JPH08187010A - Tilling device - Google Patents

Abstract

PURPOSE: To enable the automatic slide of a rotary working machine to the opposite side against the previous process by lifting the rotary working machine to the non-tillage position when arrived at a butt of a field and turning the direction of the tractor there. CONSTITUTION: This tilling device has a tractor provided with a tillage rotary working machine in a freely liftable and laterally slidable manner. The tilling device is provided with a controller 77 capable of automatically sliding in an interlocked state with the lifting of the rotary working machine to the non- tillage position. By the automatic sliding, the rotary working machine changes its position to the opposite side against the previous process by about the same amount as that of the sliding change toward the tilled area in the previous process.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tilling device for pulling a tilling rotary working machine or a plow for performing tilling work by a tractor.

[0002]

2. Description of the Related Art Conventionally, a tilling rotary working machine or a plow is installed on the rear side of a tractor so as to be able to move up and down, and this rotary working machine is used to perform tilling work. However, the tractor traveling speed during the tilling work is increased. It was desired to finish the work as soon as possible.

[0003]

The above-mentioned prior art can improve the efficiency of tilling work by increasing the traveling speed. However, when the tractor is turned in the headland of the field, the steering wheel and the brake pedal are used. In addition to each of the above operations and the rotary work machine raising operation, it is necessary to operate the accelerator lever or the speed change lever to reduce the traveling speed, and slide the tractor to the side of the cultivated land to support the rotary work machine and perform cultivating work. If this is done, it is necessary to slide the rotary working machine to the opposite side when changing the direction in the field headland and performing the next process work. However, if the operator performs each of the above operations to reduce the traveling speed and change the direction, and the rotary working machine is slid to the opposite side, the operation in the field headland tends to be complicated. Further, the deceleration timing of the traveling speed for changing the direction or the timing of stopping and resuming the plowing work may be earlier or later, and the headland width may be unevenly formed. Generally, a headland width that is less than or equal to the size that allows plowing with one reciprocation of the tractor is preferable, but if the traveling speed is decelerated faster than necessary, the headland width is formed larger than the width necessary for turning,
When the time to reach the headland becomes long and the work efficiency decreases, and when the timing of decelerating the traveling speed is delayed, the tractor approaches the edge of the field more than the width necessary for turning. However, it becomes impossible to change the direction only by moving forward, and it is necessary to change the direction by moving forward and backward. As described above, by increasing the traveling speed during the plowing work, there arises a problem that the direction changing operation of the tractor cannot be easily performed in the field headland.

[0004]

SUMMARY OF THE INVENTION However, the present invention is directed to a cultivating device in which a cultivating rotary working machine is mounted on a tractor so as to be vertically movable and left and right slidable, and the rotary working machine is moved to a non-cultivating working position. A controller that automatically performs a sliding operation that displaces the rotary working machine on the other side by an amount that is approximately equal to the slide displacement on the cultivated land side in the previous process in conjunction with the controller is provided.
When the rotary working machine is automatically slid to the opposite side (inward of turning) by raising the rotary working machine to the non-cultivating working position, when performing the next step work by changing the direction of the tractor on the field headland. , It is possible to omit the manual operation of sliding the rotary working machine to the side opposite to the previous step, and to easily simplify the operation operation to change the direction in the field headland, and to always form the field headland with a substantially constant width. It is possible to perform plowing work.

[0005]

Embodiments of the present invention will now be described in detail with reference to the drawings. 1 is a side view of the entire tilling control circuit, FIG. 2 is a side view of the whole, FIG. 3 is a plan view of the same, and FIG. 4 is a side view of the rotary working machine section. In the figure, (1) is a tractor, and left and right front running wheels (4) and (4) are installed on both sides of a bonnet (3) in which an engine (2) is installed, and a steering handle is provided at the rear of the bonnet (3). (5) is provided, the driver's seat (6) is installed behind the steering wheel (5), and the left and right rear running wheels (7) and (7) are installed outside both sides of the driver's seat (6). (6) Dispose the left and right brake pedals (9) and (9) and the clutch pedal (10) in the front step (8),
The worker is configured to sit on the driver's seat (6) and travel.

