JPH0522012Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a position control device for a tilling unit of an agricultural tractor equipped with a rotary tilling unit.

[Problems to be solved by the prior art and the invention] In general, in this type of agricultural tractor, the attitude control of the tilling section provided in the traveling body is automatically controlled by an attitude control section configured using a microcomputer. There is something I tried to do. This posture control includes automatic plowing depth control, which is performed by inputting the detected value of the plowing depth sensor, and telescoping lift rods on either the left or right of the lift rods interposed between the lift arm and lower link. There is automatic tilt control of the tilling section, but in machines equipped with these control mechanisms, when working at normal tilling depths, both posture controls are activated at the same time to enable highly accurate tilling work. .

However, when working in the field, unlike the normal tilling depth, when cultivating root vegetables, for example, it is desirable to till at a deeper depth than the range of tilling depths that can be controlled. In such cases, conventionally, it was necessary to change the telescopic lift rod to a deeper plowing specification by changing the hanging position with the lower link or replacing it with a longer joint. The work was extremely complicated and troublesome.

Moreover, when using this deep plowing specification, the spline fitting allowance for the power transmission shaft that connects the power take-off shaft on the traveling machine side and the input shaft on the plowing part side becomes small, so automatic tilt control is activated. In this case, there may be problems such as the spline fitting coming off or abnormal noises occurring. Therefore, it is necessary to separately operate a changeover switch to turn off the automatic tilt control each time, which causes various problems such as complicated operation and the fact that it is often forgotten to turn off the switch.

[Means for solving the problem] In view of the above-mentioned actual circumstances, the present invention was created with the aim of providing a posture control device for the tilling section of an agricultural tractor that can eliminate these drawbacks. A plowing depth control mechanism is installed between the lift arm and the lower link, and the plowing depth control mechanism automatically controls the plowing depth by inputting the detected value of the plowing depth sensor into the attitude control section of the plowing section provided on the traveling machine. The agricultural tractor is equipped with a tilt control mechanism that automatically controls the tilt of a tilling section by extending and contracting a telescopic lift rod, wherein a tilling depth sensor is set and maintained at a predetermined tilling depth state in the attitude control section. The device is characterized by being provided with a release control mechanism that detects this, adjusts the telescopic lift arm to a preset rod length based on the detection, and controls at least the automatic tilt control to be released in this state. It is.

With this configuration, the present invention allows the plowing depth sensor to set and hold the plowing depth at a predetermined plowing depth state, thereby setting the telescopic lift rod to a preset lot length and canceling the automatic tilt control. This allows work such as deep plowing to be carried out easily and reliably.

[Example] Next, an example 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 tilling section 2 is attached to the rear of the traveling body 1 via an elevating link mechanism 3. The left and right lower links 3a of the elevating link mechanism 3 and the lift arm 4 are connected via lift rods 5 and 6.
The tilling section 2 is moved up and down in conjunction with the up and down swinging of the tiller 2 by hydraulic operation, as is conventional.

One of the lift rods 5 and 6 (the right side in the embodiment) is configured as a telescopic lift rod that can be freely extended and contracted by using a telescopic cylinder 7, and the length of the rod changes as the telescopic lift rod 5 expands and contracts. By doing so, the cultivation section 2
are inclined to the left and right with respect to the traveling body 1. In addition, the other (left) lift rod 6
are upper and lower locking holes 6a and 6b drilled at the tip.
By selecting and engaging the lower link 3a, the rod length can be changed to a short L ₁ with normal specification settings, which performs tilling work at a normal depth (for example, maximum tilling depth of about 200 mm). It is set so that it can be switched to L ₂ , which has a long deep plowing specification setting when you want to plow even deeper than the normal depth (for example, up to about 300 mm).

