JPH0746927B2 - Automatic tillage depth control device for tractors - Google Patents
Automatic tillage depth control device for tractorsInfo
- Publication number
- JPH0746927B2 JPH0746927B2 JP63333680A JP33368088A JPH0746927B2 JP H0746927 B2 JPH0746927 B2 JP H0746927B2 JP 63333680 A JP63333680 A JP 63333680A JP 33368088 A JP33368088 A JP 33368088A JP H0746927 B2 JPH0746927 B2 JP H0746927B2
- Authority
- JP
- Japan
- Prior art keywords
- depth
- cover
- target
- speed
- lift arm
- 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 - Lifetime
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、ロータリ耕耘装置の後部に設けた後カバー
の揺動角をカバーセンサで検出し、このカバーセンサで
検出された耕深が耕深設定器で設定された目標耕深範囲
内に維持されるようにカバーセンサからの検出結果に基
づいてリフトアームを昇降制御するよう構成したトラク
タの自動耕深制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention detects a swing angle of a rear cover provided at a rear portion of a rotary tiller with a cover sensor, and the plowing depth detected by the cover sensor is used for plowing. The present invention relates to an automatic tilling depth control device for a tractor configured to control a lift arm to move up and down based on a detection result from a cover sensor so as to be maintained within a target tilling depth range set by a depth setter.
一般に上記自動耕深制御装置においては、実耕深が目標
耕深から外れた際に可及的速やかに目標耕深に近づける
ために、目標耕深と検出耕深との偏差が大きいほどリフ
トアームの昇降速度を増大するように目標昇降速度を演
算決定する手段がとられている。Generally, in the above automatic tillage depth control device, in order to bring the actual tillage depth close to the target tillage depth as soon as possible when the actual tillage depth deviates from the target tillage depth, the larger the deviation between the target tillage depth and the detected tillage depth, the larger the lift arm. Means for calculating and determining the target ascending / descending speed is adopted so as to increase the ascending / descending speed of the.
しかし、従来手段においては、トラクタの走行速度が速
い場合に後カバーの動きが激しくなるために、単に耕深
偏差だけで目標昇降速度を決定すると、昇降制御が遅れ
気味となり、耕深跡にうねりが生じやすいものであっ
た。又、凹凸の激しい圃場での圃場面に対する追従性が
低下するものであった。However, in the conventional means, when the traveling speed of the tractor is high, the movement of the rear cover becomes vigorous, so if the target raising / lowering speed is determined only by the plowing depth deviation, the raising / lowering control will tend to be delayed, and the undulating undulation will be undulated. Was likely to occur. In addition, the ability to follow a field scene in a field with severe unevenness was deteriorated.
本発明はこのような不都合を解消することを目的とす
る。The present invention aims to eliminate such inconvenience.
上記目的を達成するための本発明特徴構成は、目標耕深
と検出耕深との偏差が大きいほどリフトアームの昇降速
度を増大し、かつ、カバーセンサの作動スピードが大き
いほどリフトアームの昇降速度を増大するようにリフト
アーム目標昇降速度を演算決定する手段を備えてある点
にある。The characteristic configuration of the present invention for achieving the above-mentioned object is to increase the lifting speed of the lift arm as the deviation between the target plowing depth and the detected plowing depth increases, and to increase the lifting speed of the lift arm as the cover sensor operating speed increases. Is provided so that the target lifting speed of the lift arm can be calculated and determined so as to increase.
上記構成によると、耕深偏差が大きい程、かつ、カバー
センサの作動速度が速くなるほどリフトアーム昇降速度
が増大されることになるので、トラクタを高速走行させ
ての耕深作業時や凹凸の激しい圃場での耕深作業時に
は、定速走行時や平坦圃場の場合に比較して速いリフト
アーム昇降速度での昇降制御が行われる。According to the above configuration, the lift arm up-and-down speed increases as the working depth deviation increases and the cover sensor operating speed increases. During plowing work in the field, ascending / descending control is performed at a higher lift arm ascending / descending speed than when traveling at a constant speed or in a flat field.
