JPH0712246B2 - Lift control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention sets a detection value from a rocking type ground sensor for detecting a relative distance between a rear ground of a rotary tiller and a rotary tiller to a set value. In addition to the automatic tilling depth control means for raising and lowering the rotary tilling device to be maintained at, the storage means for holding the level value against the vehicle body of the rotary tiller at the time of raising and lowering control by the automatic tilling depth controlling means is provided,
After the rotary tiller is operated to ascend to a predetermined level so as to be separated from the ground, and when restored to the ascending / descending control by the automatic tilling depth control means, the level of the rotary tiller is set to the level of the vehicle body held in the storage means. The present invention relates to an elevating control device provided with a tilling depth maintaining means for temporarily maintaining.

[Conventional technology]

Conventionally, there is an elevator control device configured as described above, for example, that disclosed in Japanese Patent Laid-Open No. 62-236403. In this reference, a vehicle body equipped with a rotary tiller is turned on a headland. For example, when raising the rotary tiller once and then descending to perform the tilling work again,
By maintaining the rotary tiller to the level of the stored vehicle body, it is possible to prevent the plowing depth when resuming the plowing work from becoming unnecessarily deep and at the same time to prevent the engine from being overloaded.

That is, in the above-mentioned reference, in which the raising and lowering control of the rotary cultivating device is performed on the basis of the level of the rear ground of the rotary cultivating device, since the control is performed on the basis of the ground raised by plowing, the work is restarted. As described above, the storage means is provided so as to prevent the plowing depth from being deeper than necessary even on the ground where there is no rise.

[Problems to be Solved by the Invention]

Here, considering the tillage work by the rotary tiller, the operation of raising the rotary tiller once and then lowering it again is often performed when the vehicle body equipped with the rotary tiller is turned on the headland.

However, not only the uneven surface is formed on the headland by the ruts of the wheels, but also the uneven surface is formed on the headland during the ridge-breaking work. When performing, the level of the concave part of the headland is far away from the value held in the storage means and is at a low position, or conversely, the level of the convex part of the headland is far away from the value held in the storage means. In the former case, plowing cannot be performed, and in the latter case, the engine may be overloaded, and there is room for improvement.

It is an object of the present invention to construct a lifting control device which can prevent insufficient plowing or an overload on the engine even if the ground is rough when the work is resumed by rational modification.

[Means for Solving the Problems]

A feature of the present invention is that, in the lifting control device having the tilling depth maintaining means as described above, after the rotary tilling device is lifted to a predetermined level where it is separated from the ground, it is restored to the lifting control by the automatic tilling depth controlling means. Before the rotary tiller descends to the level of the vehicle body held in the storage means, the rotary tiller reaches the level held in the storage means when the ground contact sensor oscillates by a predetermined amount or more. Even if the swing amount of the ground contact sensor is equal to or less than the set amount, control releasing means for performing up-and-down control by the automatic tilling depth control means is provided instead of the control by the tilling depth maintaining means. And its action, and
The effects are as follows.

[Work]

When the above characteristics are configured as shown in FIG. 1, for example, when the work is resumed, when the rotary tiller (6) descends with respect to the concave ground as shown in FIG. 4B, and FIG. As shown in (a), when the rotary tiller (6) descends with respect to the convex ground, in each case, steps # 15, # 16 and # 10, # 11 in the flowchart of FIG. As shown in the step, instead of the control by the tilling depth maintaining means (B), the control by the automatic tilling depth controlling means (A) is performed.

〔The invention's effect〕

Therefore, by the modification that the control releasing means is provided, even when the ground is rough when the work is resumed, the lifting control device is configured to prevent insufficient plowing or overload on the engine.

In particular, in the present invention, due to extrinsic noise or the like, even when an abnormal value is held in the storage means, it is possible to release the control by the tilling depth maintaining means, so that the plowing shortage is similar to the above,
Along with the prevention of overload, even if an abnormal value is held in the storage means in this way, by performing automatic plowing depth control, a plowing depth close to the desired plowing depth can be obtained from the initial stage of control. It also has the effect.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIGS. 4 (a) and 4 (b), a pair of left and right lift arms (3) are provided at the rear part of the vehicle body (1) of the agricultural tractor to be lifted and lowered by the operation of a hydraulic cylinder (2) as an ascending / descending actuator. At the same time, a rotary tiller (6) is provided at the rear end of the vehicle body (1) via a two-point link mechanism (5) supported in a suspended state by a lift rod (4) connected to the lift arm (3). It is connected.

As shown in the figure, a control box (8) for raising and lowering the rotary tiller (6) is arranged on the right side of the driver's seat (7) arranged in the center of the vehicle body (1). In (8), a tilling depth setting dial (9) for automatic tilling depth control for setting the rotary tiller (6) to an arbitrary tilling level, and a rotary tiller (6) in preference to this automatic tilling depth control. And a control device (11) having a microprocessor (not shown) as shown in FIG. 2 and a rise switch (10) for forcibly raising the pressure) to a predetermined level. A memory (12) as a storage means is incorporated.

The control device (11) is provided so as to be swingable with respect to the signal from the tilling depth setting device (13) operated by the tilling depth setting dial (9) and the rotary tilling device (6). A signal from a tilling depth detector (14) for detecting the working depth of the rotary tiller (6) from the swinging posture of the rear cover (6a) (an example of a grounding sensor) and the swinging of the lift arm (3). A signal from a vehicle-to-vehicle level detector (15) for detecting the vehicle-to-vehicle level of the rotary tiller (6) and a signal from the raising switch (10) are input, and the control device (11) is also provided. Is configured to output a control signal to a solenoid valve (16) for controlling the hydraulic cylinder (2). By the way, the memory (12) holds the value of the rotary tiller (6) against the vehicle body level value based on the signal from the vehicle body level detector (15) during the automatic tilling depth control, and the memory of the raising switch (10). A signal is output to maintain the level of the rotary tiller (6) at the level held in the memory (12) (hereinafter abbreviated as memory level) at the stage of shifting from the forcibly raised state to the automatic tilling depth control by operation.