On the other hand, 8 is a rear cover of normal specifications provided in the tilling section 2, and the rear cover 8 is configured to be swingable about a support shaft 8a at the front end, and the rear end is in contact with the tilled soil. However, there is a land cover 2 in which the plowing depth sensor 10 connected to the rear cover 8 via a link 8b is on the main body side of the working machine 2.
A tillage depth sensor 10 detects the tillage depth related to the swing angle of the rear cover 8. Then, the plowing depth sensor 1
an inclination sensor 11 that detects the detected value of 0 and also the inclination state of the traveling body 1; an arm angle sensor 12 that detects the swing angle of the lift arm 4; a rod length sensor 13 that detects the rod length of the telescopic lift rod 5; Detected values from sensors such as the position sensor 14 that detects the lever position of the position lever, set values from setting devices such as inclination setting device and plowing depth setting device, automatic tilling depth control changeover switch, automatic slope control Switching signals from switches such as a control changeover switch are input to the attitude control unit 15 which is configured using a microcomputer, and based on these input values, the attitude control unit 15 adjusts the lift according to the lever position of the position lever. Position control is performed to control the swinging of the arm 4, thereby controlling the height of the tilling section 2, and telescoping control of the telescopic lift rod 5 is performed according to the setting value of the inclination setting device, thereby controlling the height of the tilling section 2. automatic inclination control that controls the inclination posture of the tilling section 2, and tilling depth that controls the tilling depth of the tilling section 2 by controlling the swinging of the rear arm 4 according to the setting value of the tilling depth setting device. It is designed to be able to perform automatic control such as automatic control, and the details of these control procedures will be omitted here.

Reference numeral 9 denotes a rear cover used for the deep plowing specification (when performing deep plowing work in this way, it is common to replace it with a rear cover like the one in this example), which is used for the normal specification. Similar to rear cover 8,
It is designed to swing about the support shaft 9a as a fulcrum. This rear cover 9 is connected to the plowing depth sensor 10.
is not linked in this example,
In this case, the plowing depth sensor 10 is locked by the lock body 10a provided in the tilling section 2 so that it is set and held at the deepest plowing state (corresponding to the deep plowing specification state exceeding the normal specifications of the present invention). , at this time, the detected value A is the deepest value α (that is, in the embodiment, the detected value A
(does not exceed the deepest value α).

Next, the control procedure of the present invention in the device configured as described above will be explained in detail using a flowchart. Here, in order to use the deep plowing specification, the left lift rod 6 described above is suspended and locked to the lower link 3a through the lower engagement hole 6b, and the plowing depth sensor 10 is suspended from the lower link 3a.
is assumed to be set and locked in the deepest state. When the key switch is turned on in this state, the attitude control unit 15 reads data, and from then on, the present invention is implemented using the following procedure.

That is, first, the detected value of the arm angle sensor 12 is larger than the preset setting value γ (detected value>γ).
If the judgment is NO that it is not large, position control is performed as is, and on the other hand, if the judgment is YES that it is large, the detected value of the plowing depth sensor 10 is A first judgment is made as to whether or not A is equal to the deepest value α (A=α), and if a NO judgment is made that they are not equal, the plowing depth sensor 10 is not locked in the deep plowing state. Therefore, the detected value A is stored as is, and normal attitude control is performed based on the stored detected value A.

In addition, in the first judgment, if the detected value A of the plowing depth sensor 10 is equal to the deepest value α, YES
If the judgment is made, the detected value A (=α)
is stored, and after reading data necessary for various controls, a second judgment is made as to whether or not the detected value A of the plowing depth sensor 10 is equal to the deepest value α. If a NO judgment is made as they are not equal in this second judgment, it happens that the detected value A of the plowing depth sensor 10 becomes the deepest value α in the first judgment. Therefore, it can be determined that this is not due to setting and locking the plowing depth sensor 10 to the deepest state, and therefore,
The detected value A (≠α) is stored and normal attitude control is performed as described above.

On the other hand, this second judgment is equal and YES
If the judgment is made, it is further judged whether or not the previous stored value is the deepest value α, and even if the judgment is NO because this is not α, the current plowing depth sensor 10 is It can be determined that the detection happened to give the deepest value α, and normal attitude control will then be performed.

