JPH0484804A - Plowing depth controller in ground working car - Google Patents

Abstract

PURPOSE:To improve operation accuracy in automatic plowing depth control by carrying out moving control of a rear cover so as to keep a proper ground contact posture thereof. CONSTITUTION:Movement of a rear cover 11 is controlled. In the process, the target upper and lower positions of the rear cover 11 are determined based on the set value of a plowing depth setting volume and compared with a sensed position to perform operation to expand or contract a motor-operated cylinder 14. Thereby, the rear cover is moved to a proper position. In determining the target upper and lower positions, the setting range of the plowing depth setting volume is divided into (1) a shallow plowing range, (2) a medium plowing range and (3) a deep plowing range. If the set value of the plowing depth setting volume is within the range (1) or (3), the target upper and lower positions are respectively determined at the shallowest and deepest positions. On the other hand, when the set value is within the range (2), the target upper and lower positions of the rear cover 11 are determined based on the magnitude of the set value. That is the rear cover 1 is moved only in the case of the range (2).

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a plowing depth control device for a ground work vehicle such as a tractor.

[Prior art and problems to be solved by the invention] Generally,
In this type of ground work vehicle, the rear cover installed on the tilling section is equipped with so-called automatic tilling depth control that controls the raising and lowering of the tilling section so as to maintain the target swing angle determined based on the setting value of the tilling depth setting device. However, with these types of plowing, the grounding posture (target swing angle) of the rear cover changes significantly between shallow plowing and deep plowing, so there is a large variation in work accuracy depending on the setting range of the plowing depth setting device. There was a fear that he might die. Therefore, there has been an attempt to automatically control the vertical movement of the rear cover based on the set value of the plowing depth setting device so that the rear cover maintains an appropriate ground contact posture. However, in the past, as shown in Fig. 11, the entire setting range of the plowing depth setting device corresponded to the entire moving range of the rear cover, so the rear cover still remained the same in all setting ranges, including the frequently set setting range ■. The ground posture (target swing angle) changes,
For this reason, the actual situation was that it was not possible to perform stable plowing work with high precision.

[Means for Solving the Problems] In view of the above-mentioned circumstances, the present invention was created with the aim of providing a plowing depth control device for a ground work vehicle that can eliminate these drawbacks. , the automatic tilling depth control unit includes rear cover target value determining means for determining the target vertical position and target swing angle of the rear cover based on the set value of the tilling depth setting device for setting the tilling depth, In a ground work vehicle configured to control a rear cover vertical movement mechanism and a working part elevating mechanism based on a vertical position and a swing angle, the target value determining means includes a setting value of a plowing depth setting device. In addition to determining which of the plurality of divided setting ranges the rear cover is included in, if the determination is that the rear cover falls within a predetermined setting range, the target swing angle of the rear cover is set to a predetermined constant swing angle. The present invention is characterized in that it is provided with target vertical position determining means for determining a target vertical position.

According to the present invention, with this configuration, it is possible to significantly improve work accuracy.

[Embodiment] Next, an embodiment of the present invention will be described based on the drawings. In the drawings, reference numeral 1 denotes a traveling body of an agricultural tractor, and a rotary tilling type working part 3 is connected to the rear of the body 1 via an elevating link mechanism 2 so as to be able to rise and fall.
The basic structure is the same as before, such as lifting and lowering by the swinging of the lift arm 5 as the hydraulic cylinder 4 expands and contracts.6
Reference numeral 6 denotes a main cover of the working section 3, and the main cover 6 is formed in an arc shape to cover the tilling claws 8 attached to the tilling claw shaft 7. On its upper surface, there are a plurality of holes arranged in the front and back direction. A pair of left and right roller brackets 10 to which guide rollers 9 are attached are fixedly provided.

On the other hand, reference numeral 11 denotes a rear cover provided at the rear end of the working section 3. The rear cover 11 is attached to a support shaft 12 so as to be able to swing up and down, and is constantly urged toward the field by an ammunition 11a. , and is further linked to a plowing depth detection sensor 13 (a potentiometer that detects the plowing depth based on the swing angle of the rear cover 11). A pair of guide rails 12a that are curved and have a substantially cross-sectional shape.
are fixedly installed, and these guide rails 14 are fitted onto the guide rollers 9 of the roller bracket 10, respectively. In other words, the rear cover 11 is movable along an arc approximately centered on the tilling claw shaft 7, and is moved forward into a shallow plowing position and rearward into a deep plowing position to ensure proper ground contact at all times. I am able to maintain my posture.

