JPH0856409A - Rolling controller for working apparatus of agricultural tractor - Google Patents

Abstract

PURPOSE: To provide a control mode capable of automatically correcting even if a rolling cylinder is stretched or contracted by oil leakage, etc., when a tiller is set to arbitrary tilting angle by a cylinder expanding and contracting switch. CONSTITUTION: A tiller is set to desired tilting angle at a point of time when an operation-change over switch 18 for mode change over is changed over to the fifth operating position (e) corresponding to a rolling position control mode or by cylinder stretching and constructing switch 20 and a rolling posture of the tiller 4 is kept in set state, using detected value of a stroke sensor 17 corresponding to the tilting angle as a basis.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention attaches a ground work device to a traveling machine body via a rolling cylinder so that the work device can perform rolling operation, and a stroke sensor for detecting expansion / contraction operation of the rolling cylinder and a mode switching means for switching control modes. , A rolling control for a working device of an agricultural tractor, which is provided with a cylinder expansion / contraction switch for forcibly driving the rolling cylinder regardless of the selected position of the mode switching means to artificially set the left and right inclination angle of the ground working device. Regarding the device.

[0002]

2. Description of the Related Art There are cases where it is desired to perform work by setting the above-mentioned ground work device at an arbitrary right and left inclination angle with respect to a traveling body.
In such a case, the cylinder expansion / contraction switch is operated to expand / contract the rolling cylinder, and the ground work device is set to have a desired left / right inclination angle.

[0003]

However, if there is an oil leak or the like in the oil supply system to the cylinder, the inclined posture of the ground work device changes, and if the work is carried out, the work must be redone later. Moreover, even if the user notices that the tilted posture has changed, the setting must be redone, which is troublesome. An object of the present invention is to provide a control mode that simplifies an operation that does not require manual readjustment even if the cylinder length changes due to oil leakage or the like. It is in.

[0004]

The characteristic configuration according to the first aspect of the present invention is characterized in that the value of the stroke sensor is set as a reference value in a state where the rolling posture of the ground working device with respect to the body is set to a desired left / right inclination angle, and It has a rolling position control mode for maintaining the rolling posture of the ground working device with respect to the machine body in a constant posture, and its action and effect are as follows.

[0005]

In other words, since the value of the stroke sensor that directly indicates the inclination change of the ground work device is used as the reference value, even if the value of the stroke sensor during work changes from the reference value due to leakage or the like, the rolling cylinder is It can be automatically operated to return to the reference length, and no manual adjustment operation is required.

[0006]

As a result, the left-right inclination of the ground work device can be maintained at a desired angle, work can be performed efficiently, and readjustment of the left-right inclination angle is not required.
The operation can be simplified.

[Other Purposes / Structures / Operations / Effects] (1) The purpose in claim 2 is to obtain a simple operation in switching the ground working device to the left / right parallel posture with respect to the traveling machine body in the rolling control. In order to obtain a configuration that can be achieved, the configuration made for that purpose is to attach the ground work device to the traveling machine body so as to be capable of rolling, and to provide inclination detecting means for detecting the inclination degree to the left and right of the traveling machine body. In a rolling control mode for maintaining the rolling posture of the ground working device in a predetermined posture based on the detection result of the means, the rolling working mode is prioritized with respect to the traveling machine body. The point is that a parallel return switch for switching between the left and right parallel postures is provided, and the function and effect thereof are as follows. That is, when the parallel return switch is operated, the ground work device switches to the left-right parallel posture. On the other hand, what was the case in the past is that by automatically operating the cylinder expansion / contraction switch described above to switch to the horizontal parallel posture, or by performing an operation to raise the ground work device above a certain height during rolling control. Although the ground work device was switched to the left-right parallel posture, in both cases,
It was troublesome to operate. Therefore, since the left and right parallel postures can be achieved by a simple operation of operating the parallel return switch, the operation can be simplified.

