JPH11192004A - Plow depth automatic controller for tractor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the subject controller capable of accurately and well performing a tilling work in a slant or soft field by detecting the inclination of a tractor employing a plow depth automatic control. SOLUTION: This controller supports a rotary tilling device 2 liftably and descendably in the rear section of a tractor 1 with a lifting mechanism 3 through a positional detection of a rear cover 26 of a rotary section 23 and to set the plow depth by a plow depth-setting volume 60. There are provided a slant- detecting means for detecting a slant of the tractor 1 in the longitudinal direction and an modifying means for modifying a set value of the volume 60 when the slant-detecting means continues to detect the slant for a predetermined time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tractor automatic tilling depth control device provided with a tilling device of a rotary elevating mechanism at a rear portion of a traveling body.

[0002]

2. Description of the Related Art Generally, a tractor having a rotary tilling device capable of ascending and descending via a raising and lowering mechanism is provided with an operation unit which includes a turning angle of a rear cover of a tilling device which rotates up and down on a cultivated surface during tilling work. The desired setting value is set by the provided tillage depth setting volume, and the control of the tillage depth (tilling depth) based on the set value is performed by moving the tillage device up and down so that the rotation angle of the rear cover is fixed. Tillage is cultivated at a depth.

[0003]

A tractor having a conventional structure can appropriately perform a predetermined automatic plowing depth control in a flat ordinary field where the amount of squat of front and rear tires is small and constant. However, in a field or the like on a sloping land, the center of gravity of the tractor and the tilling device fluctuates as shown in FIG. 1 or 2, so that the above-mentioned control cannot be performed smoothly. Complicated work had to be done.

That is, in tilling work on a particularly soft uphill slope, as shown in FIG. 1, the body is inclined rearward and the center of gravity G moves rearward, and the offset load H of the rear wheel 1b is caused by the offset load.
2 is larger than the sinking amount H1 of the front wheel 1a, and the inclination angle of the body in the front-rear direction is larger at the rear than on the sloping land of the field, so that the rear cover comes into contact with the cultivated surface early and greatly. Then, the tilling device is raised to operate to maintain a predetermined rotation angle of the rear cover, and as a result, there is a problem that the tilling depth becomes shallow and the tilling depth becomes insufficient.

On the other hand, in a soft field on a downhill slope, the front wheel 1a sinks greatly as shown in FIG. 2 and the amount of forward leaning of the aircraft becomes larger in front of the downhill slope.
The rear cover comes into contact with the cultivated surface slowly (lightly), and the detection signal of this causes the tillage device to descend and the cultivation depth becomes deeper, causing problems such as increasing the engine load to perform tilling more than necessary. is there.

[0006]

SUMMARY OF THE INVENTION According to the present invention, a rotary type tilling device is supported at a rear portion of a tractor by a hydraulic elevating mechanism so as to be movable up and down, and a cultivating depth of the tilling device is adjusted by a rear cover for covering a rear portion of the rotary portion. In the tractor automatic depth control device, which controls the cultivation depth by detecting the position and allows the cultivation depth to be set by the cultivation depth setting volume, the tractor has an inclination for detecting the inclination of the tractor in the front-rear direction. A detection means is provided, and a correction means is provided for correcting the set value of the tillage depth setting volume when the inclination detection by the inclination detection means continues for a predetermined time.

Further, the correction means can be selectively switched between a state in which the set value of the tillage depth setting volume is corrected and a state in which the set value is not corrected. Further, the inclination detecting means is provided with a height detecting sensor provided at the front and rear portions of the body for detecting the height above ground. A plurality of correction values can be selected according to the degree of inclination of the body.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. Reference numeral 1 denotes a tractor, which is mounted on a traveling body 1c having a front wheel 1a and a rear wheel 1b from an engine 1E.
A steering unit 1g including a handle 1d and a seat 1f is provided, and a rotary tilling device 2 is mounted on a rear part of the body 1c so as to be able to ascend and descend via a lifting mechanism 3 and to be detachable. .

The elevating mechanism 3 comprises a lift arm 30 which is turned up and down by a hydraulic cylinder provided on the traveling body 1c, a lower link 32 connected to the lift arm 30 via a lift rod 31, and a tillage device. 2 comprises a top link 33 and the like having a hitch portion 35 for detachably attaching the tilling device 2 to the PTO.
It is configured to be driven by the shaft 36.

