JPH073B2 - Depth control device for ground work machine - Google Patents
Depth control device for ground work machineInfo
- Publication number
- JPH073B2 JPH073B2 JP22516586A JP22516586A JPH073B2 JP H073 B2 JPH073 B2 JP H073B2 JP 22516586 A JP22516586 A JP 22516586A JP 22516586 A JP22516586 A JP 22516586A JP H073 B2 JPH073 B2 JP H073B2
- Authority
- JP
- Japan
- Prior art keywords
- depth
- ground work
- ground
- control
- rear cover
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、トラクタによつて牽引されて走行する対地
作業機のデプス制御装置に関するものであり、特に手動
作によつて対地作業機を上昇させた後、下降させるとき
のデプス制御のカツトに関するものである。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a depth control device for a ground work machine that is run by being pulled by a tractor, and in particular, a ground work machine is raised by a manual operation. The present invention relates to a depth control cut when descending after being made to move.
従来、此種対地作業機のデプス制御装置は、耕深センサ
による検出値と耕深設定器による耕深設定値との差に応
じて夫々の昇降動作を為すように制御部からの操作指令
を出力し、上昇用比例ソレノイドバルブ又は下降用比例
ソレノイドバルブを介してリフトアームを昇降せしめ、
耕深制御によるロータリ作業を為していた。Conventionally, the depth control device for this type of ground working machine has issued an operation command from the control unit so as to perform respective raising and lowering operations according to the difference between the detection value by the tilling depth sensor and the tilling depth setting value by the tilling depth setting device. Output and raise and lower the lift arm via the proportional solenoid valve for raising or the proportional solenoid valve for lowering,
The rotary work was done by controlling the working depth.
従来の前記対地作業機をデプス制御(耕深制御)にてロ
ータリ作業を為しているとき、操作員の手動作によつて
当該対地作業機を上げ位置附近まで上昇せしめた後、下
降させる場合、ロータリのリヤカバーが接地する間に於
て、当該リヤカバーは慣性或は風圧等によつて揺動し極
めて不安定な状態となる。そして、この不安定な状態に
於てリヤカバーが上端部の蝶着部を中心に上昇したとき
は、耕深センサが上記リヤカバーの働きを検出し、その
結果、制御部からの上げ指令に基き対地作業機が自動的
に上昇動作に変るのである。即ち、手動作によつて対地
作業機を下降させているにも拘らず、前記リヤカバーの
揺動に基いて当該対地作業機がデプス(耕深)制御部の
操作指令によつて上げに変化すれば、所謂ハンチング現
象を惹き起すのである。そこで、このようなハンチング
現象を生ぜしめないようにするために解決せらるべき問
題点が生じてくるのである。When performing the rotary work of the conventional ground work machine under the depth control (plow depth control), the operator manually moves the ground work machine to raise it to the vicinity of the raising position and then lowers it. While the rear cover of the rotary is in contact with the ground, the rear cover swings due to inertia or wind pressure and becomes extremely unstable. Then, in this unstable state, when the rear cover rises around the hinged part at the upper end, the working depth sensor detects the action of the rear cover, and as a result, based on the raising command from the control unit, the ground is grounded. The work machine automatically changes to a rising motion. That is, even though the ground work implement is lowered by manual operation, the ground work implement is changed to be raised by the operation command of the depth (plowing depth) control unit based on the swing of the rear cover. For example, it causes a so-called hunting phenomenon. Then, there arises a problem to be solved in order to prevent such a hunting phenomenon from occurring.