Further, a tillage rotary working machine (1) is mounted on a mission case (11) for driving the traveling wheels (4) and (7) via a lower link (12) and a top link (13).
4) is attached and the working machine (14) is mounted on the rear side of the tractor (1) so as to be able to move up and down.
5), a position control lever (16) for manually raising and lowering the working machine (14), and an up-and-down switch (17) for raising and lowering the working machine (14) to a non-work raising position and a plowing work lowering position by one-touch operation. ) Is arranged on the right side of the driver's seat (6), and the auxiliary traveling speed change lever (18) and the PTO speed change lever (19) for changing the output to the working machine (14) are installed in the driver's seat (6). Place it on the left side.

Further, as shown in FIGS. 4 to 7, a gear box (20) is arranged at the center of the working machine (14),
Power is transmitted from the PTO shaft (21) of the tractor (1) and the beam (2) is applied to both sides of the gearbox (20).
2) is protruded, and a support plate (23) is provided in the middle of each of the beams (22), and the support plate (23) is provided.
The lower link (12) is connected to the front end of the support plate (23), the front end of the depth frame (24) is pivotally supported to the rear end of the support plate (23), and the left and right tail wheels (2) are attached to the rear end side of the depth frame (24).
5) (25) is provided.

An upper part of the chain case (26) and an upper part of the side support (27) are fixed to the outer end of the beam (22), and the plow shaft (28) is provided between the lower part of the chain case (26) and the lower part of the side support (27). ) Is horizontally installed, and a large number of rotary claws (29), which are nata claws, are radially planted on the plowing claw shaft (28) in a side view, and the upper part of the rotary claw (29) is rotated. Rotary cover (3
0) and both sides are covered by side covers (31). The tiller claw shaft (28) is driven through the gear in the gear box (20), the transmission shaft in the beam (22), the sprocket and the chain in the chain case (26), and the rotary claw (29) ... It can be cultivated by rotating the handle and the handle (3
By the rotating operation of 2), the rotary cover (30) can be rotated back and forth around the axis of the tillage claw shaft (28).

Then, a plate (33) fixed to the beam (22) is provided so as to project forward, and the plate (33) is provided.
A support rod (34) is horizontally mounted on the front end, and a mounting plate (35) is fixed to the support rod (34).
The upper part of the cutting blade (36) is fixed to 5). In addition,
Four cutting blades (36) are attached to the outer side of the lower link (12) in the left-right width direction, and the middle portion of the cutting blade (36) is curved backward and inclined forward and backward.
The linear lower part of 6) is made to incline rearward in the front part of the rotation locus of the rotary claw (29). That is, the lower part of the cutting blade (36) is arranged so as to overlap with the front part of the rotational trajectory of the rotary claw (29) in a side view, and the cutting blade (36) and the rotary claw (2 adjacent to the cutting blade (36) are arranged.
The space in 9) in the left-right direction is narrowed to prevent residual cultivation. However, the outer two cutting blades (36) (36) are provided between the rotary claw (29) and the eccentric claw (37). A partition plate (38) is arranged between the rear surface of the cutting blade (36) and the rotary cover (30). That is, the partition plate (38) is fixed to the back surface of the cutting blade (36),
The partition plate (38) is brought close to the rotary cover (30) so that straw, weeds, etc. do not get in and get entangled. Further, the partition plate (38) is formed in a triangular shape, the upper side of which fits the inner shape of the rotary cover (30) and the front side of which fits closely to the shape of the rear surface of the cutting blade (36). The rear side is arcuate and has a shape that guides straw and the like downward. And the partition plate (3
The width (plate thickness) of 8) is made narrower than the width of the cutting blade (36),
I try not to get entangled with straw and weeds.

