JPH0614607A - Lifting and lowering controller of tiller - Google Patents

Abstract

PURPOSE:To obtain a tilling depth controller enabling tilling depth control operation without using a back cover of a rotary tiller. CONSTITUTION:The objective controller controls a lift cylinder CY so that a lift arm angle sensor PM 3 for detecting a lifting and lowering angle of a lift arm to the machine body may be made to coincide with an objective angle corresponding to the objective tilling depth manually set by detection result of the lift arm angle sensor PM3 and a tilling depth setting device PM2 and is equipped with an engine revolution sensor S for detecting number of revolutions of an engine 10 and operates the difference between number of revolutions of the engine changed according to tilling operation and a standard number of revolutions and its changing ratio, judging a detection value of number of revolution of the engine obtained when a rotary tiller 2 lowered until the objective tilling depth as the standard number of revolution and obtains correction value of the objective angle based on preliminarily set map data from the operated difference and changing ratio and controls the lift cylinder CY based on corrected new objective angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hoisting and lowering device for a rotary tiller which is connected to a traveling machine body so as to be able to move up and down, and is configured to lift and lower the rotary tiller by means of a lift arm which is driven up and down by a lift cylinder. Regarding the control device.

[0002]

2. Description of the Related Art In the lifting control device for the above tiller,
Conventionally, generally, a rear cover of a rotary tiller is attached to a rotary cover body so as to be swingable around an upper horizontal axis, and the lower end is grounded and swings as the plowing nail enters the soil. The amount of rocking of the lift cylinder is detected to determine the actual tilling depth, and the lift cylinder is automatically controlled so that the detected value and the preset tilling depth manually set by the setting device match. 75504]].

[0003]

However, in the case of the above-mentioned conventional structure, for example, when the field is muddy, the wheels of the traveling machine body sink into the soil due to the weight of the machine body. Although the rotary tiller also tries to sink, the rear cover may also sink into the soil at this time due to the weakness of the field. As a result, the actual working depth detection operation as described above cannot be performed accurately, and there is a high risk that the plowing claws will penetrate deeper into the soil than the set working depth, overloading the engine and stopping the engine. However, there was an adverse effect that the work efficiency decreased. Further, even in a field of ordinary hardness, since the pressing operation by the rear cover is performed immediately after the area cultivated by the plowing claw, the surface of the soil cultivated by the rear cover is leveled. Therefore, for example, when performing a roughing work to secure the amount of oxygen in the soil, there is also an adverse effect of becoming an inconvenient situation. The present invention aims to eliminate the above-mentioned problems.

[0004]

A characteristic configuration of the present invention is to provide a lift arm angle detecting means for detecting a lift angle of a lift arm with respect to a body, and a lift arm angle in the lift control apparatus for a tilling device described at the beginning. The working depth control means for controlling the lift cylinder so that the detection result of the detection means and the target angle corresponding to the target working depth manually set by the working depth setting device and the rotation speed of the engine mounted on the traveling machine body are detected. Engine rotation speed detection means, and the difference between the engine rotation speed and the reference rotation speed that changes along with the tilling work, with the engine rotation speed detection value when the rotary tiller descends to the target tillage depth as the reference rotation speed. And a calculation means for calculating the change rate, and from the calculated difference and the change rate,
It is configured such that a correction value of the target angle is obtained based on map data set in advance and the lift cylinder is controlled based on the corrected new target angle.

[0005]

[Function] Based on the mechanical characteristics of the structure in which the traveling machine body and the rotary tiller are linked, the plowing depth of the tiller is determined based on the relative angle of the lift arm to the machine. First, when starting the tiller work, The target tillage depth is set by the tiller depth setter so that the desired tillage depth is set by the tiller. Then, the tilling device is lowered until the lift arm target angle corresponding to the target tillage depth and the actual detected lift arm angle match, and the engine speed at the time of reaching the target tillage depth is determined as the work reference speed. After that, as the work traveled, the work load changed as the actual tilling depth of the tiller changed due to the forward and backward inclination of the traveling body and the submersion of the entire body into the soil. Therefore, while detecting this engine speed and comparing it with the reference speed,
The lift arm target angle corresponding to the target plowing depth is sequentially corrected by the rotation speed difference and the rate of change, and lifting control is performed based on the correction value, while preventing the engine from being overloaded. , It is always possible to control the tiller to move up and down in a state close to the target tillage depth.

[0006]

As a result, without using the rear cover,
It will be possible to perform the lifting control operation that can maintain the plowing depth to a substantially predetermined value, and it will be possible to effectively perform the roughing work with the desired plowing depth, and to prevent frequent engine stop during mud work. It has become possible to prevent this and improve work efficiency.

