipment must be lowered to the ground, so if there is a floating control area in the middle of operating the position setting device, the work will be done while passing through this area. The device descends under its own weight. Then, after the working device approaches the ground, the position setting device is operated to the control position and the electric automatic plowing depth control means is activated.

As a result, the difference between the target point of tilling depth control when the electric automatic tilling depth control means starts operating and the position of the working device becomes small, so when the electric automatic tilling depth controlling means starts operating. In addition, the work equipment will not be suddenly lowered.

〔Effect of the invention〕

As described above, the operation state of the electric position control means can be changed by operating one position setting device.
It is now possible to switch between three states: the floating control state and the operating state of the electric automatic plowing depth control means, thereby improving operability.

When operating the position setter from within the position setting range to the control position, by passing through the floating control range, it is possible to suppress the shock at the start of operation of the electric automatic tillage depth control means. We were able to reduce the number of malfunctions caused by this.

〔Example〕

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

As shown in FIG. 2, an agricultural tractor that runs on front wheels (not shown) and rear wheels 1 has a hydraulically driven lift cylinder 2 at the rear of the body, and a pair of left and right lift arms 3 that are driven up and down by the lift cylinder 2. is provided. In addition, there is a top link 4a at the rear end of the vehicle body.
A rotary tiller 5 is connected via a three-point link mechanism 4 consisting of a pair of left and right lower links 4b, and the lift arm 3 and the lower link 4
b are connected to each other via a lift rod 6, and the rotary tiller 5 is configured to be able to be driven up and down by driving the lift cylinder 2.

The agricultural tractor is provided with a driving section A in the center of the body, and this driving section A is provided with a steering handle 7, a seat 8, a lever-type position setting device 9, and a dial-type plowing depth setting device 10.

The position setting 9 is set by the rocking operation.
Position control to arbitrarily set the rotary tiller 5 on the machine level, floating control to set the rotary tiller 5 in a free vertical position, and adjust the rotary tiller 5 to the integrated depth based on the set value of the tillage depth setting device 10. Automatic plowing depth control for maintaining a plowing depth state of 1,000 plowing depth is possible, and these controls will be described in detail below.

As shown in FIGS. 1 to 3, a position meter 9a for detecting the swing angle is attached to the base end of the position setting device 9, and the lift arm 3 is equipped with a rotary type anti-aircraft leveler. A detector 11 is attached. Further, a tillage depth detector 12 is attached to the rotary tillage device 5 to detect the tillage depth from the amount of rocking of the rocking cover 5a.

Position setting device 9, aircraft level detector 1
1. The circuit is configured so that the signals from the plowing depth setter 10 and the plowing depth detector 12 are output as voltages and input to the control device 14 via the relay switch 13, and the signals are output by the operation of the relay switch 13. Then, signals from both the position setting device 9 and the aircraft level detector 11, the plowing depth setting device 10 and the plowing depth detector 1
The input system circuit is configured to be switchable so that signals from both of the two can be selectively input to the control device 14. And said selection is made by solenoid 13
This is done by energizing and de-energizing a.

The control device 14 is configured to drive and operate the hydraulic valve 15 until the setting signal from the selected setting device and the detection signal from the detector are balanced as described above. The lift cylinder 2 is driven up and down and is also in a free state. Here, the control device 14, the hydraulic valve 15, and the lift cylinder 2 are referred to as a drive mechanism B for lifting and lowering the working device.

The position setting device 9 can be operated into a position setting area indicated by X in the figure and a floating control area indicated by Y in the figure, and an automatic plowing depth control position Z is provided at the end of the floating control area Y. It is being