Further, the rear end of the rotary cover (30) above the rotary claw (29) is connected with a first steel plate rear cover (40) through a first fulcrum shaft (39) so as to be swingable in the vertical direction. 1 The rear end of the rubber second rear cover (41) is fixed to the rear end of the rear cover (40), and the flattened space (4
The front end of the third rear cover (43) made of a steel plate is fixed to the rear end of the second rear cover (41) forming (2), and the second fulcrum shaft (44) and the third rear cover (at the rear end of the first rear cover (40) are fixed. 43) The third fulcrum shaft (45) at the front end is connected by a pair of left and right links (46) (46), and a fourth fulcrum shaft (47) is provided substantially coaxially with the third fulcrum shaft (45).
The lower end of the first suspension rod (48) is connected to the fourth fulcrum shaft (47), and the pair of left and right second suspension rods (50) is connected to the fifth fulcrum shaft (49) at the rear end of the third rear cover (43). The lower ends are connected to each other, and the upper ends of the first and second suspension rods (48) (50) are attached to the support body (51) of the first rear cover (40) so that the suspension rods (48) (50) can be moved up and down. And a third rear cover (43) form a side view triangle, and the second, third and fifth fulcrum shafts (44) (45) (49).
A side view triangle is formed by a line connecting the two fulcrums, and the third rear cover (43) is moved upward about the second fulcrum shaft (44) or the third fulcrum shaft (45) to move the second fulcrum shaft (4
4) and suspension rods (48) (50) of the support (51)
A third rear cover (the forward movement of which is restricted by downward bulging of each rod (48) (50) by the operation of both lever mechanisms of the cover (43) and each rod (48) (50) with the connecting portion as a fulcrum. 43) is moved rearward and upward to perform a floating operation in which both sides of the third rear cover (43) move back and forth in plan view. In addition, the fifth fulcrum axis (4
9) and a pair of left and right gas dampers (52) are connected between the support body (51) of the first rear cover (40). A gas damper (52) capable of obtaining a substantially constant spring constant for the entire stroke and forming a large stroke. ), The third rear cover (43) is supported, and even if the tractor (1) is tilted to the left and right, the tilling surface can be leveled by evenly pressing the third rear cover (43) to the left and right.

Further, the upper end side of the suspension rods (48) (50) is loosely fitted and inserted into the bearing bodies (53) of the support bodies (51), and abutted on the upper surface side of the bearing bodies (53). (5
4) are planted in the rods (48) (50) to prevent the rods (48) (50) from being pulled out downwardly, restrict the forward movement of the third rear cover (43), and prevent the springs (55) ( 55) wound with a pair of left and right rods (5
6) The lower end of (56) is connected to the upper surface of the first rear cover (40), and the upper end of the rod (56) is attached to the rotary cover (3).
No. 0) is slidably attached to the support body (57) and the first rear cover (40) is elastically pressed downward by the spring (55).

A rake support body (58) is detachably fixed to the upper surface of the third rear cover (43), and a rake (59) fixed to the support body (58) extends behind the third rear cover (43). A support body (51) to which the second suspension rod (50) upper end side is attached while being extended.
The upper end of the gas damper (52) is connected to the shaft (60) of the second damper, the second suspension rod (50) and the gas damper (52) are provided as close to each other as possible and substantially parallel to each other, and after the depth frame (24). A pair of left and right tail wheels (25) (25) are attached to the ends through a support frame (61), and left and right tail wheels (2
5) The rake (59) is arranged between the (25), and the tail wheel (25) prevents the rake (59) from colliding with a ridge or the like at the time of heading direction change, and while traveling on the road or The tail wheel (25) is also used as a bumper on the left and right outside of the rake (59) for maintenance work such as lifting up.

Furthermore, the first fulcrum shaft (39) is attached at a position substantially the same as or higher than the upper end of the rotary locus of the rotary claw (29), and the rear cover is centered on the first fulcrum shaft (39) during the plowing work. As (40), (41) and (43) rise, a large-area equalizing space (42) is formed below the rear covers (40), (41) and (43) behind the rotary locus of the rotary pawl (29). Rear cover (40) (4
1) (43) pushes the soil forward with rotary claws (2
9) Prevents reaching the soil flip-up part and increases the tilling load of the rotary claw (29) due to the plowing work at high speed. During the plowing work, the rotary claw (29) is pulled out to the ground. The rear covers (40), (41) and (43) are lifted by the cultivated soil and arranged on an arc line having a radius centered on the point (A) at which the rotary claw (29) rotates about 50% or more of its area. Leveled space (42)
The rotary claw (29) rotation locus rear side and rear cover (4
0) (41) (43), small pieces such as fine or light clods are scattered by the rotary claws (29) to a high position on the lower surface of the rotary covers (40) (41), resulting in large clods or heavy clods. Alternatively, large pieces such as stumps (rice plants) are scattered to a lower position by the rotary claws (29), and the small pieces are in the upper layer and the large pieces are in the lower layer due to the specific gravity separating action due to the scattering of the rotary claws (29).
The small objects in the upper layer are leveled by the rear covers (41) and (43), and the large objects are pushed further downward by the rear rake (59). Therefore, the air permeability and water permeability of the large soil can be maintained well by the large soil, and the surface layer of the soil can be formed by the small soil in a state suitable for sowing or seedling transplantation.