[0007]

Embodiments will be described below with reference to the drawings. Figure 8
Shows a riding-type cultivator. In this cultivator, a rotary cultivating device 2 is movably connected to a rear portion of a riding type traveling body via a link mechanism 1 so that a cultivating work in a field can be performed while operating the traveling body. This tiller is configured to automatically control the tilling depth by the rotary tiller 2, that is, the actual tilling depth so as to maintain the set value. That is, the left and right links 3 in the link mechanism 1 are lifted via the lift rod 5 by the lift arm 4 which is driven to move up and down around the horizontal axis by the lift cylinder CY,
The cultivating device 2 is configured to be driven up and down, and the rear cover 6 of the cultivating device 2 is attached to the rotary cover body 7.
Is pivotally connected about the axis of the horizontal axis so that the relative vertical movement amount of the rear cover 6 due to the plowing of the tilling claw 2a into the soil is detected by the potentiometer-type cover angle sensor PM1 as the actual plowing depth. The electromagnetic hydraulic control valve V for the lift cylinder CY is controlled to maintain the actual tillage depth at the set value so that the detected value by the cover angle sensor PM1 matches the set tillage depth manually set by the potentiometer-type tiller depth setter PM2. It is configured to do. In addition, an elevating lever 8 for artificially switching the plowing device 2 between a lowered plowing working position and a significantly raised non-working position is provided.
A potentiometer type lift arm angle sensor PM3 for detecting the relative angle of the lift arm 4 to the machine body is provided. In the operation of the plowing depth control, when the field is mud or the like and the wheels of the traveling vehicle body are submerged in the soil and the subcover 6 is also submerged, the engine is unnecessarily submerged. It is configured so that the stoppage can be prevented. More specifically, as shown in FIG. 1, the electromagnetic hydraulic control valve V is composed of an electromagnetic proportional flow rate control valve whose opening can be proportionally changed and controlled according to the amount of supplied current. A rotation speed detection sensor S configured to be driven and controlled by a control device 9 including a microcomputer and for detecting an output rotation speed of an engine 10 mounted on a traveling machine body.
An example of the rotation speed detection means is provided, and the output of the rotation speed detection sensor S is also provided to the control device 9. Then, the control device 9 uses the engine speed detection value when the cultivating device 2 descends to the set target tillage depth as a reference speed, and the engine speed and the reference speed that change with the tilling work. A calculation means A for calculating a difference and a rate of change and a set target tillage depth by a tilling depth setting device are corrected based on map data determined in advance from the difference and the rate of change calculated by the means for correction A, and correction is made. On the basis of the new data obtained, the cover angle plowing depth control means B for controlling the lift cylinder so that the corrected target plowing depth and the actual plowing depth match is provided in a control program format. Control is executed as follows. As shown in FIGS. 4 and 5, when the elevating lever 8 is in the raised position, the elevating lever 8 is maintained in the raised position, and when the tiller 2 is in the raised position.
Is operated to the lowered position, the plowing depth setting device PM at that time
2 output b [set target tillage depth], output a of cover angle detection sensor a [actual tillage depth], output of lift arm angle sensor PM3 and output of engine speed sensor S, and lift cylinder CY is lowered. Let [Step 1
4]. At this time, the descending speed is proportionally controlled so as to be a speed corresponding to the amount of deviation between the target tillage depth a and the actual tillage depth b. Then, the lowering speed immediately before the cultivating device 2 comes into contact with the ground is judged by the lift arm angle, and the cultivating device is slowly grounded down at a lowering speed that is slower than the speed based on the proportional control. Based on the above, the descending speed is controlled to prevent the engine from being stopped by the characteristic determined in advance according to the amount of change and the rate of change of the detected rotation speed [steps 5 and 6]. When the actual cultivation depth a detected by the cover angle detection sensor PM1 matches the target cultivation depth b, the descending operation is stopped [steps 7 and 8], and the engine speed at that time is stored in the memory 11 as the reference speed NE. [Step 9]. When the detected rotation speed at this time is a low rotation speed just before the engine stops, the preset minimum rotation speed is stored as the reference rotation speed. Then, the difference between the engine speed N at that time and the reference speed NE (NE-
N) and the rate of change dN / dt are calculated [Step 1
0], the correction amount Δb of the set target plowing depth b is calculated from the calculated difference and the rate of change based on predetermined map data [step 11]. The map data at this time is set by so-called fuzzy control. Next, the value b1 after correcting the set target tillage depth by the correction value Δb calculated as described above is set as a new target tillage depth [step 12], and based on this new target tillage depth b1. The lift cylinder CY is vertically controlled [steps 13 to 15]. That is, the electromagnetic control valve V is determined based on the map data of the deviation-flow rate map and the flow rate-current map so that the flow rate having an operating speed proportional to the deviation between the detected actual cultivation depth and the corrected target cultivation depth is supplied. Supply the electric current. When the traveling clutch is disengaged during the tilling work in which such control is performed, and this is detected by the clutch detection switch SW, the clutch disengagement operation is performed until the clutch disengagement operation is performed again. The lift arm angle is maintained and fixed [steps 16 and 17]. When the accelerator lever 12 is changed and operated by the accelerator lever detection sensor PM4 on the way, the lift arm angle at the time of the operation is maintained until the sensor detection value reaches a stable value. If the sensor detection value becomes stable,
From the mechanical characteristics of the displacement amount of the accelerator lever 12 and the no-load rotational speed determined in advance, the difference between the initial no-load rotational speed N0 and the no-load rotational speed N1 after the changing operation is subtracted from the reference rotational speed NE to obtain a new value. It is corrected as the reference rotation speed [steps 18 to 21]. Then, such control is maintained until the raising operation is performed on the headland, and when the raising operation is performed [step 22], a new reference rotational speed NE is reset and such control is executed.

