JPH07112362B2 - Tillage depth control device for ground work machine - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working depth control device for a ground working machine, and more particularly to a working depth control when a working depth sensor is changed from a non-wearing condition to a wearing condition.

[0002]

2. Description of the Related Art Conventionally, when performing rotary work by controlling the working depth, a rotary work such as rotary is connected to the tractor to perform the rotary work by controlling the working depth. Therefore,
This plowing depth control device outputs an operation command from the control unit so as to perform a raising / lowering operation according to the difference between the value detected by the plowing depth sensor and the set value of the plowing depth setting device, and the proportional solenoid valve for rising or The lift arm was rotated up and down via the descending proportional solenoid valve to perform rotary work by controlling the working depth.

[0003]

The rotary working machine, which is a conventional ground working machine, is usually equipped with a plowing depth sensor. However, when it is not mounted, it is fitted with the plowing depth sensor. Without it, rotary work cannot be performed by controlling the working depth. Therefore, when the unmounted state of the tilling depth sensor is attached to the rotary, if the detected value of the tilling depth sensor at the time of attachment has a difference from the set value of the tilling depth setter, the difference is determined according to this difference. Thus, the ground work machine moves up and down.

That is, when the working depth sensor is attached,
Since the operation of the working depth control as described above is performed, it is extremely dangerous.Therefore, when mounting the working depth sensor, there is a technical problem to be solved in order to prevent an unexpected danger such as a statement. Therefore, the present invention aims to solve the problems.

[0005]

The present invention has been proposed in view of the above problems, and the following technical means have been taken. That is, in a tractor having a tilling depth setting device and a tilling depth sensor, in a tractor configured to control the working depth by raising and lowering a hydraulic lifting mechanism according to the difference between the set value of the setting device and the detected value of the sensor, The tractor is provided with means for discriminating the mounted state from the non-mounted state of the tilling depth sensor, and further, means for prohibiting the tilling depth control when it is determined by the discriminating means that the tilling depth sensor is mounted. The working depth control device for a ground working machine is provided.

[0006]

Embodiments of the present invention will be described below based on the embodiments shown in the drawings. First, the configuration will be described. As shown in FIG. 2, at the rear of the tractor 1 as a towing vehicle,
A ground work machine 2 such as a rotary is oscillated vertically to a pair of left and right lift arms 3 and 3 via left and right lift rods 4 and 4, and left and right lower links 5 and 5 and a top link in the upper center. Connected by a working machine connecting link 7 composed of 6,
Further, the working machine connecting link 7 is configured to be moved up and down by a hydraulic lifting mechanism 9 that lifts and lifts the lift arms 3 and 3 by a lift cylinder 8 using hydraulic pressure. Further, the control of the supply and discharge of the pressure oil to the lift cylinder 8 is performed by operating the elevating switch S ₃ so that the operation command of the CPU 10, which is constituted by a microcomputer or the like, is controlled by the ascending drive unit 11 or the descending drive unit. The lift proportional solenoid valve 13 or the descending proportional solenoid valve 14 is opened and closed by being amplified by the drive unit 12, whereby the pressure oil of the pump 15 is supplied to the lift cylinder 8 and the lift arms 3 and 3 are raised. Alternatively, the pressure oil in the lift cylinder 8 is discharged to lower the lift arms 3 and 3.

Furthermore, a lift arm angle sensor S ₁ formed by connecting a position lever I ₁ provided near the cockpit and a detection axis of a rotary potentiometer to a lift arm 3 is formed. The elevating command is raised from the CPU 10 so that the height detection value detected by the lift arm angle sensor S ₁ matches the set value set by the operation of the position lever I ₁ by connecting with the CPU 10. Drive unit 1
1 or output to the descending drive unit 12, and the ascending / descending control (position control) is thereby performed.

For automatic control of the working depth, the working depth sensor S ₂ of the ground working machine 2 sets the working depth set value set by the operator using the working depth setting device I ₂ composed of a volume. Until the detected working depth detection values match, the ascending solenoid valve 13 and the descending solenoid valve 14 use proportional solenoid valves that open and close the flow opening area of the pressure oil in proportion to the amount of current applied to the solenoid portion. The control current having a magnitude proportional to the difference between the plowing depth set value and the plowing depth detection value is generated by the CPU1.
A pulse current, which is output from 0 and has a pulse width proportional to the control current value, is applied to the solenoid valve so that the ground work implement 2 is moved up and down to control the working depth.

The tilling depth sensor S ₂ shown in the drawing uses a sensor which detects the movement of the rear cover 17 slidingly contacting the surface of the cultivated soil with, for example, a linear movement type potentiometer 18. The rear cover 17, which is hinged to the rear part of the body of the ground work machine 2 so as to be vertically rotatable, is held at a constant height by the lifting rod 19 in a lifting posture in which no plowing work is performed. However, when the ground work machine 2 comes in contact with the ground work equipment 2 from the lifting posture, the ground work equipment 2 rotates upward and the potentiometer 18 detects the working depth corresponding to the rotation position.

Further, the embodiment of FIG. 1 shows a mix control section for position control and plowing depth (depth) control. However, the CPU 10 is also applied to other mix control, and only mix control is possible. Should not be limited to. Thus, the mix control in this embodiment is switched to the position control and the plowing depth control on the work mode switching board T, respectively.