The tilling device 2 has the same structure as a conventional device, and has a plurality of tilling claws 20 planted thereon.
1 is rotatably supported between a transmission case 22 provided on both sides of the transmission frame 2a and a support frame (not shown) so as to be rotatable in forward and reverse directions to form a rotary portion 23. The upper portion of the rotary portion 23 is covered with a rotary cover (main cover) 25, and the rear portion is covered with a rear cover 26 pivotally connected to the rear end of the rotary cover 25, thereby forming a transmission frame 2a. Top mast 2 on top of
7 is fixed to the hitch portion 35, and the rear end of the lower link 32 is connected to the transmission frame 2a.

The tilling apparatus 2 constructed as described above
As shown in FIG. 3, the tillage depth detection sensor 5 is provided on a bracket 28 provided at the rear end of the rotary cover 25, and a bracket 51 provided on the rear cover 26 is provided between the sensor arm 50 of the tillage depth detection sensor 5 and the rear cover 26. The rear cover 26 is connected by a rod 52 and employs the same plowing depth control means as the conventional device.
, The hydraulic cylinder of the elevating mechanism 3 is expanded and contracted based on the detection signal so that the hydraulic cylinder of the elevating mechanism 3 becomes a set value set by the operation unit 6 described later. Adjustment control (hereinafter referred to as automatic tillage depth control) can be performed.

The set value of the automatic plowing depth control is shown in FIG.
The rotation angle α between the rotary cover 25 and the rear cover 26 shown in FIG. 4 is adjusted by adjusting the cultivation depth setting volume 60 installed in the operation unit 6 (FIG. 4), and an automatic switching volume 68 described later.
And so on. on the other hand,
The operation unit 6 is installed on the right side of the seat 1f of the control unit 1g. As shown in FIG. 4, on the upper surface of the control box 6a, a position control for setting and operating the ascending height position of the tillage device 2 from the front. A lever 61 is provided,
The plowing depth setting volume 60 is installed at a rear intermediate position.

Further, behind the cultivation depth setting volume 60, there are provided a cultivation depth sensitivity switch 62, a cultivation depth manual switch 63, a lift arm switch 65, an inclination setting volume 66, and an inclination sensitivity switch similar to those of the conventional device. An automatic switching volume 68 or the like is provided as a correction means for changing the mode change set value to the automatic plowing depth control and the inclined plowing depth automatic control, and these are connected to a microcomputer unit M provided on the traveling body 1c side. I have.

An inclination sensor 7 for detecting the inclination of the body 1c in the front-rear direction is provided above the traveling body 1c, and when the automatic switching volume 68 is switched to a later-described inclination selection mode, the inclination of the ground is adjusted. When the inclination detection signal of a certain value or more is "continues for a predetermined time or more", the setting value of the cultivation depth setting volume 60 is set by the microcomputer M and the tilling apparatus 2 is "stop in place" when the body is "back tilting". Alternatively, the tilling apparatus 2 is "stopped or raised in place" at the time of the "front tilt" of the airframe to perform correction control to the shallow tilling side.

That is, the automatic switching volume 68 shown in FIG.
Is corrected so that when the "tilt A" of the tilt selection mode described on the display surface is set to the appropriate tillage depth at the time of detecting the "slow tilt" in the first stage. When the “slope B” is set, the correction can be made so that the appropriate tillage depth at the time of detecting the “steep slope” in the second stage can be obtained. The automatic switching volume 68 is provided with an OFF position and an automatic mode position, which will be described later, in addition to the above.

The tractor 1 further includes tilt detection means 8 and 8a for detecting the ground height at the front and rear of the traveling body 1c in addition to the tilt detection means for the tilt sensor 7. I have. Then, the value set by the plowing depth setting volume 60 in the automatic mode different from the tilt selection mode by the automatic switching volume 68 is automatically corrected based on the degree of inclination of the body detected by the height detection sensors 8 and 8a. Microcomputer M
In the case where the tractor 1 travels on a slope with soft ground and plows,
The tilling work can be performed by performing high-precision automatic slope tilling depth control.

That is, the height detection sensors 8 and 8a measure the ground height before and after the traveling body 1c and compare the values with the microcomputer M. By comparing the standard value detected in a so-called normal flat field when the amount is small and constant with the microcomputer M, the difference between the inclination of the ground and the inclination of the tractor 1 is compared. The value set in is automatically corrected.

According to this, it is possible to accurately and satisfactorily perform automatic slope tillage depth control adapted to the amount of settlement of the front wheel 1a or the rear wheel 1 in a soft field or the like according to the inclination of the body. When the automatic switching volume 68 is set to the “automatic mode” described on the display surface, even when tilling work on a flat normal field by the above-described detection, partial inclination or the front wheel 1a or the rear wheel 1b is performed. In this case, the setting of the cultivation depth setting volume 60 is automatically corrected when the sloping run is biased, so that a highly accurate tilling operation can be performed.