この発明は、前記問題点に鑑み之を解決せんとして提案
せられたものであり、トラクタの後部に、油圧昇降機構
によって昇降自在に連結されている対地作業機の耕深を
検出する耕深センサを備え、この耕深センサによる検出
値と、耕深設定器によって設定された値との差に応じて
昇降動作を為すようにすると共に、前記対地作業機の機
体後部へ上下回動可能に蝶着され、且つ、耕土表面に摺
接するように形成されたリヤカバーの回動位置に応じて
前記耕深センサが耕深を検出するように構成されて成る
デプス制御部を有するトラクタに於て、最大上昇位置付
近まで吊り上げた対地作業機を降下させた場合、前記リ
ヤカバーの揺動に基づく対地作業機の上昇出力を一定時
間に限り牽制する手段を設けた対地作業機のデプス制御
装置を提供せんとするものである。The present invention has been proposed as a solution to the above problems, and a plowing depth sensor for detecting the plowing depth of a ground working machine that is connected to a rear portion of a tractor so as to be vertically movable by a hydraulic lifting mechanism. And a vertical movement to the rear part of the ground work machine so that it can be moved up and down according to the difference between the value detected by the tilling depth sensor and the value set by the tilling depth setting device. In the tractor having a depth control unit, which is constructed so that the tilling depth sensor is configured to detect the tilling depth in accordance with the rotational position of the rear cover that is formed so as to be in sliding contact with the cultivated soil surface, When the ground work implement that has been lifted to the vicinity of the raised position is lowered, a depth control device for the ground work implement provided with means for restraining the rising output of the ground work implement based on the swinging of the rear cover for a fixed time. Is shall.
この発明は、デプス制御によるロータリ作業時に於て、
操作員の手動作によつて対地作業機を上げ位置附近まで
上昇させた後、更に手動作によつて当該対地作業機を下
降せしめる場合、ロータリのリヤカバーは懸吊した侭で
殆ど動作していない状態となつて耕深センサがつり合
い、作動しなくなる。このようにして下降するとき、た
とえ、リヤカバーが下降中に揺動し不安定な状態になつ
ても、かかる場合は、一定時間に限り対地作業機の上昇
出力を牽制する手段によって前記リヤカバーの動きに基
く耕深制御が行われないので、一定の下降速度にて対地
作業機を降下させることができる。尚、詳述すれば、対
地作業機が上げ位置附近まで上昇し、之を下降させると
き、リヤカバーが慣性又は風圧で揺動し、この揺動に基
く耕深制御が作動しようとしても前記のように一定時
間、この耕深制御がカツトされているので、耕深制御に
基く対地作業機のハンチング現象は全く生ぜず、円滑に
着地してロータリ作業に移行できる。This invention is for depth control rotary work.
When the operator manually raises the ground work implement to a position close to the raising position and then further lowers the ground work implement by hand, the rear cover of the rotary is almost unmoving due to the suspended wind The working depth sensor is in equilibrium with the condition and stops working. When descending in this way, even if the rear cover swings during descent and becomes unstable, in such a case, the movement of the rear cover is controlled by means for restraining the rising output of the ground work machine only for a certain period of time. Since the tilling depth control based on the above is not performed, the ground work machine can be lowered at a constant lowering speed. In addition, in detail, when the ground work implement rises up to the vicinity of the raised position and is lowered, the rear cover oscillates due to inertia or wind pressure, and even if the plowing depth control based on this oscillation tries to operate, Since the plowing depth control is cut for a certain period of time, the hunting phenomenon of the ground working machine based on the plowing depth control does not occur at all, and the landing can be smoothly performed to shift to the rotary work.