Further, reference numeral 14 denotes an electric cylinder attached to the top mast 15 of the working section 3, and the electric cylinder 14 controls the rear cover 11 (support shaft 12), the tip of which is pivotally connected, by the control section 16, which will be described later. It is made to move by expanding and contracting operations based on commands.

Reference numeral 17 denotes a side panel disposed on the side of the driver's seat, and the side panel 17 includes a lift operation lever 18.
．． A lift operation switch 19, an automatic plowing depth switch 20, a plowing depth setting volume 21, a rear cover manual switch 22, and the like are provided.

The control unit 16 includes a so-called microcomputer (CPU, ROM, R
This is a control unit configured using the tilling depth detection sensor 13, the lifting/lowering operation switch 19, the tilling depth automatic switch 20, the tilling depth setting volume 21, etc.
, the rear cover manual switch 22, the cylinder length sensor 23 that detects the retracted state of the electric cylinder 14, the lever angle sensor 24 that detects the longitudinal swing angle of the lift operation lever 18, etc., and makes decisions based on these input signals. , the hydraulic cylinder 4, the electric cylinder 14, and the like. That is, the control unit 16 performs rear cover movement control and automatic plowing depth control, which will be described later.

The rear cover movement control described above determines the target vertical position of the rear cover 11 based on the set value of the plowing depth setting volume 21, and expands and contracts the electric cylinder 14 based on the comparison between the target vertical position and the detected position. 11
In determining the target vertical position, as shown in FIG. 9, the setting range of the plowing depth setting volume 21 is divided into a shallow plowing range (■) and an intermediate plowing range (■). If the setting value of the tilling depth setting volume 21 is within the shallow tilling range ■ or within the deep tilling range ■, the target up and down positions are determined to be the shallowest position and the deepest position, respectively. When the set value is within the intermediate tillage range (3), the target vertical position of the rear cover 11 is determined based on the magnitude of the set value. That is, the rear cover 11 is moved only in the intermediate tillage range (■), but since the vertical movement range of the rear cover 11 and the intermediate tillage range (■) are made to match, in the automatic tillage depth control described below, the target sensor value ( As shown in FIG. 8, the target swing angle of the rear cover 11 can be determined to a constant optimum value without changing the target swing angle of the rear cover 11.

Incidentally, in the rear cover movement control, in addition to the automatic movement control of the rear cover 11, manual control is performed to move the rear cover 11 by expanding and contracting the electric cylinder 14 based on the operation of the rear cover manual switch 22. The automatic control is performed by turning the tillage depth automatic switch 20 O.
The N operation alone will not execute it. In other words, in rear cover movement control, the automatic plowing depth switch 2 is
0 is ON, but if it is ON, after the automatic tilling depth switch 20 is turned ON,
It is determined whether or not the lift operation lever 18 has been raised or the plowing depth setting volume 21 has been operated, and only when this determination is YES, automatic control of the rear cover 11 is permitted. There is. Also,
When the rear cover manual switch 22 is operated in the automatic control state of the rear cover 11, the rear cover 11 is moved based on the operation of the rear cover manual switch 22. The automatic control is re-executed based on the tilling depth setting volume 21 being operated by a predetermined amount or more after cancellation.

On the other hand, the automatic tilling depth control determines a target sensor value (target swing angle of the rear cover 11) A based on the set value of the tilling depth setting volume 21, and detects the target sensor value A and the tilling depth detection sensor 13. The working unit 3 is moved up and down by expanding and contracting the hydraulic cylinder 4 based on the comparison with the value B, but the target sensor value A is determined when the setting value of the tilling depth setting volume 21 is within the shallow tilling range (■) or If the setting value is within the deep plowing range ■, the value will be determined to change as the set value changes, while if the set value is within the intermediate plowing range ■, the value will be set to a constant value set in advance as described above. It is to be determined. In the automatic plowing depth control of the embodiment, normal deviation control is performed in which the operating speed of the hydraulic cylinder 4 is switched based on the difference between the target vertical position of the rear cover 11 and the detected position.