Further, four rotary pawls (29) are arranged at intervals of 90 degrees on the same circumference with the cultivating pawl shaft (28) as the center.
Are attached, and the front ends of the rotary claws (29) are alternately bent in the left-right direction, and the rotary claws (29) are arranged in a row of four on the plane orthogonal to the plow claw shafts (28). ) A plurality of rows are provided in the axial center line direction, and a gap is provided between the tip loci of the rotary pawls (29) (29) facing each other in the left-right direction, and the left and right lateral bending widths of the rotary pawls (29) are set to about the tip locus gap. It is twice the size, and the rotary pawl (2
9) (29) The rotary claw (29) is formed so that the base end interval is about 5 times larger than the tip locus clearance. Further, the rotary claw (29) is curved in a scooping shape after the soil is cut off, and the horizontal component force of the curved tip of the rotary claw (29) pushes the soil laterally and the rotary claw (29). ) By the lateral repulsive force of elastic deformation, the scooping soil is extruded in a lateral direction substantially parallel to the axis of the tilling claw shaft (28),
Left and right rotary claws (29) (29) The structure that crushes the soil in the gap of the tip locus of the tip locus to prevent the residual plow from being formed.
Percentage of rotary pawls (29) ... are attached, the rotational speed of the rotary pawls (29) is made substantially the same as the conventional rotational speed (about 200 to 400 rotations per minute), and the traveling speed of the tractor (1) is conventional. Traveling speed (about 0.5 per second
It is about twice as much as the meter), and the working efficiency is about twice as much as that in the conventional case without increasing the tilling load, so that the tilling work can be performed. In addition, the rotary claw (2
The cutting blade (36) is thrust into the soil at a position overlapping with the soil plunging point of 9) in a side view, and the soil plunging portion of the cutting blade (36) is obliquely supported rearward, and the cutting blade (36). ) The left and right surfaces of the cutting blade (36) are formed as flat planes having a width, and the pulling force causes the cutting blade (36) to enter the soil downwardly, and the soil to be cut presses the cutting blade (36) side surface due to the restoring force. But,
The reaction force of the inrush resistance generated by the removal resistance of the cutting blade (36) is approximately equal to or slightly larger than the reaction force of the inrush resistance of the rotary claw (29). This prevents the entire tillage rotary working machine (14) from being lifted upward, and the rotary claw (29) is configured to reduce the impact generated by the plunge into the soil. In addition, on the rear side of the tillage claw shaft (28), a reaction force (lifting force) of the leveling force of the rear covers (40) (41) (43).
A reaction force of the withdrawal force of the rotary claw (29) is generated in opposition to and the balance of each reaction force stabilizes the tilling posture.

Further, as shown in FIGS. 3, 7 and 8, the beam (22) is slidably attached to the support plate (23) through the receiving tube (62) in the left-right direction, and is attached to the tractor (1). On the other hand, the rotary working machine (14) is mounted so as to be slidable in the left-right direction, and the receiving cylinder (62) is provided with a hydraulic slide cylinder (63).
The piston (64) of 3) is connected to the side support (27), and the rotary working machine (14) is slid left and right by advancing and retracting the piston (64). Further, a potentiometer type slide sensor (66) and a sensor arm (67) are provided on the front end of the right upper surface of the rotary cover (30) via a sensor base (65), and the side surface of the ridge (68) formed of a concrete block or the like. The tip of the sensor arm (67) is slidably brought into contact with, and the slide sensor (66) is operated in conjunction with the swing of the sensor arm (67) about the fulcrum shaft (69), and the ridge (6
The slide sensor (66) is used to detect contact and separation of the right side surface of the rotary working machine (14) with respect to 8).