以下、本発明の一実施例を別紙添附図面に従つて詳述す
る。第2図に示すように、牽引車輌としてのトラクタ
(1)の後部に、ロータリの如き対地作業機(2)を左
右一対のリフトアーム(3)(3)へ、左右のリフトロ
ツド(4)(4)を介して上下に揺動する左右のロワー
リンク(5)(5)及び中央上部のトツプリンク(6)
からなる作業機連結リンク(7)によつて連結し、且
つ、この作業機連結リンク(7)は、そのリフトアーム
(3)(3)の油圧を用いたリフトシリンダ(8)によ
つて昇降回動させる油圧昇降機構(9)によつて昇降動
作をするよう構成されている。又、リフトシリンダ
(8)への圧力油の給排制御は、昇降スイツチ(S3)の
操作に伴い、マイクロコンピュータの如きものによつて
構成している制御部(10)の操作指令が、上昇用駆動部
(11)又は下降用駆動部(12)にて増幅されて上昇用比
例ソレノイド弁(13)又は、下降用比例ソレノイド弁
(14)を開閉動作させて、これによつてリフトシリンダ
(8)にポンプ(15)の圧力油が供給されて、リフトア
ーム(3)(3)が上昇し、又はリフトシリンダ(8)
の圧力油が排出されてリフトアーム(3)(3)が下降
するように構成されている。An embodiment of the present invention will be described in detail below with reference to the attached drawings. As shown in FIG. 2, a ground work implement (2) such as a rotary is attached to the rear part of the tractor (1) as a towing vehicle to a pair of left and right lift arms (3) and (3), and left and right lift rods (4) ( Left and right lower links (5) and (5) swinging up and down via 4) and the top link (6) in the upper center
Is connected by a working machine connecting link (7), and the working machine connecting link (7) is lifted and lowered by a lift cylinder (8) using the hydraulic pressure of its lift arms (3) (3). The lifting / lowering operation is performed by a hydraulic lifting / lowering mechanism (9) that rotates. In addition, in order to control the pressure oil supply / discharge to / from the lift cylinder (8), the operation command of the control unit (10) configured by a microcomputer or the like is accompanied by the operation of the lifting switch (S 3 ). The lift proportional drive solenoid valve (13) or the lift proportional drive solenoid valve (14) is opened and closed by being amplified by the drive drive unit (11) or the drive drive unit (12) for lowering the lift cylinder. The pressure oil of the pump (15) is supplied to the (8) to lift the lift arms (3) and (3), or the lift cylinder (8).
The pressure oil is discharged and the lift arms (3) and (3) descend.
更に又、操縦席近傍に設けたポジシヨンレバー(I1)及
び回動型のポテンシヨメータの検出軸をリフトアーム
(3)に結合して形成したリフトアーム角センサ(S1)
を夫々制御部(10)に接続して、前記ポジシヨンレバー
(I1)の操作によつて設定された設定値に、リフトアー
ム角センサ(S1)にて検出される高さ検出値が一致する
ように、制御部(10)から昇降指令が上昇用駆動部(1
1)又は、下降用駆動部(12)に出力してこれによつて
昇降制御(ポジシヨンコントロール)が行われるもので
ある。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 the lift arm (3).
Are respectively connected to the control section (10), and the height detection value detected by the lift arm angle sensor (S 1 ) is added to the set value set by the operation of the position lever (I 1 ). The control unit (10) sends an elevating command to the ascending drive unit (1
1) Or, the output is output to the descending drive section (12), and the elevation control (position control) is performed by this.
耕深自動制御用として、ボリユームの如きものからなる
耕深設定器(I2)を用いて操作員が設定した耕深設定値
に、対地作業機(2)の耕深センサ(S2)にて検出され
る耕深検出値が一致するまで、上昇用ソレノイド弁(1
3)と下降用ソレノイド弁(14)は、ソレノイド部に加
わる電流量に比例して圧力油の流通開口面積を開閉制御
する比例ソレノイド弁を用いており、耕深設定値に対す
る耕深検出値の差に比例した大きさの制御電流が制御部
(10)から出力し、この制御電流値に比例したパルス幅
のパルス電流が上記ソレノイド弁に加わるように構成し
て対地作業機(2)の昇降動作を為さしめて耕深制御を
行わせている。For automatic control of the working depth, the working depth setting value (I 2 ) made of a volume-like device is used to set the working depth setting value to the working depth sensor (S 2 ) of the ground work machine (2). The solenoid valve for raising (1
3) and the descending solenoid valve (14) use proportional solenoid valves that open and close the flow oil opening area in proportion to the amount of current applied to the solenoid. A control current having a magnitude proportional to the difference is output from the control unit (10), and a pulse current having a pulse width proportional to the control current value is applied to the solenoid valve to raise and lower the ground work implement (2). The operation is performed to control the working depth.