In other words, when the position setting device 9 is operated in the direction shown by D in the figure within the position setting area X, the operating direction is set so that the rotary tilling device 5 descends.
The rotary tiller 5 is driven up and down until the level of the rotary tiller 5 relative to the machine is detected by the detector 11 and balanced with the signal from the position setter 9. Furthermore, when the position setting device 9 is introduced into the floating control area Y, the rotary tiller 5 descends under its own weight. This control is mainly used when working with the wheels 5b of the rotary tiller 5 in contact with the ground. In addition, to detect that the position setter 9 is introduced into the control area Y, it is performed by comparing the signal voltage from the potentiometer 9a with the reference voltage of the comparator 16, and based on this detection result. When it is detected that the position setter 9 is operated within the control range Y, the control device 14
operates the hydraulic valve 15 to bring the lift cylinder 2 into a free state. Also, position setting device 9
When the rotary tiller 5 is introduced into the automatic tilling depth control position Z, the rotary tilling device 5 is driven up and down at the tilling depth position set by the tilling depth setting device 10, and the tilling depth position is adjusted.
Further, the introduction of the position setting device 9 into the control position Z is detected by using another comparator 17 in the same manner as described above, and the relay switch 13 is actuated based on the detection result, and Control device 14
is configured to switch from a floating control state to an operating state.

In addition, as shown in FIG.
The groove 18a of the lever guide 18 is formed in a step-like manner so that the operating range and the positions X, Y, and Z of the lever guide 18 can be accurately determined, and the lever guide 18 is not accidentally introduced into other operating ranges.

In this tractor, for example, when the engine is stopped during work and the operator leaves the tractor, electric current continues to be supplied to the solenoid of the valve 15 and the battery 20 is prevented from becoming over-discharged. To prevent this, as shown in FIG. 4, the stoppage of rotation of the engine (not shown) is detected from the terminal voltage of the oil pressure switch 22 for lighting the oil lamp 21, and this detection signal is used to control the engine through the gate 23. By putting the switching transistor 24 into a non-operating state, the power supply from the battery 20 to the drive mechanism B is cut off.

Incidentally, the lever indicated by 19 in FIG. 1 is an operating tool that forcibly raises and lowers the tilling device 5 only while it is operated, and is biased to return to neutral.

[Another example]

Although the rotary tilling device 5 is used in this embodiment, a plow or the like may be used instead, and these are collectively referred to as a working device C. Further, as shown in FIG. 5, automatic plowing depth control when using the plow 25 may be performed using a tractive load sensor B provided at the base end of the lower link 4b as the plowing depth detector 12.

Furthermore, the operation position of the position setting device 9 was previously detected based on the voltage from the potentiometer 9a, but a separate switch is configured to detect the introduction of the control range Y and control position Z. You may do so.

Further, in this embodiment, the position setting device 9 electrically detects that the position setting device 9 is operated within the floating control range and puts the hydraulic valve 15 in the floating state, that is, in the descending state.
If the lower limit of the position setting range The comparator 1 shown in the above embodiment will be maintained.
6 can be omitted.

[Brief explanation of drawings]

The drawings show an embodiment of the electric automatic control device for an agricultural tractor according to the present invention, and FIG. 1 is a schematic wiring diagram showing the control system, FIG. 2 is a partially cutaway side view of the rear part of the agricultural tractor, and FIG. 4 is a perspective view of the position setting device, FIG. 4 is a battery overdischarge prevention circuit when the engine is stopped, and FIG. 5 is a partially cutaway side view showing another embodiment. 9... Position setting device, 10... Plowing depth setting device, 11... Aircraft level detector, 12... Plowing depth detector, B... Working device lifting mechanism, C...
Working device, X...Position setting area, Y...Floating control area, Z...Control position.

Claims (1)

[Claims] 1. Electric position control means that operates the drive mechanism B for lifting and lowering the work equipment until the setting signal from the manually operated position setter 9 and the detection signal from the aircraft level detector 11 of the work equipment C are balanced; An agricultural tractor equipped with an electric automatic plowing depth control means that operates the drive mechanism B until the setting signal from the plowing depth setting device 10 to be operated and the detection signal from the plowing depth detector 12 of the working device C are balanced. an electric automatic control device comprising: a position setting area X in which the electric position control means operates;
The position setter 9 is configured to be operable over a control position Z where the electric automatic plowing depth control means operates, and the working device C is freely operated between the position control area X and the control position Z. This is an electric automatic control device for an agricultural tractor that has a floating control area Y that allows it to be raised and lowered.