Further, as shown in FIG. 1, the engine (2)
High-speed tilling switch (70) for maintaining high rotation and performing high-speed tilling work, and headland turning switch (71) for lowering the engine (2) rotation by raising the non-tilling work position of the rotary working machine (14), and raising and lowering A rotary working machine (14) via a switch (17), an engine output circuit (73) for operating a speed governing motor (72) of an electronic governor for increasing and decreasing the number of revolutions of the engine (2), and a lower link (12). Lifting circuit (7) for operating an electromagnetic hydraulic lifting valve (75) for controlling a hydraulic lifting cylinder (74) for lifting and lowering
6) is connected to a tilling controller (77) composed of a microcomputer. The rotary working machine (1)
The operation of lowering the engine (2) rotation by raising 4) and raising the engine (2) rotation by lowering is automatically performed.

Further, a potentiometer type lift arm sensor (78) for detecting a supporting height (a tilling work position or a non-tilling work position) of the rotary working machine (14) which is moved up and down by the lifting cylinder (74), and a steering handle. (5)
Changeover switch type steering sensor (79) for detecting the steering operation direction (left turn or right turn) and a variable resistance type ridgeline dial (80) for manually setting the detection reference value of the slide sensor (66). And a slide sensor (66)
A ridge switch (81) for automatically controlling the slide cylinder (63) based on the detection result of, and a slide circuit (83) for operating an electromagnetic hydraulic slide valve (82) for controlling the slide cylinder (63). Connect to the tiller controller (77). Then, as shown in FIG. 9, when performing the reciprocating work in which the tractor (1) is turned in the field headland and moved to the next step, the tractor (1) reaches the headland turning position and the rotary working machine (1
4) When the automatic control for lowering the rotation of the engine (2) by ascending is performed, the rotary working machine (14) is interlocked with the operation of ascending to the non-cultivating working position (the right side in FIG. 9). A sliding operation for displacing the rotary working machine (14) to the other side (left side in FIG. 9) by an amount substantially equal to the slide displacement amount is automatically performed, and the rotary working machine (14) is moved to the opposite side (inward turning). When the tractor (1) is automatically slid and the tractor (1) is turned in the field headland to perform the next step work, the rotary working machine (14) is slid to the side (left side) opposite to the previous step (right side), The rotary working machine (14) is biased and supported on the cultivated land side, the distance between the cultivated land and the tractor (1) is maintained at a predetermined width, and the tractor (1) is configured to travel stably on the uncultivated ground. .

Further, as shown in FIG. 10, when the tractor (1) is moved along the ridge (68) to perform tillage work on the ridge, the slide sensor (66) is slidably contacted with the side surface of the ridge (68). The tractor (1) is run, and the slide sensor (66) is set so that the distance (T) between the ridge (68) and the right side surface of the rotary working machine (14) matches the reference value of the ridge dial (80). The slide cylinder (6
3) is automatically controlled, and the rotary working machine (14) is moved while keeping the interval (T) with the ridge (68) substantially constant to move the ridge (6).
8) It is constructed so as to cultivate the edge.

Further, as shown in FIG. 11, the wheel (84) is attached to the sensor arm (67), the wheel (84) is brought into contact with the side surface of the ridge (68), and the sled type sensor arm (67) of FIG. In place of the wheel (84) -shaped structure, the ridge (6
8) It is possible to detect the distance (T) between the rotary working machine (14) and the ridge (68) by the slide sensor (66) by rolling the wheel (84) on the side surface.

This embodiment is constructed as described above. As shown in the flow chart of FIG. 12, when the high speed tilling switch (70) is turned on and a high speed tilling operation is instructed, the engine (2) runs at maximum speed (high speed). High-speed tillage is performed at about 1.0 meter per second), and when the headland turning switch (71) is turned on, the tractor (1) reaches the field headland and the elevating switch (17) rotates the rotary tractor (1). When the work machine (14) is raised, the lifting valve (7
5) Under control, the elevating cylinder (74) carries out the work implement raising operation to raise the rotary work implement (14) to the non-tiling work position. Further, when the non-tiling work position of the rotary working machine (14) is confirmed by the input of the lift arm sensor (78), the speed reducing motor (72) deceleration control causes the engine (2) rotation speed lowering operation to be performed. ) Decrease the rotation speed by about 30% to reduce the traveling speed suitable for headland turning. Further, when turning in a field headland, the distance between the photoelectric type ridge sensor (85) that detects the distance from the field ridge (68) by light reflection and the distance between the concrete block ridge fence (86) are measured. A photoelectric type fence sensor (87) for detecting by the reflection of the vehicle is fixed to the front surface of the traveling vehicle (1), and the grounding point of the rear traveling wheel (7) and each sensor (85).
(87) Turning distance (L1) with the mounting position, and ridge (68)
Alternatively, it is detected that the traveling vehicle (1) has reached the turning start point of the field headland by making the headland width (L2) of the fence (86) and each sensor (85) (87) substantially equal.