[0011] Also, near the driver's seat is provided with elevating switch S _3, this is the lifting switch S ₃ is operated by a manual operator, allowed to lift the ground working machine 2 based on the operation It is like this. Therefore,
The ground work machine 2 is operated by the position lever I ₁ or the operator manually operating the elevating switch S ₃ so that the ground work machine 2 is moved up and down, the working depth control, and the draft control are performed. It goes up and down automatically.

Further, as shown in FIG. 1, a signal line X is connected between the working depth sensor S ₂ and the CPU 10 for distinguishing whether the working depth sensor S ₂ is mounted or not mounted. The working depth sensor S
_In the state of mounting _2, the working depth sensor S ₂ and the CPU 10
Is connected by, for example, a harness or a coupler, and the non-attached state is, for example, a state in which the coupler or the like is pulled out and the connection between the CPU 10 and the working depth sensor S ₂ is cut. That is, b by Kofuka control - When performing Tari work, if tilling depth sensor S ₂ Gallo - when not attached to enough, although for mounting the該耕depth sensor S _2, plowing thus mounting depth sensor S _2, as a means to distinguish non-wearing, the signal line X is provided between the tilling depth sensor S ₂ and CPU 10, whether mounting the tilling depth sensor S ₂ is determined by CPU 10 It is like this.

Then, the working depth sensor S ₂ is first set to the low position.
When initially mounted on the tarry, the control unit 10a provided in the CPU 10 prohibits the operation of the plowing depth control by the input of the signal line X. Then, as an artificial releasing means for releasing the prohibition means of the working depth control, for example, an operator operates the position lever I ₁ , and when the set value and the lift arm angle match, the working depth control is started for the first time. The operation command is output from the control unit 10a so that the operation can be performed based on this command.

The operation procedure will be described according to the flowchart of FIG. In step S1, when the working depth sensor is attached to the ground work implement 2,
In step S2, it is judged whether or not an artificial releasing operation of the prohibition means for plowing depth control has been performed, that is, whether or not the lift arm angle coincidence flag has been set, and the lift arm angle and the position lever I ₁ are set. When it is determined that the set values match, in step S3, the working depth sensor S
Rifutoa corresponding to a difference between the detection value and Kofuka set value of setter I ₂ of ₂ - are determined elevating operation of the arm 3 is, step S4 This decision, S5, S6, S10 corresponding operation for each by Is done.

[0015] Also, if, At a step S2, Rifutoa - when beam angle matching flag is determined not to be set, Rifutoa - set values of beam angle and position lever -I ₁ and has not yet matched because it's, at a step S7, the current Rifutoa - to determine whether the set value of the beam angle and position lever -I ₁ and match, if, when they match, Rifutoa at a step S8 - The angle matching flag is set, and the process goes to step S3, where the working depth sensor S
₂ and the working depth setting device I ₂ are determined to move up and down the lift arm 3, and as described above, steps S4, S5,
Corresponding operations are performed as in S6 and S10.

If the lift arm angle and the set value of the position lever I ₁ do not coincide with each other in step S7, the lift arm 3 is stopped in step S10. is doing. Further when the tilling depth sensor S ₂ is the state of the non-wearing CPU10 determines the At a step S1, At a step S9, Rifutoa - beam angle match flag is reset, depending, Rifutoa - beam 3, the lifting The operation is prohibited. If the operator operates the position lever I ₁ after the working depth sensor S ₂ is changed from the non-wearing state to the wearing state, and the lift arm angles match, the above-mentioned operation is performed. The lift arm angle coincidence flag is set as described above, and then the working depth control is activated. However, such an operation command is output only once at the beginning, and therefore, the working depth sensor S ₂ After being mounted, when the position lever I ₁ is operated even once in the past and the plowing depth control is performed, the control unit 10a for instructing prohibition and operation of the plowing depth control There is no output, and the rotary work is carried out under normal plowing depth control. [Advantages of the Invention] The present invention is configured as described above, and in the case of performing rotary work by controlling the working depth,
When the working depth sensor is changed from the non-wearing condition to the wearing condition, that is, when the working depth sensor and the control unit are connected by, for example, a harness or a coupler, the working depth sensor is used by the control unit. Is not mounted, that is, the mounting state is determined from the state in which the tilling depth sensor and the controller are not connected by the harness or the coupler, and the prohibition means provided in the controller determines. Prohibit plowing depth control. At this time, even if there is a difference between the detection value of the tilling depth sensor and the setting value of the setting device, the control of the operating part of the ground work machine is prohibited, so that the operating part does not operate. Therefore, attach the working depth sensor, and
The ground work machine does not operate when it is attached to the operating part or the like, and it is possible to prevent the risk of mounting and mounting the tilling depth sensor.

[Brief description of drawings]

FIG. 1 is a block diagram of a control system.

FIG. 2 is a side view of a tractor equipped with a ground work implement.

FIG. 3 is a control flow chart.

[Explanation of symbols]

 1 tractor 2 ground work machine 3 lift arm 4 lift rod 7 work machine connection link 8 lift cylinder 9 hydraulic lifting mechanism 10 CPU

Claims (1)

[Claims] 1. A tractor comprising a working depth setting device and a working depth sensor, wherein a hydraulic lifting mechanism is moved up and down according to a difference between a set value of the setting device and a detection value of the sensor to control the working depth. At this time, the tractor is provided with a means for discriminating the mounted state from the non-mounted state of the tilling depth sensor, and when the discriminating means discriminates that the tilling depth sensor is mounted, the tilling depth control is prohibited. A plowing depth control device for a ground work machine, which is provided with a means for performing.