その結果、高速走行時でも昇降制御の遅れによるうねり
の発生が抑えられ仕上りのよう耕耘整地が行えるととも
に、凹凸の激しい圃場での圃場面への追従性が向上し
た。As a result, undulation due to delay in lifting control was suppressed even at high speeds, and cultivated land could be cultivated like finishing, and the ability to follow field scenes in fields with severe unevenness was improved.
以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第３図に示すように、トラクタ本機（１）の後部に連結
されたロータリ耕耘装置（２）は、油圧シリンダ（３）
で駆動されるリフトアーム（４）によって駆動昇降され
る。そして、ロータリ耕耘装置（２）には、接地追従す
る後カバー（５）が上下揺動自在に取付けられるととも
に、この後カバー（５）の揺動角を連続的に検出するカ
バーセンサ（６）は備えられている。As shown in FIG. 3, the rotary tiller (2) connected to the rear part of the tractor main unit (1) includes a hydraulic cylinder (3).
It is driven up and down by a lift arm (4) driven by. A rear cover (5) that follows the ground is swingably attached to the rotary tiller (2), and a cover sensor (6) that continuously detects the swing angle of the rear cover (5). Is provided.
第２図に示すように、前記油圧シリンダ（３）の作動を
司どる電磁式の制御弁（７）は、前記カバーセンサ
（６）からの信号として検出された実耕深が、耕深設定
器（８）からの信号として設定された目標耕深（不感帯
を含む）と等しくなるように制御機構（９）を介して駆
動制御されるものであり、その制御フローチャートが第
１図に示される。As shown in FIG. 2, in the electromagnetic control valve (7) that controls the operation of the hydraulic cylinder (3), the actual plowing depth detected as a signal from the cover sensor (6) is set to the plowing depth setting. Drive control is performed via the control mechanism (9) so as to be equal to the target tilling depth (including the dead zone) set as a signal from the vessel (8), and its control flowchart is shown in FIG. .
自動耕深制御が開始されると、先ずカバーセンサ（６）
から検出信号の変化率、つまりカバーセンサ（６）の作
動スピード（カバースピード）が演算される。When the automatic plowing control is started, first, the cover sensor (6)
From this, the rate of change of the detection signal, that is, the operating speed (cover speed) of the cover sensor (6) is calculated.
次に、このカバースピードに基づいて不感帯シフト量の
演算が行われる。そして、このシフト量はカバースピー
ドに定数K1を乗じたものとして与えられる。Next, the dead zone shift amount is calculated based on this cover speed. Then, this shift amount is given as the cover speed multiplied by a constant K 1 .
次に、カバーセンサ（６）の変化方向から後カバー
（５）の上昇又は下降が判断され、耕深が深くなって後
カバー（５）が上昇したときには、制御不感帯位置を前
記シフト量でもって「浅い」側へシフトし、又、耕深が
浅くなって後カバー（５）が下降したときには制御不感
帯位置を前記シフト量でもって「深い」側へシフトす
る。Next, when it is determined that the rear cover (5) is going up or down from the changing direction of the cover sensor (6) and the plowing depth becomes deep and the back cover (5) rises, the control dead zone position is set to the shift amount. When the rear cover (5) is shifted to the "shallow" side and the plowing depth becomes shallow and the rear cover (5) is lowered, the control dead zone position is shifted to the "deep" side by the shift amount.
つまり、カバースピードが大きくなるほど見かけ上では
目標耕深に対する検出耕深との偏差を大きくなるのであ
る。In other words, the larger the cover speed, the larger the apparent difference between the target tillage depth and the detected tillage depth.
次に、不感帯がシフトされた目標耕深とカバーセンサ
（６）で検出された耕深の偏差が演算され、この偏差に
基づいてリフトアーム（４）の目標昇降速度が演算され
る。この場合、目標昇降速度は定数K2×（耕深偏差）と
して演算されるが、この耕深偏差は先にカバースピード
に対応して修正されているので、目標昇降速度は、定数
K2×（真の耕深偏差）＋定数K3×（カバースピード）と
なる。Next, the deviation between the target tilling depth with the dead zone shifted and the tilling depth detected by the cover sensor (6) is calculated, and the target ascending / descending speed of the lift arm (4) is calculated based on this deviation. In this case, the target ascending / descending speed is calculated as a constant K 2 × (deep plowing deviation), but since this plowing depth deviation has been corrected in advance corresponding to the cover speed, the target ascending / descending velocity is a constant.