In the embodiment of the present invention configured as described above, by turning on the automatic plowing depth switch 2o and setting the desired plowing depth with the plowing depth setting volume 21, the rear cover 11 can be maintained at the target swing angle. The automatic plowing depth control that controls the elevation of the work unit 3 and the rear cover movement control that controls the movement of the rear cover 11 to maintain a proper ground contact posture are performed. If set within the high intermediate tillage range, rear cover 1
1 allows the target sensor value A in the automatic tillage depth control to be set to a constant value by moving in the vertical movement range that coincides with the intermediate tillage range (■). In other words, the frequently set intermediate tillage range■
This means that the rear cover 11 can always be maintained at its optimum ground contact position without changing its ground contact position.

As described above, in the present invention, although the movement of the rear cover 11 is controlled in order to maintain the ground contact posture of the rear cover 11 in an appropriate posture during automatic tillage depth control, the setting frequency can be adjusted using the tillage depth setting volume 21. In the high intermediate tillage range (■), the target sensor value A of automatic tillage depth control becomes a constant value. Therefore, the rear cover 11 does not change its ground contact position in the intermediate tillage range ■ as in the conventional case, but always maintains the optimum ground contact position and performs highly accurate plowing depth detection operation.As a result, the tillage depth is automatically It is possible to significantly improve the work accuracy in control.In addition, as the accuracy of plowing depth detection improves, the actual change in plowing depth in response to changes in the set value of the plowing depth setting volume 21 is equalized, allowing extremely highly accurate plowing. Depth settings can be made.

Furthermore, in this case, since the rear cover 11 is raised to the upper limit position at the boundary position between the intermediate plowing range (2) and the deep plowing range (2), it is possible to reduce mud being carried around by the rear cover 11 and power loss.

[Operations and Effects] In summary, since the present invention is configured as described above, the movement of the rear cover is controlled so that the rear cover maintains an appropriate ground contact posture in the automatic tillage depth control state. When the setting value of the setting device is within a predetermined setting range, the rear cover is moved to make the target swing angle of the rear cover a predetermined constant swing angle. Therefore, if the above setting range is a setting range that is frequently set, the rear cover will always maintain the optimal ground contact position during normal tilling work without changing the ground contact position as in the past, and will provide highly accurate plowing knowledge. As a result, the working accuracy in automatic plowing depth control can be significantly improved.

[Brief explanation of drawings]

The drawings show an embodiment of the plowing depth control device for a ground work vehicle according to the present invention, in which Fig. 1 is a side view of the tractor, Fig. 2 is a plan view of the same, and Fig. 3 is a side panel view. 4 is a block diagram of the control mechanism, FIG. 5 is a flowchart of rear cover movement control, FIG. 6 is a flowchart of automatic tilling depth control, FIG. 7 is a front view of tilling depth setting volume, and FIG. The figure is a graph showing the relationship between the tilling depth set value and the target sensor value, Figure 9 is a graph showing the relationship between the tilling depth set value and the rear cover vertical position, and Figure 10 is the graph showing the relationship between the tilling depth set value and the actual tilling depth. FIG. 11 is a graph showing the relationship between the conventional plowing depth set value and target sensor value, and FIG. 12 is a graph showing the conventional relationship between the plowing depth set value and the rear cover position. In the figure, 1 is the traveling body, 3 is the working part, 4 is the hydraulic cylinder,
11 is a rear cover, 14 is an electric cylinder, 16 is a control unit, 18 is a lift operation lever, 20 is an automatic tilling depth switch, 2
1 is the plowing depth setting volume. Figure 7■ Figure 10 Cultivation depth setting volume angle Figure 8 Figure 9 M depth setting volume angle

Claims (1)

[Claims] The automatic tilling depth control section is equipped with a rear cover target value determining means for determining the target vertical position and target swing angle of the rear cover based on the set value of the tilling depth setting device that sets the tilling depth, In a ground work vehicle configured to control a rear cover vertical movement mechanism and a working part elevating mechanism based on a position and a swing angle, the target value determining means includes a plurality of set values of a plowing depth setting device. In addition to determining which of the setting ranges divided into the following, if the determination is that the rear cover falls within a predetermined setting range, the target swing angle of the rear cover is set to a predetermined constant swing angle. A plowing depth control device for a ground work vehicle, characterized in that it is provided with a target vertical position determining means for determining a target vertical position.