On the other hand, if it is determined that the previous stored value is also the deepest value α, the posture control unit 15 determines for the first time that the plowing depth sensor 10 is set and held in the deep plowing state. Next, it is determined whether the detected value B of the lift rod sensor 13 is equal to the rod length L ₂ of the left lift rod 6 (B=L ₂ ). If a NO judgment is made that they are not equal, it is judged whether the detected value B is greater than the rod length L ₂ (B>L ₂ ), and if a YES judgment is made that the detection value B is larger than the rod length L 2 . In this case, the solenoid 16 for cylinder reduction is turned ON to contract the telescopic lift rod 5, and if the determination is NO that it is not large, the solenoid 17 for cylinder extension is turned on to extend the telescopic lift rod 5. become. If a YES judgment is made by controlling the extension/retraction of the lift rod 5 in this way or because it was the case from the beginning, both solenoids 16 and 17 are turned OFF and the extension/retraction lift rod 5 is placed in the same position as the left lift rod 6. rod length
In this way, the cultivating section ₂ enters a state of deep plowing specification in which the rod length of the lift rods 5 and 6 has been lengthened to L ₂ , and the tilling section 2 is also maintained at the position control section 15.
will be controlled to cancel (stop) automatic slope control and automatic tillage depth control, and from then on,
Only position control is performed (in the flowchart route, after the automatic control is canceled, automatic slope control and automatic tillage depth control are performed, but since these have already been canceled, The release control mechanism of the present invention is configured in this way.

In the embodiment of the present invention configured as described above, the tilling section 2 has the left lift rod 6 set to the short rod length _L1 , and the tilling depth sensor 10 is connected to the rear cover 8. ,
Posture control of the tilling section 2 will be performed using conventional automatic tillage depth control, position control, and automatic tilt control.

In such a machine, if you want to go beyond the maximum plowing depth achieved by normal posture control and perform even deeper plowing operations, the left lift rod 6 should be extended to a rod length of L ₂ as described above. At the same time, the plowing depth sensor 10 is set and locked to the deepest state by the locking body 10a. After making preparations in this way, when the plowing starts, the plowing depth sensor 10 continuously detects the deepest value α as the detection value A. Therefore, the posture control unit 15 determines that the deep tilling work state is maintained by the control procedure according to the flowchart described above, and issues an ON-OFF command to the expansion and contraction solenoids 16 and 17 to cause the expansion and contraction. The cylinder 7 is telescopically operated, and the rod length of the telescopic lift rod 5 is automatically controlled to be _L2 , and the automatic plowing depth control and automatic slope control are automatically canceled. Note that 18 is a power transmission shaft.

As described above, in the present invention, when performing deep plowing work, the plowing depth sensor 10 is simply set and maintained at the deepest state, which is an extremely simple operation.
The telescopic lift rod 5 is automatically set to the rod length L ₂ and the automatic plowing depth _control and automatic slope control are canceled. This eliminates the need for complicated and troublesome work such as changing the hanging position of the lower link one by one, and also eliminates the need for unnecessary automatic control release operations, resulting in a significant improvement in work efficiency.
Plowing work can be performed by position control without problems such as the power transmission shaft 18 coming off or abnormal noises occurring due to automatic tilt control.