At this time, the operator at the driver's seat (6) turns the steering handle (5) left or right to move the front running wheel (4).
The steering sensor (7) is used for steering the tractor (1) by turning the tractor (1) to the next process work position by turning the tractor (1) by turning left or right.
9) The slide valve (82) is controlled based on the input, and when the steering handle (5) is turned left, the slide cylinder (63) is slid to the left for a predetermined time, and the steering handle (5) is operated. When turning to the right, the slide cylinder (63) is slid to the right for a predetermined time, and the rotary working machine (14) is slid and displaced to the cultivated land side of the tractor (1) by a substantially constant amount to move the headland of the tractor (1). The turning locus is configured to be a substantially semicircle. For example, as shown in FIG. 9, when the right side of the tractor (1) is the cultivated land and the direction is changed to the next process position by turning left, the rotary working machine (14) is located on the right side of the tractor (1) which is the cultivated side. A fixed amount of slide displacement is used to perform cultivating work, and a left turn (inward turn) of the tractor (1) is displaced by an amount substantially equal to the right side slide displacement amount of the previous process by changing the direction by turning counterclockwise in the field headland. The operation is automatically performed, and the rotary working machine (14) is slid and displaced by a predetermined amount to the left side of the tractor (1) which is the already cultivated land side, and the tilling work of the next step is performed. When the tractor (1) is turned clockwise, the reverse operation is performed. Thus, the rotary working machine (1
By displacing 4), the distance between the forward and return paths of the tractor (1) can be made substantially equal to the tilling width of the rotary working machine (14) (FIG. 9) or larger. On the other hand, in headland turning work that does not perform the operation of sliding the rotary working machine (14) to the opposite side at the time of changing the direction of the tractor (1), as in the conventional headland turning, the tractor moves in the opposite direction at the start of turning. (1) is made to turn after traveling, or at the end of turning, the tractor (1) is made to travel in the opposite direction, and the tractor (1) is made to turn by about 180 degrees or more to change the direction and to the cultivated land in the previous step. It is necessary to align the rotary working machine (14) after conversion, the operation of the handle (5) is troublesome, it is difficult to judge the timing of changing the course at the start or end of turning, and it is easy to make an operation mistake. There were problems such as being easily disturbed and the headland width required for direction change becoming large. However, as described above, in the headland turning work in which the rotary working machine (14) is slid to the opposite side when the tractor (1) changes direction, in the headland turning work (or right turning), the right direction (or There is no need to operate the vehicle to move to the left) or to move to the right (or to the left) at the end of a left turn (or right turn), and turn the tractor (1) about 180 degrees. Only by changing the direction, the position of the cultivated land in the previous step and the rotary working machine (14) after the change of direction are automatically adjusted by the slide operation control. Therefore, the handle (5) can be easily operated, the route change timing at the time of turning can be easily determined, the steering operation error at the time of changing the direction can be reduced, the disturbance of the headland cultivated soil can be reduced, and the direction can be changed. There are advantages such as a smaller headland width required.

Further, as shown in the flow chart of FIG. 12, the left or right slide operation automatic control for sliding the rotary working machine (14) inside the turning is performed, and the lifting switch (17) lowers the rotary working machine (14). When it is confirmed, the lift valve (75) controls the lift cylinder (74) to lower the work implement, lower the rotary work implement (14) to the tilling work position, and increase the speed of the speed control motor (72). Thus, the engine (2) rotation speed increasing operation is performed, the engine (2) rotation speed is returned to the original maximum rotation speed, and high-speed cultivation in the next step is started.