又、図示例の耕深センサ(S2)は、耕土表面に摺接する
カバー(17)の動きを、例えば直線移動型のポテンシヨ
メータ(18)にて検出するようにしたものを用いてお
り、対地作業機(2)の機体後部へ上下回動可能に蝶着
されているリヤカバー(17)は、耕耘作業が行われない
吊上姿勢のときは、吊上ロツド(19)によつて一定の高
さに保持されているが、吊上姿勢から対地作業機(2)
の下降に伴つて接地すると上方へ回動して、この回動位
置に応じた耕深がポテンシヨメータ(18)にて検出され
るのである。Further, the tilling depth sensor (S 2 ) in the illustrated example is one in which the movement of the cover (17) sliding on the surface of the cultivated soil is detected by, for example, a linear movement type potentiometer (18). The rear cover (17) hinged to the rear part of the body of the ground working machine (2) so as to be vertically rotatable is fixed by the lifting rod (19) in the lifting posture in which no tilling work is performed. It is held at the height of the
When it touches the ground as it descends, it turns upward, and the working depth corresponding to this turning position is detected by the potentiometer (18).
又、第1図の実施例図では、ポジシヨン制御と耕深(デ
プス)制御のミツクス制御部を示しているが、前記制御
部(10)はその他のミツクス制御にも適用され、更に
又、ミツクス制御のみに限定されるべきではない。而し
て、この実施例図のミツクス制御は作業モー切換盤
(T)を介して操作される。即ち、この作業モード切換
盤(T)にてポジシヨン制御及び耕深制御に夫々切換え
られるのである。又、運転席近傍には昇降用スイツチ
(S3)が設けられており、之は操作員の手動によつて該
昇降用スイツチ(S3)が操作され、この操作に基いて対
地作業機(2)を昇降せしめるようになつているのであ
る。従つて、対地作業機(2)はポジシヨンレバー
(I1)か、或はこの昇降用スイツチ(S3)を操作員が手
動にて操作することにより、該対地作業機(2)が昇降
する外、耕深制御、ドラフト制御等によつて自動的に昇
降するのである。Further, in the embodiment of FIG. 1, a mix control unit for position control and plowing depth (depth) control is shown, but the control unit (10) is also applied to other mix control. It should not be limited to control only. The mix control of this embodiment is operated via the work mode switching board (T). That is, the work mode switching board (T) can be switched to the position control and the plowing depth control, respectively. Further, a lift switch (S 3 ) is provided near the driver's seat, and the lift switch (S 3 ) is manually operated by an operator, and the ground work machine (S 3 ) is operated based on this operation. 2) can be raised and lowered. Therefore, the ground work machine (2) is lifted or lowered by the operator manually operating the position lever (I 1 ) or the lifting switch (S 3 ). In addition, it automatically moves up and down by controlling the working depth, controlling the draft, and controlling the draft.
而して、前記の通り、操作員がポジシヨンレバー(I1)
又は昇降スイツチ(S3)によつて対地作業機(2)を上
昇位置近傍まで上昇せしめた後、之を手動によつて下降
せしめる場合、ロータリ(20)のリヤカバー(17)が上
端部の蝶着部を介して下方に回動し、耕深センサ(S2)
がつり合つた状態となり、この状態から対地作業機
(2)を下降させるとき、一定時間(約0.3秒〜0.8秒)
該リヤカバー(17)の検出結果を更新しないように前記
制御部(10)に耕深カツト制御部(10a)を設けてあ
る。As described above, the operator operates the position lever (I 1 )
Alternatively, when the ground work implement (2) is lifted up to the vicinity of the lifted position by the lifting switch (S 3 ) and then manually lowered, the rear cover (17) of the rotary (20) has a butterfly at the upper end. Rotate downwards through the attachment, and the working depth sensor (S 2 )
Are in a balanced state, and when the ground work implement (2) is lowered from this state, a fixed time (about 0.3 seconds to 0.8 seconds)
The control section (10) is provided with a plowing depth cut control section (10a) so as not to update the detection result of the rear cover (17).