It goes without saying that the present invention is not limited to the above-mentioned embodiments, and at least the setting and holding position of the plowing depth sensor for canceling the automatic tilt control is as follows.
It does not necessarily have to be the deepest state, and can be set as appropriate within the deep plowing specification state that exceeds the normal specifications, but it is not strictly limited to one point, but within the range of the deep plowing specification state that exceeds the normal specifications. It may also be something that is set and maintained. That is,
In the second embodiment shown in FIGS. 6 and 7, the rear cover 9 and the plowing depth sensor 10 are interlocked and connected via a link 8b when the plowing specification is deeper than the normal specification. However, in this case, by restricting the rear cover 9 by a member such as the chain 9b so that it does not hang down more than a predetermined angle,
The plowing depth sensor 10 is set to a predetermined set value β that is smaller than the deepest value α. Therefore, the attitude control unit 15 determines whether or not the detected value A of the plowing depth sensor 10 is maintained at the set value β, unlike the case of the first embodiment. This will be done through judgment. Then, it is determined whether the detected value A is equal to the set value β (A = β) or not.
When a YES judgment is made and this set value β is stored, in this embodiment, the detected value A is maintained set between the set value β and the deepest value α (β≦A≦
α) is determined and maintained here as well.
When a YES determination is made, it is further determined whether the previously stored detected value A of the plowing depth sensor 10 was the set value β, and here, assuming that it was the set value β,
A YES decision will be made, and therefore,
As in the case of the first embodiment, the plowing depth sensor 10
It is judged that the deep plowing specification was set and maintained deeper than the normal specification. Then, the rod length of the telescopic lift rod 5 is set to _L2 , and the automatic tilt control is canceled. In the second embodiment, when the deep plowing specification is set to be deeper than the normal specification, the position control and the automatic plowing depth control are still performed, and the tilling operation is performed in the deep plowing specification, which is deeper than the normal specification. , there is an advantage that the plowing can be carried out with the automatic plowing depth control operating within the range of the set value β and the deepest value α, and it may be done in this manner.

[Operation and Effect] In summary, the present invention is configured as described above, so when working with a deeper plowing specification than the normal specification, the plowing depth sensor can be set and maintained at a plowing depth state exceeding the normal specification. If possible, the release control mechanism installed in the attitude control unit will determine this and
The telescopic lift rod is brought to a preset rod length and at least automatic tilt control is canceled. Therefore, when working with deep plowing specifications that exceed the normal specifications, it is not necessary to suspend the telescopic lift rod to a longer length to set the required rod length, or to cancel the automatic tilt control by switching the switch. There is no need to
Not only is the operability significantly improved, but there are no problems caused by forgetting to turn the switch, and plowing work can be performed reliably with deep plowing specifications.

[Brief explanation of the drawing]

The drawings show an embodiment of the attitude control device for the tilling section of an agricultural tractor according to the present invention, in which Fig. 1 is a side view of the agricultural tractor showing the telescopic lift rod in the case of deep plowing specification, and Fig. 2 is a side view of the agricultural tractor. is a side view of the agricultural tractor showing the left lift rod as above, Fig. 3 is a side view of the agricultural tractor showing the telescopic lift rod in the case of normal specifications, Fig. 4 is a block circuit diagram, and Fig. 5 is a flowchart.
FIG. 6 is a side view of an agricultural tractor showing a telescopic lift rod in the case of deep plowing specification of the second embodiment;
FIG. 7 is a flowchart of the same as above. In the figure, 1 is a traveling machine body, 2 is a tilling section, 4 is a lift arm, 5 is a telescopic lift rod, 10 is a plowing depth sensor, and 15 is a posture control section.

Claims (1)

[Scope of Claim for Utility Model Registration] 1) A plowing depth control mechanism that automatically controls plowing depth by inputting the detected value of a plowing depth sensor into the attitude control section of the tilling section provided on the traveling machine body, and a lift arm and lower In an agricultural tractor that is equipped with a tilt control mechanism that automatically controls the tilt of the tilling section by telescopically extending and retracting a telescopic lift rod interposed between the tractor and the link, the attitude control section is equipped with a tillage depth sensor that has normal specifications. A release control mechanism that detects that the plow rod is set to a deep plowing specification state that exceeds the limit, and controls the telescopic lift rod to a preset rod length based on the detection, and at least cancels automatic tilt control in this state. 1. A posture control device for a tilling section in an agricultural tractor, characterized in that the device is provided with a tiller. 2) A posture control device for a tilling section in an agricultural tractor according to claim 1, wherein the deep plowing specification state in which the plowing depth sensor exceeds the normal specification is the deepest value. 3) The plowing in the agricultural tractor according to claim 1, wherein the deep plowing specification state in which the plowing depth sensor exceeds the normal specification is within a predetermined range of depth exceeding the normal specification. Department's attitude control device.