The tilling operation by the tractor 1 constructed as described above is performed as follows. A) When performing the tilling operation in a field of flat normal hardness, the automatic switching volume 68 is set to the OFF position and the tilling operation is performed. By operating the depth setting volume 60 to a desired setting position, the same automatic plowing depth control as in the conventional apparatus can be efficiently performed while detecting the plowing depth by the plowing depth detection sensor 5.

B) When cultivating on a soft, uphill sloping field, the cultivation depth setting volume 60
When the automatic switching volume 68 is switched to “slope land A” in a state in which is set as desired, the tillage device 2 uses the tillage depth set by the tillage depth setting volume 60 to the inclination sensor 7.
Tilling can be performed with the set value corrected to the correction mode of “slope land A” based on the tilt signal detected in the above. Therefore, the slope tillage depth automatic control is performed at an appropriate tillage depth without being made slightly shallow as in the conventional device.

When the automatic switching volume 68 is set to the "sloping land B", the automatic grading depth automatic control can be favorably performed at an appropriate tilling depth in a correction mode adapted to the inclination or softness of the field. It is. C) Next, when tilling work is performed in a soft and downhill sloping field, the tillage setting volume 60 is set in the same manner as described above.
And setting and setting the automatic switching volume 68,
Similarly, the tillage device 2 is automatically controlled by the inclined tillage depth, so that the inclined tillage depth automatic control can be satisfactorily performed with an appropriate tillage depth without making the tillage tend to be deep unlike the conventional device.

The term "continuation of the predetermined time" in which the inclination detection by the inclination detecting means is related to various conditions such as the softness in the field, the inclination, the area to be plowed, and the skill of the operator. For example, it may be about 3 to 5 seconds, or a method of notifying the worker by a light display or an alarm sound depending on the inclination may be used together.

[0023]

According to the tractor automatic tilling depth control device of the present invention, the tilling device automatically controls the tilling depth by the tilling device. Since the setting value is corrected by the correction unit, the inclination direction and the state of the inclination can be accurately grasped, and the cultivation on the sloping land or the cultivation in a soft field can be accurately performed with the appropriate depth. .

Further, since the change of the set value of the cultivation depth setting volume can be prevented from being corrected by the correction means, it is possible to prevent an error in the tilling operation of a flat and normal flat field. In addition, since the amount of subsidence before and after the body during the tilling operation is detected by the height detection sensors provided before and after the body, the inclination plowing automatic control can be performed with higher accuracy.

Further, in a flat normal field, this detection can be used to automatically switch the automatic plowing depth control to the automatic tilting plowing depth control side, so that the plowing operation can be performed satisfactorily. Then, the correction value at the time of the automatic control of the slope tillage depth is set in a plurality of levels, and the correction value can be selectively switched according to the degree of the slope. Can be performed favorably.

[Brief description of the drawings]

FIG. 1 is a side view showing a plowing operation on an ascending slope by a tractor according to the present invention.

FIG. 2 is a side view showing a tilling operation of a downhill slope by the tractor of the present invention.

FIG. 3 is a side view showing a tillage depth detection sensor and a rear cover.

FIG. 4 is a plan view of an operation unit.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Tractor 1c Traveling body 2 Tilling device 3 Elevating mechanism 5 Tillage depth detection sensor 6 Operation part 7 Tilt sensor 8, 8a Height detection sensor 23 Rotary part 25 Rotary cover 26 Rear cover 60 Tillage depth setting volume 68 Automatic switching volume

Claims (4)

[Claims] 1. A rotary type plowing device 2 is supported at the rear of a tractor 1 by a hydraulic lifting mechanism 3 so as to be able to ascend and descend, and the tillage depth of the tillage device 2 is set at a position of a rear cover 26 covering the rear of the rotary portion 23. In the automatic tractor depth control device, the cultivation depth is automatically controlled by the detection and the cultivation depth is set by the cultivation depth setting volume 60. The tractor 1 detects the inclination of the tractor 1 in the front-rear direction. An automatic cultivation depth control device for a tractor, comprising an inclination detection means, and a correction means for correcting a set value of a cultivation depth setting volume 60 when the inclination detection by the inclination detection means continues for a predetermined time. 2. The automatic tractor depth control device according to claim 1, wherein the correction means is capable of selectively switching between a state in which the set value of the till depth setting volume 60 is corrected and a state in which the set value is not corrected. 3. The automatic tractor depth control system according to claim 1, wherein the inclination detecting means is provided with height detection sensors 8, 8a provided at front and rear portions of the fuselage for detecting the ground height. 4. The automatic tractor depth control device according to claim 1, wherein a plurality of correction values can be selected according to the degree of inclination of the body.