[0008]

【Example】

[First Embodiment] As shown in FIG. 3, a pair of left and right lower links 1 and a top link 2 are provided at the rear of the traveling machine body.
An agricultural tractor is constructed by connecting a rotary tiller 4 as a ground working device so as to be able to move up and down via a point link mechanism 3. The lift cylinder CY1 is extended / contracted so that each lower link 1 is suspended and supported via the lift rod 7 by a pair of left and right lift arms 6 that are lifted and lowered by a lift cylinder CY1 provided above the mission case 5 of the traveling machine body. Therefore, the cultivating device 4 is configured to be moved up and down. Also, one lift rod 7
Is configured to expand and contract by rolling cylinder CY2,
By driving the rolling cylinder CY2, the tilting posture of the tilling device 4 with respect to the body can be changed.

This agricultural tractor has an automatic plowing depth control for driving and controlling the lift cylinder CY1 so that the plowing depth by the rotary plowing device 4 is maintained at a set value in the plowing work. The position control for driving and controlling the lift cylinder CY1 for maintaining the set height by 8 and the rolling control for maintaining the tilted state of the tiller 4 at the set state regardless of the lateral tilt of the traveling machine body are performed. Configured. That is, as shown in FIG. 1, the potentiometer-type position setter 9 for detecting the operating position of the position lever 8 provided on the aircraft control section, which is swingable back and forth, and the rotation angle of the lift arm 6 are paired with the cultivating device 4. Potentiometer-type lift arm angle sensor 10 for detecting the machine angle, and potentiometer-type tillage for detecting the vertical swing amount corresponding to the tilling depth of the rear cover 11 provided at the rear of the tiller 4 so as to be swingable around the horizontal axis X. Outputs of the depth detection sensor 12 and the potentiometer-type tilling depth setting device 13 provided in the control section of the machine are provided with a control device 14 equipped with a microcomputer.
Given to. Then, if the operation position of the position lever 8 is in the position operation area A, the control device 14 executes the position control, and if it is in the tilling depth control area B, the control device 14 executes the above tilling depth control. That is, the electromagnetic control valve V1 for the lift cylinder CY1 is set so that the set value of the position setter 9 and the detected value of the lift arm angle sensor 10 match.
The position control is performed by switching control of the digging depth, and the automatic digging depth control is performed by switching the electromagnetic control valve V1 so that the detection value of the cultivating depth detecting sensor 12 matches the setting value of the cultivating depth setting device 13.

Next, rolling control of the tiller will be described. As shown in FIG. 1, the traveling machine body is provided with an inclination sensor 15 as an inclination detecting means for detecting a horizontal inclination angle from an absolute horizontal posture, a potentiometer-type inclination setter 16 is provided in a control section, and a lift arm angle sensor 10 is provided. When the detected value of is greater than or equal to a predetermined set value and the cultivating device 4 is significantly elevated to the ground, the control is performed so that the cultivating device 4 has a parallel posture with respect to the machine body and has a predetermined expansion / contraction amount based on mechanical characteristics. The device 14 switches the electromagnetic control valve V2 for the rolling cylinder CY2 to execute parallel control. The operating state of the rolling cylinder CY2 is linked via an operation wire, and is detected and fed back by a potentiometer type stroke sensor 17 provided on the machine body side. Further, when the detection value of the lift arm angle sensor 10 is less than or equal to a predetermined set value and the cultivating device 4 is in the work ground contact state, the electromagnetic control valve V2 To perform rolling control.

The above-mentioned machine control section is provided with a rotary type work changeover switch 18 as a control mode changeover means for changing over the control mode so that the form of attitude control for the tiller 4 can be selected. At the first operation position a, rolling control, position control,
Automatic tilling depth control, parallel control, etc. can be performed, at the second operation position b, rolling control, position control, parallel control, etc. can be performed, and at the third operating position c, automatic tilling depth control, position control, etc. can be performed. Position control and the like can be performed at the fourth operation position d. Then, when the inclination setter 16 is operated in the state of being set to the third or fourth operation position c, d, the tilling device 4 can be arbitrarily set to the right and left inclination corresponding to the set value. A control mode in which the rolling posture of the tiller 4 can be artificially switched and set is called a forced rolling posture control mode.