そこで、この一実施例を第3図のフローチヤートに従つ
て説明する。先づ、ステツプに於て作業モード切換盤
(T)によつて耕深制御作業に切換えられているかどう
かを判断する。そして、耕深制御作業が行われていると
きは、ステツプに於て昇降スイツチ(S3)又はポジシ
ヨンレバー(I1)を操作員が手動にて操作し、対地作業
機(2)を上げ位置近傍まで上昇されたかどうかを判断
する(ステツプ)。もし、上げ位置近傍まで対地作業
機(2)が上昇しておれば、デプス制御無効要求(ステ
ツプ)が前記制御部(10a)からの操作指令によつて
セツトされ、上げ位置とリフトアーム角によつてリフト
アームの動作が決定されて(ステップ)対地作業機
(2)が昇降する。又、前記上昇操作(ステツプ)が
手動で行われ、更に手動にて下降の操作が為されたと
き、ステツプによつてデプス制御無効要求があるかど
うかを判断する。勿隣、このデプス制御無効要求は前記
ステツプと同じく耕深カツト制御部(10a)からの操
作指令が出力して為されるのである。そして、デプス制
御無効要求が為されているときは、ステツプによつて
当該デプス無効要求はリセツトされ、次いでステツプ
によつて一定時間即ち、約0.3秒〜0.8秒間、前記デプス
無効要求によつて耕深制御がカツトされ、従つて、前記
の一定時間は耕深制御が行われないので、たとえ、対地
作業機(2)の下降中、リヤカバー(17)が不安定な揺
動作をしても、このリヤカバー(17)の動作は耕深セン
サを全く作動させず、従つて、対地作業機(2)のハン
チング現象等は全く生ぜず、リヤカバー(17)及び対地
作業機(2)も円滑に着地でき、そして、ステツプに
より前記一定時間が経過したとき、タイマーのカウント
は停止され、その後は耕深制御によるロータリ作業に移
行できるようになるのである。Therefore, this embodiment will be described with reference to the flow chart of FIG. First, it is determined in step whether or not the working mode switching board (T) has switched to the working depth control work. When the working depth control work is being performed, the operator manually operates the lifting switch (S 3 ) or the position lever (I 1 ) at the step to raise the ground work implement (2). It is judged whether or not the position has been raised close to the position (step). If the ground work implement (2) is raised to the vicinity of the raised position, a depth control invalidation request (step) is set by an operation command from the control unit (10a), and the lift position and the lift arm angle are set. Therefore, the operation of the lift arm is determined (step), and the ground work machine (2) moves up and down. When the ascending operation (step) is manually performed and further the descending operation is manually performed, it is determined by the step whether or not there is a depth control invalidation request. Needless to say, this depth control invalidation request is made by outputting an operation command from the tilling depth cut control section (10a) as in the step. When the depth control invalidation request is made, the depth invalidation request is reset by the step, and then the depth invalidation request is cultivated by the step for a fixed time, that is, for about 0.3 seconds to 0.8 seconds. Since the depth control is cut off, and therefore the plowing depth control is not performed for the above-mentioned fixed time, even if the rear cover (17) makes an unstable rocking motion while the ground work implement (2) is descending. The operation of the rear cover (17) does not operate the plowing depth sensor at all, and accordingly, the hunting phenomenon of the ground working machine (2) does not occur at all, and the rear cover (17) and the ground working machine (2) land smoothly. Then, when the fixed time has elapsed by the step, the counting of the timer is stopped, and thereafter, it becomes possible to shift to the rotary work by the plowing depth control.