K 2 × (true tillage depth deviation) + constant K 3 × (cover speed).
そして、その耕深偏差が不感帯内に収まるように制御弁
（７）に制御信号が出力される。Then, a control signal is output to the control valve (7) so that the tilling depth deviation falls within the dead zone.
尚、リフトアーム（４）の昇降速度は制御弁（７）の間
欠制御におけるデューティー比の変更によって行われ
る。The lift speed of the lift arm (4) is changed by changing the duty ratio in the intermittent control of the control valve (7).
図面は本発明に係るトラクタの自動耕深制御装置の実施
例を示し、第１図は制御フローチャート、第２図は制御
装置の概略構成図、第３図はトラクタ後部の側面図であ
る。 （２）……ロータリ耕耘装置、（４）……リフトアー
ム、（５）……後カバー、（６）……カバーセンサ。The drawings show an embodiment of an automatic tilling depth control device for a tractor according to the present invention. Fig. 1 is a control flowchart, Fig. 2 is a schematic configuration diagram of the control device, and Fig. 3 is a side view of the rear part of the tractor. (2) ... Rotary tiller, (4) ... lift arm, (5) ... rear cover, (6) ... cover sensor.
Claims (1)
カバー（５）の揺動角をカバーセンサ（６）で検出し、
このカバーセンサ（６）で検出された耕深が耕深設定器
（８）で設定された目標耕深範囲内に維持されるように
カバーセンサ（６）からの検出結果に基づいてリフトア
ーム（４）を昇降制御するよう構成したトラクタの自動
耕深制御装置であって、目標耕深と検出耕深との偏差が
大きいほどリフトアーム（４）の昇降速度を増大し、か
つ、カバーセンサ（６）の作動スピードが大きいほどリ
フトアーム（４）の昇降速度を増大するようにリフトア
ーム目標昇降速度を演算決定する手段を備えてあるトラ
クタの自動耕深制御装置。1. A cover sensor (6) detects a swing angle of a rear cover (5) provided at a rear portion of a rotary tiller (2),
Based on the detection result from the cover sensor (6) so that the working depth detected by the cover sensor (6) is maintained within the target working depth range set by the working depth setting device (8), 4) An automatic tilling depth control device for a tractor configured to control the raising and lowering of the lift arm (4) as the deviation between the target tillage depth and the detected tillage depth increases, and the cover sensor ( An automatic tilling depth control device for a tractor, which is provided with means for calculating and determining a lift arm target lifting speed so that the lifting speed of the lift arm (4) increases as the operating speed of 6) increases.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63333680A JPH0746927B2 (en) | 1988-12-28 | 1988-12-28 | Automatic tillage depth control device for tractors |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63333680A JPH0746927B2 (en) | 1988-12-28 | 1988-12-28 | Automatic tillage depth control device for tractors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02177809A JPH02177809A (en) | 1990-07-10 |
| JPH0746927B2 true JPH0746927B2 (en) | 1995-05-24 |
Family
ID=18268766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63333680A Expired - Lifetime JPH0746927B2 (en) | 1988-12-28 | 1988-12-28 | Automatic tillage depth control device for tractors |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0746927B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4944712B2 (en) * | 2007-08-30 | 2012-06-06 | 株式会社クボタ | Work vehicle attitude change structure for work vehicles |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5369111A (en) * | 1976-11-30 | 1978-06-20 | Kubota Ltd | Farm working machine for soil |
| JPS59216502A (en) * | 1983-05-25 | 1984-12-06 | 井関農機株式会社 | Automatic lift controller of earth working machine |
-
1988
- 1988-12-28 JP JP63333680A patent/JPH0746927B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02177809A (en) | 1990-07-10 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
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|
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