Next, there is provided a cylinder expansion / contraction switch 20 for forcibly driving the rolling cylinder CY2 to set the rolling posture of the tiller 4 to an arbitrary angle regardless of the control mode described above. As shown in FIG. 1, the switch 20 is directly connected to the electromagnetic control valve V2 and directly controls the electromagnetic control valve V2. With the signals from the various sensors and setting devices to the control device 14 blocked,
With this switch 20, the rolling cylinder CY2
Is directly operated to switch the rolling posture of the tiller 4 to the desired posture. Then, if it is desired to maintain this desired rolling posture, the rolling position control mode as described below is set. That is, as shown in FIG. 1, the work changeover switch 18 is provided with the fifth operation position e, and when the operation switch is operated to the fifth operation position e, the rolling position control is possible. As a control mode in this case, as shown in FIG. 2, it is determined whether or not the work changeover switch 18 is operated to the fifth operation position e (# 1), and the value of the stroke sensor 17 at that time, or After that, when the cylinder expansion / contraction switch 20 is operated and the value of the stroke sensor 17 changes, the value after the change is used as a reference value (# 2, 3), and the rolling cylinder CY2 is expanded / contracted so as to maintain this reference value. Let's cultivate device 4
Control is performed to maintain the tilted posture of No. 2 at a desired angle (# 4).
By adopting such a control form, even if the expansion / contraction length of the rolling cylinder CY2 changes due to leakage or the like, the expansion / contraction operation of the rolling cylinder CY2 can be suppressed and the tilted posture of the tiller 4 can be maintained.

[Second Embodiment] Next, a structure for forcibly returning the tilling device 4 to the horizontal parallel posture with respect to the machine body will be described. As described above, in order to set the tilling device 4 in the left-right parallel posture, the parallel control automatically operates in a state where the tiller 4 is once lifted to a predetermined height or more, and the posture can be set in the parallel posture. Is inferior to. Therefore, as shown in FIG. 1, a parallel return switch 19 is provided, and when this switch 19 is operated, signals from other sensors and setting devices are ignored, and the parallel return switch 19 and the stroke sensor 17 are operated. The signal is processed so that it is automatically switched to the left-right parallel posture. In this case, the height of the tilling device 4 with respect to the body may be set to a dedicated height, or the height when the switch 19 is operated may be maintained.

[Other Embodiments] (1) When the rolling position control mode is set, the work changeover switch 18 is provided with the fifth operating position e, but the rolling control is also used at the fourth operating position d. You may do it. (2) Although the installation position of the rolling cylinder CY2 is attached to only one lift rod 7, it may be attached to both lift rods 7, 7. (3) The tilt sensor 15 may be set on the ground work device 4 as a setting position.

It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 Control configuration diagram

[Fig. 2] Control flow diagram

FIG. 3 is a perspective view showing a ground work device mounted on a traveling body.

[Explanation of symbols]

 4 Ground work device 15 Inclination detection means 17 Stroke sensor 18 Mode switching means 19 Parallel return switch 20 Cylinder expansion / contraction switch CY2 Rolling cylinder

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shohei Nakai 64, Ishizukita-machi, Sakai City, Osaka Prefecture Kubota Sakai Factory

Claims (2)

[Claims] 1. A rolling cylinder (CY) for a traveling machine body.
The ground work device (4) is rotatably mounted via the (2) and the rolling cylinder (CY)
2) A stroke sensor (17) for detecting the expansion and contraction operation and a mode switching means (18) for switching the control mode are provided, and the rolling cylinder (CY2) is forcibly forced regardless of the selected position of the mode switching means (18). A rolling control device for a working device of an agricultural tractor, which is provided with a cylinder expansion / contraction switch (20) that is driven to artificially set a left-right inclination angle of the ground working device (4), the ground working device (4) The rolling position for maintaining the rolling posture of the ground working device (4) in a constant posture, using the value of the stroke sensor (17) in a state where the rolling posture of the body is set to a desired left / right inclination angle. A rolling control device for a working device of an agricultural tractor having a control mode. 2. A ground working device (4) is rotatably attached to the traveling machine body, and tilt detecting means (15) for detecting a left-right inclination of the traveling machine body to the ground is provided.
A rolling control device for a working device of an agricultural tractor having a rolling control mode for maintaining the rolling posture of the ground working device (4) in a predetermined posture based on the detection result of the inclination detecting means (15), A rolling control device for a working device of an agricultural tractor, which is provided with a parallel return switch (19) for switching the ground working device (4) to a left-right parallel posture with respect to a traveling machine body in preference to the rolling control mode.