尚、詳述すれば、対地作業機(2)を手動作によつて上
げ位置近傍まで上げ、そして、同じく手動作によつて下
降させる場合、一旦上方に吊上げられたリヤカバー(1
7)は一定の傾き角度となつて耕深センサ(S2)は殆ど
作動しない状態となるが、この状態より対地作業機
(2)が下降されるとき、リヤカバー(17)は慣性又は
風圧等によつて蝶着部を介し回動上昇し、或はその自重
によつて回動下降することがある。このようにリヤカバ
ー(17)が揺動し、不安定な動きを生じるが、この不安
定な動きに基いて耕深センサ(S2)が作動し、制御部
(10)からの昇降指令が出力すれば、対地作業機(2)
はその下降中に所謂ハンチング現象を惹き起してしまう
のである。In more detail, when the ground work implement (2) is manually moved up to a position near the raised position and is also lowered manually, the rear cover (1
7) has a constant inclination angle and the working depth sensor (S 2 ) is almost inoperative, but when the ground working machine (2) is lowered from this state, the rear cover (17) has inertia or wind pressure. Therefore, there is a case where it is rotated upward through the hinged portion, or it is rotated downward due to its own weight. In this way, the rear cover (17) oscillates and causes unstable movement. The plowing depth sensor (S 2 ) operates based on this unstable movement, and the lifting command from the control unit (10) is output. Ground work machine (2)
Causes a so-called hunting phenomenon during its descending.
そこで、この実施例に於ては前記のように、対地作業機
(2)が手動によつて下降するとき、一定の時間即ち0.
3秒〜0.8秒の時間帯に限つて耕深センサ(S2)に基く耕
深制御をカツトしたのである。そして、このデプス制御
無効要求時間である一定時間は、対地作業機(2)の重
量と油圧昇降機構(9)の流路抵抗によつて決まるもの
であり、通常重い対地作業機(2)ほど吊上げ上方位置
から地表まで速く降下する傾向にあるから、重い対地作
業機(2)ほど一定時間を短く設定できる。そして、こ
の一定時間が経過した後、即ち、殆ど対地作業機(2)
がその下降中、ハンチング現象を起す憂のない位置まで
該対地作業機(2)を下降させ、その後、当該デプス制
御無効要求を停止し、耕深制御によるロータリ作業に移
行することができるのである。而して、之等の作動手順
は第3図のフローチヤートによつて理解できる。Therefore, in this embodiment, as described above, when the ground work implement (2) is manually lowered, it takes a certain time, that is, 0.
The plowing depth control based on the plowing depth sensor (S 2 ) was cut only in the time zone of 3 seconds to 0.8 seconds. The fixed time, which is the depth control invalidation request time, is determined by the weight of the ground work implement (2) and the flow path resistance of the hydraulic lifting mechanism (9). Since there is a tendency to quickly descend from the upper position of hoisting to the surface of the earth, the fixed time can be set shorter for a heavy ground work implement (2). After this fixed time has passed, that is, almost all the ground working machine (2)
During the descent, the ground work implement (2) is lowered to a position where there is no fear of causing a hunting phenomenon, then the depth control invalidation request is stopped, and it is possible to shift to rotary work by the working depth control. . Thus, the operation procedure of them can be understood by referring to the flow chart of FIG.
この発明は前項の一実施例に於て詳細せる如く、対地作
業機によるデプス作業中、自動耕深モードで対地作業機
を降下せたときに、リヤカバーがハンチングを生じるこ
とがなく、円滑に該対地作業機を下降させることができ
て作業能率を高めることが可能となる。As described in detail in one embodiment of the preceding paragraph, when the ground work implement is lowered in the automatic plowing mode during the depth work by the ground work implement, the rear cover does not cause hunting and smoothly It is possible to lower the ground work machine and improve work efficiency.