Further, as shown in the flow chart of FIG. 13, when the lowering of the tilling work position of the rotary working machine (14) is confirmed by the input of the lift arm sensor (78) and the ridge switch (81) is turned on, the ridge Dial (80)
The distance (T) between the ridge (68) and the rotary working machine (14) is determined by the input and the slide sensor (66) input, and the slide cylinder (6) is controlled by the slide valve (82) control.
3) is actuated, and when it is closer than the setting of the ridgeline dial (80), it is automatically released at a predetermined interval (T), and it is released more than the setting of the ridgeline dial (80). While it is doing, it automatically makes the operation to approach the predetermined interval (T), and as shown in FIG.
8) and the rotary working machine (14) are kept at a substantially constant distance (T), and are substantially parallel to the ridges (68).
Is moved, and the high-speed tilling work shown in the flowchart of FIG. 12 is performed to perform tilling at the time of the ridge (68).

[0024]

As is apparent from the above-described embodiments, the present invention relates to a cultivating apparatus in which a cultivating rotary working machine (14) is mounted on a tractor (1) so as to be vertically movable and slidable left and right. Controller (77) for automatically performing a sliding operation for displacing the rotary working machine (14) to the other side by an amount substantially equal to the slide displacement amount of the previous step cultivated land side in conjunction with the operation of raising the rotary working position to the non-tilling work position. ) Is provided, when the rotary working machine (14) is raised to the non-tilling working position when reaching the field headland, the rotary working machine (14) automatically moves to the opposite side (inward turning). Therefore, when the tractor (1) is turned in the field headland to perform the next process work, it is possible to omit the manual operation of sliding the rotary working machine (14) to the side opposite to the previous process. Can, to simplify the driving operation to be diverted in the field pillow areas can be easily performed, in which the field pillow areas can always be performed formed 乍Ra tilling substantially constant width.

[Brief description of drawings]

FIG. 1 is a tilling control circuit diagram.

FIG. 2 is an overall side view.

FIG. 3 is a plan view of the same.

FIG. 4 is a side view of the tillage rotary working machine.

FIG. 5 is a side view of a rotary pawl portion.

FIG. 6 is a plan view of a rear cover.

FIG. 7 is a rear view of the rotary claw portion.

FIG. 8 is a plan view of a slide sensor unit.

FIG. 9 is an explanatory diagram of headland turning.

FIG. 10 is an explanatory view of tillage cultivation.

FIG. 11 is a plan view showing a modified example of FIG.

FIG. 12 is a tilling control flowchart.

FIG. 13 is an edge control flowchart.

FIG. 14 is an explanatory diagram of headland detection.

[Explanation of symbols]

 (1) Tractor (14) Tillage rotary working machine (ground working machine) (77) Tilling controller

Front page continuation (72) Inventor Osamu Nakagawa 1-32 Chayamachi, Kita-ku, Osaka Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Taku Kaka Ishi 1-1, Ishiba, Matsumoto-shi, Nagano Ishikawajima Shibaura Machinery Inside the Matsumoto Factory (72) Inventor Akihiko Kitabayashi 1-1-1 Ishishiba, Matsumoto City, Nagano Prefecture Ishikawajima Shibaura Machinery Co., Ltd. Inside the Matsumoto Factory (72) Inventor Akihiko Mae 1 1-1 Ishiishiba, Matsumoto City, Nagano Prefecture No. 1 Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Plant (72) Inventor Shin Yoshiyoshi, 1-1 1-1 Ishishiba, Matsumoto City, Nagano Prefecture Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Plant (72) Inventor Masahiko Miyamoto Nagano Prefecture 1-1-1 Ishishiba, Matsumoto-shi Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Ko Hiroshi Koshi 1-1-1 Ishishiba Matsumoto City, Nagano Ishikawajima Shibaura Machinery Co., Ltd. Matsumoto Factory (72) Inventor Shin Yama Hideki Yanmar Diesel Co., Ltd. 1-32 Chayamachi, Kita-ku, Osaka

Claims (1)

[Claims] 1. A tilling device for mounting a tilling rotary working machine on a tractor so that the rotary working machine can be moved up and down and left and right slidably. A tilling device comprising a controller for automatically performing a sliding operation for displacing the rotary working machine to the other side by an amount substantially equal to the amount.