In this cultivator, instead of the operation of controlling the working depth by the rear cover 6 as described above, the working depth can be controlled even when the rear cover 6 is largely retracted upward and not in use. is there. More specifically, when the rear cover 6 is not used, the rear cover 6 is largely lifted and pinned and held in position as shown by a phantom line in FIG. At this time, the cover angle detection sensor PM1 has an output that greatly deviates from the normal operating range in the cover angle plowing depth control described above. Therefore, when the detected value is larger than the set value e, the engine rotation control as described below is performed. State, and when it is smaller than the set value e, switching means C for automatically switching so as to set the cover angle plowing depth control state as described above.
Is provided in the controller 9 [see step 00 in FIG. 2]. The engine rotation control means D is provided in the control device 9 in the form of a control program, and the control device 9 controls as follows. As shown in FIG. 6 and FIG. 7, when the elevating lever 8 is operated to descend, the target tillage depth by the tiller depth setting device PM2 is read, and the lift arm angle d (target lift arm angle) corresponding to this target tiller depth is read. Calculate [Steps 1 to 4]. Next, the outputs of the lift arm angle detection sensor PM3 and the engine speed detection sensor S are read, and the tiller 2 is operated to descend [steps 5 and 6]. At this time, the descending speed is proportionally controlled so as to be a speed corresponding to the amount of deviation between the target tillage depth and the actual tillage depth. Then, the lowering speed immediately before the cultivating device 2 comes in contact with the ground is judged by the lift arm angle, and the cultivating device 2 is slowly grounded down at a lowering speed than the speed based on the proportional control, and after the grounding, the engine speed is detected. Based on the result, the descending speed is controlled to prevent the engine from stopping according to the characteristic determined in advance in accordance with the change amount and the change rate of the detected rotation speed [steps 7 and 8]. When the detected value c of the lift arm angle detection sensor PM3 matches the target lift arm angle d, the descent is stopped, and the engine speed at that time is stored in the memory 11 as the reference speed NE [steps 9 to 11]. . Then, along with the tilling work, the difference (NE-N) between the engine speed N at that time and the reference speed NE and the change rate dN / dt at every predetermined time.
And [step 12], and the calculated difference (NE
-N) and the rate of change dN / dt are used to calculate the correction amount Δd of the set target plowing depth d based on predetermined map data [step 13]. The map data at this time is set by so-called fuzzy control. Next, the value d1 after correcting the target lift arm angle by the correction value Δd calculated as described above is set as a new target lift arm angle [step 12], and the lift is performed based on this new target value. Control the cylinder CY up and down [Steps 15-1
7]. Then, the same clutch control and accelerator lever control as those in steps 16 to 21 of the cover angle control as described above are executed [steps 18 to 23], and such control is maintained until the raising operation on the headland is performed. Then, when the ascending operation is performed [step 24], a new reference rotational speed is reset and such control is executed.

It should be noted that although reference numerals are given in the claims for facilitating the comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a control block diagram.

[Fig. 2] Switching control flowchart

[Fig. 3] Control characteristic diagram

[Fig. 4] Cover angle plowing depth control flowchart

FIG. 5: Cover angle plowing depth control flowchart

FIG. 6 is an engine speed control flowchart.

FIG. 7 is an engine speed control flowchart.

[Figure 8] Overall side view of the cultivator

[Explanation of symbols]

 2 rotary tiller 4 lift arm 10 engine A computing means D tilling depth control means d, d1 target angle Δd correction value N engine speed NE reference speed NE-N speed difference dN / dt change rate PM2 tilling depth setter PM3 Lift arm angle detection means S Engine speed detection means

Claims (1)

[Claims] 1. A rotary tiller (2) is movably connected to a traveling machine body, and a rotary arm (4) is vertically moved by a lift cylinder (CY) to drive the rotary tiller (2) up and down. A lift arm angle detection means (PM3) for detecting the lift angle of the lift arm (4) with respect to the body, which is a lift control device for a tilling device.
And the lift cylinder (CY) is controlled so that the detection result of the lift arm angle detection means (PM3) and the target angle (d) corresponding to the target working depth manually set by the working depth setting device (PM2) match. When the working depth control means (D), the engine speed detecting means (S) for detecting the speed of the engine (10) mounted on the traveling machine body, and the rotary tiller (2) are lowered to the target working depth. The engine speed detection value is used as a reference speed (NE), and the difference (NE-) between the engine speed (N) and the reference speed that changes with the tilling work.
N) and a change rate (dN / dt) are included in the calculation means (A), and the calculated difference (NE-N) and change rate (dN / dt) are converted into predetermined map data. Based on this, a correction value (Δd) of the target angle (d) is obtained, and the lifting control of the tiller is configured to control the lift cylinder (CY) based on the corrected new target angle (d1). apparatus.