図は本発明の一実施例を示し、第1図は制御部のブロツ
ク図、第2図は対地作業機を取付けたトラクタの側面
図、第3図はフローチヤートである。 符号説明 (1)……トラクタ、(2)……対地作業機 (3)……リフトアーム、(4)……リフトロツド (5)……ロワーリンク、(6)……トツプリンク (7)……作業機連結リンク、(8)……リフトシリン
ダ (9)……油圧昇降機構、(10)(10a)……制御部 (11)……上昇用駆動部、(12)……下降用駆動部 (13)……上昇用比例ソレノイド (14)……下降用比例ソレノイド (15)……ポンプ (I1)……ポジシヨンレバー (I2)……耕深設定器 (S1)……リフトアーム角センサ (S2)……耕深センサ (T)……作業モード切換盤FIG. 1 shows an embodiment of the present invention, FIG. 1 is a block diagram of a control unit, FIG. 2 is a side view of a tractor to which a ground work implement is attached, and FIG. 3 is a flow chart. Explanation of code (1) …… Tractor, (2) …… Ground work machine (3) …… Lift arm, (4) …… Lift rod (5) …… Lower link, (6) …… Toplink (7)… … Work machine connection link, (8) …… Lift cylinder (9) …… Hydraulic lifting mechanism, (10) (10a) …… Control unit (11) …… Rise drive unit, (12) …… Driving drive Part (13) …… Raising proportional solenoid (14)… Descent proportional solenoid (15) …… Pump (I 1 ) …… Position lever (I 2 ) …… Tillage depth setting device (S 1 ) …… Lift arm angle sensor (S 2 ) …… Plowing depth sensor (T) …… Work mode switching board
Claims (1)
昇降自在に連結されている対地作業機の耕深を検出する
耕深センサを備え、この耕深センサによる検出値と、耕
深設定器によって設定された値との差に応じて昇降動作
を為すようにすると共に、前記対地作業機の機体後部へ
上下回動可能に螺着され、且つ、耕土表面に摺接するよ
うに形成されたリヤカバーの回動位置に応じて前記耕深
センサが耕深を検出するように構成されて成るデプス制
御部を有するトラクタに於て、最大上昇位置付近まで吊
り上げた対地作業機を降下させた場合に、前記リヤカバ
ーの揺動に基づく対地作業機の上昇出力を一定時間に限
り牽制する手段を設けたことを特徴とする対地作業機の
デプス制御装置。1. A rear part of the tractor is provided with a tilling depth sensor for detecting a working depth of a ground working machine which is vertically movable by a hydraulic lifting mechanism, and a detection value by the tilling depth sensor and a tilling depth setting device are provided. The rear cover is formed so as to move up and down according to the difference from the set value, is screwed to the rear part of the body of the ground working machine so as to be vertically rotatable, and is formed so as to be in sliding contact with the cultivated soil surface. In a tractor having a depth control unit configured such that the tilling depth sensor detects the tilling depth in accordance with the rotating position, when the ground work implement that has been lifted to the vicinity of the maximum rising position is lowered, A depth control device for a ground work machine, comprising means for restraining the rising output of the ground work machine based on the swing of the rear cover for a fixed time.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22516586A JPH073B2 (en) | 1986-09-24 | 1986-09-24 | Depth control device for ground work machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP22516586A JPH073B2 (en) | 1986-09-24 | 1986-09-24 | Depth control device for ground work machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6379512A JPS6379512A (en) | 1988-04-09 |
JPH073B2 true JPH073B2 (en) | 1995-01-11 |
Family
ID=16824959
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP22516586A Expired - Fee Related JPH073B2 (en) | 1986-09-24 | 1986-09-24 | Depth control device for ground work machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH073B2 (en) |
-
1986
- 1986-09-24 JP JP22516586A patent/JPH073B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPS6379512A (en) | 1988-04-09 |
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