Further, an automatic tilling depth control means (A) for performing automatic tilling depth control inside the control device (11), and a tilling depth maintaining means for performing control for keeping the rotary tiller (6) at a memory level as described above. (B), control releasing means (C) for releasing the control by the tilling depth maintaining means (B) under a predetermined condition and performing the control by the automatic tilling depth controlling means (A) are respectively stored in the form of a program. ing.

The operation of the control device (11) is shown in the flow chart of FIG. 3, and its operation is as follows.

That is, when the control is started, signals from the tilling depth setting device (13) and the tilling depth detector (14) are input to perform feedback type automatic tilling depth control (# 1, # 2, # 3 steps),
The level of the rotary tiller (6) with respect to the vehicle body at the time of this automatic tilling depth control is input based on the signal from the vehicle body level detector (15) and is held in the memory (12) (# 4,
# 5 step).

Next, the state of the raising switch (10) is discriminated, and if it is in the OFF state, the automatic tilling depth control is continued, and when it is turned ON, the rotary tiller (6) is raised to a preset level. The rising state is maintained until the raising switch (10) is turned on again (# 6, # 7, # 8 steps).

Next, the rotary tiller (6) is lowered by turning on the angle of the raising switch (10), and (# 9 step). In the middle of this lowering, based on the signal from the working depth detector (14). To determine whether the rear cover (6a) has been lifted by more than a predetermined amount (# 10, # 11 steps),
When the swing of a predetermined amount or more is detected, it is determined that the descending ground of the rotary tiller (6) is in a convex state as shown in FIG. 4 (a), and the swing of the predetermined amount or more is detected. Shift from timing to automatic plowing depth control.

Next, when the automatic plowing depth control is not performed in step # 11, the rotary tiller (6) is set to the memory level (L) based on the signal from the bell detector (15) for the vehicle body.
If it reaches the memory level (L), the descent is stopped (# 12, # 13, # 14 steps), and the signal from the working depth detector (14) Based on the result, it is determined whether the rear cover (6a) is within the predetermined swing range, and if it is outside the swing range, the ground surface on which the rotary tiller (6) descends is shown in FIG. 4 (b). It is determined that the rear cover (6a) is in the concave state as shown in (4), and the automatic tilling depth control is started from the timing when it is determined that the rear cover (6a) exists outside the swinging range.

Next, if the automatic plowing depth control is not performed in step # 16, a timer (not shown) starts counting, and after the counting by this timer is completed, the shifting to the automatic plowing depth control is performed. This is done (steps # 17, # 18).

In this flowchart, step # 3 is referred to as automatic tilling depth control means (A), and steps # 12, # 13 and # 14 are collectively referred to as tilling depth maintaining means (B), and the steps # 10, # 11, # 15 are performed. , # 16 steps are collectively referred to as control release means (C).

[Another embodiment]

In the present invention, the control device may be configured by hardware, for example, by combining a logic gate, a comparator and the like, other than the above-mentioned embodiments.

It should be noted that reference numerals are added to the claims for convenience of drawing and reference, but the present invention is not limited to the structure of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a lifting control device according to the present invention.
The figure is a diagram corresponding to the claims of the control device, FIG. 2 is a block circuit diagram of the control device, FIG. 3 is a flowchart showing the operation of the control device, and FIG. 4 (a) is a rotary tiller on a convex ground. Side view in the lowered state, Fig. 4 (b)
[Fig. 3] is a side view showing a state in which the rotary tiller is lowered on the concave ground. (6) …… Rotary tiller, (6a) …… Ground sensor,
(12) ... storage means, (A) ... automatic plowing depth control means,
(B): means for maintaining working depth, (C): means for releasing control.

Claims (1)

[Claims] 1. A detection value from an oscillating type ground sensor (6a) for detecting a relative distance between the rear ground of the rotary tiller (16) and the rotary tiller (6) is maintained at a set value. An automatic plowing depth control means (A) for raising and lowering the rotary tilling device (6) is provided, and the level value of the rotary tilling device (6) with respect to the vehicle body level value at the time of raising / lowering control by the automatic tilling depth controlling means (A) is set. A storage means (12) for holding is provided, and when the rotary tiller (6) is operated to rise to a predetermined level where it is separated from the ground, and then restored to the elevation control by the automatic tilling depth control means (A). An elevation control device provided with tilling depth maintaining means (B) for temporarily maintaining the level of the rotary tiller (6) at the level of the vehicle body held in the storage means (12), the rotary tiller Device (6) separates from the ground Before the rotary tiller (6) is lowered to the level relative to the vehicle body held in the storage means (12) after being raised to a predetermined level, the automatic tilling depth control means (A) restores the raising and lowering control. ,
When the ground sensor (6a) oscillates by a predetermined amount or more, or even when the rotary tiller (6) reaches the level held in the storage means (12) during this descending motion, the ground sensor (6a) sways. At each timing when the amount of movement is less than or equal to the set amount, a control release means (C) for performing up-and-down control by the automatic plowing depth control means (A) is provided instead of the control by the plowing depth maintaining means (B). Lift control device.