JPS60192503A - Tractor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention generally relates to a tractor, and more particularly to an i-tractor equipped with a work implement that can be raised and lowered.

A mobile agricultural machine such as a tractor is generally equipped with means for setting a plowing depth of a field to a desired depth with a working implement, and means for detecting the plowing depth of the working implement.

The ground work equipment connected to such a tractor is suspended by a work equipment lifting mechanism, and this work equipment lifting mechanism is connected to a drive mechanism, such as a hydraulic actuator, installed on the tractor. By controlling the switching valve
Move down. The above-mentioned ground work machine is configured to be raised and lowered to a predetermined position and held by the lifting/lowering movement of the lifting mechanism.

゛In the above configuration, when performing tilling work at a desired plowing depth m, the desired plowing depth is set by the plowing depth setting means, and the pre-RISR depth detection amount is adjusted to the set value. An electronic circuit control means controls a drive mechanism comprised of the hydraulic actuator and the like in order to match the detected values.

By the way, in the conventional tractor as described above, the plowing depth once set by the plowing depth setting means remains constant regardless of differences in conditions such as the field to be plowed, the soil, and unevenness of the surface.
Therefore, the set value is always used as the control target value for plowing depth 1. For this reason, for example, a hunting phenomenon may occur depending on the field, and there is a problem in that precise plowing depth adjustment cannot be performed.

Therefore, the present invention aims to improve the above-mentioned problems of the conventional technology, and its purpose is to provide a tractor that can prevent the hunting phenomenon and that can precisely control the plowing depth. It's about doing.

The features of the present invention for achieving the above object are as follows:
), the support mechanism (3) supports the work implement in a vertically movable manner, and the drive mechanism (15) connects with the support mechanism to move the work implement upwardly/downward.
), and an operating means (2) for moving the work machine up/down.
and means (7) for setting the υ1 probe of the working machine, and means (9) for detecting the plowing depth of the working machine, and when the operating means is operated, the plowing depth is set. A target plowing depth value is set based on the value set by the plowing depth setting means and the detected value given from the plowing depth detecting means, and the drive mechanism is driven to make the detected value match the target value. The tractor is provided with a drive mechanism control means (83, 85, 79) for outputting a command signal.

Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIG. 1 shows a side view of a riding-type tiller 5 equipped with a rotary tiller 5 as an example of a ground-working machine at the rear of a tractor 1 according to an embodiment of the present invention.

The tractor 1 has an operation switch 2 on its control section for rotating the rotary tiller 5 up and down. Lift arm 1 on left and right side of line drawing 3
It is supported via a nine helical rod 21. The hydraulic actuator 15 includes a switching valve 2 as shown in FIG.
3 is provided. The spool 25 of the switching valve 23 is provided so as to be movable left and right, and is always urged by a tension spring 27 to move rightward. A piston 31 is provided in the cylinder 29 of the hydraulic actuation device 15 . The piston 31 is connected to an arm 33 that is integral with the lift shaft 17.

The arm 33 is configured to rotate the lift arm 19 up/down by the operation of the piston 31. When the spool 25 is at the intermediate position of the left-right movement, the switching valve 23 switches between the hydraulic cylinders 2 and 29 so that the pressure oil in the hydraulic cylinders 29 is maintained at the neutral position.
It is configured to switch the pressure oil to 9.

The spool 25 of the switching valve 23 is configured to be operated via an operating shaft 35 and a mechanical link mechanism 37 by rotation of the position arm 13, as shown in FIGS. 2 to 4. .

The operating shaft 35 is rotatably supported by a cylinder case 39, and an arm 41 is fixedly provided inside the cylinder case 39, and this arm 41 is interlocked and connected to the mechanical link I structure 37. arm 41 of operating shaft 35
A pin 43 implanted at the tip of the link 45 is inserted into a long hole of the link 45 to connect the arm 41 and the link 45. The na plink 45 is pivotally connected to a support shaft 47 fixed to the cylinder case 39, and the lower end is attached to the position link 4.
9 via a pin 51. The position link 49 is connected by fitting a pin 53 implanted in a long hole hespool 25 provided at the lower end, and connected to the lift shaft 17 at the upper end via the link 55.

The position arm 13 is fixed to the operating shaft 35 on the outside of the cylinder case 39.

The tip of this position arm 13 is connected via a link 57 to an arm 63 fixed to an output shaft 61 of a motor 59.

If the motor 59 rotates in the reverse direction when the lift arm 19 is in the raised position, the operating shaft 35 is connected to the output shaft 6.
1 arm 63. Link 57 and position arm 13
It is configured to rotate counterclockwise through. When the operating shaft 35 rotates as described above, the position link 49 receives the rotational force applied from the operating shaft 35 via the arm 41 and the link 45, and rotates counterclockwise in FIG. 2 about the support shaft 47. Rotate. The spool 25 is configured to move to the right in the figure and lower the lift arm 19 by the rotation of the position link 49 as described above. The spool 25 is configured such that the position link 49 rotates clockwise around the support shaft 47 when the link 55 rotates clockwise together with the lift arm 19, and returns to the neutral position. . The switching valve 23 does not discharge pressure oil from the hydraulic cylinder 29 when the spool 25 is in the neutral position.

As described above, the lift arm 19 is configured to maintain the position indicated by the position arm 13 operated by the motor 59.

A potentiometer 65 is installed on the operation shaft 35 to detect the rotation angle of the position arm 13. The output of this potentiometer 65 changes according to the vertical movement angle of the position arm 13. .

A plowing depth setting device 7 is provided near the operator's seat 67 of the tractor 1 for setting a target working depth (plowing depth) of the ground working machine 5 to a predetermined setting value.

Further, as shown in FIG. 5, the ground working machine 5 includes a potentiometer 9 as a sensor for detecting the working depth.
is set up. The potentiometer 9 is connected via a link 73 to a rear cover 71 that covers the tiller 69, and its output changes depending on the vertical swing angle of the rear cover.

FIG. 6 shows a block circuit diagram of the control circuit 75 of the tilling depth adjustment mechanism configured as described above, in which the setting signal from the tilling depth setter 7 and the detection signal from the sensor 9 are transferred to a virtual tilling depth point setting circuit. 11, and here, by comparing and integrating the detected working depth and the set working depth, a virtual plowing depth point corresponding to the state of the field is set. The virtual plowing depth point setting circuit 11 outputs a setting signal to the differential amplifier 77 for setting the position of the position arm 13 corresponding to the virtual plowing depth point. Differential amplifier 77 amplifies the difference between this signal and a detection signal given from potentiometer 65 that detects the position of position arm 13 and outputs it to comparator 83 . The differential amplifier 78 amplifies the difference between the detection signal given from the potentiometer 65 and the signal given from the virtual plowing point setting circuit 11 and outputs it to the comparator 85 . The comparator 83 compares the signal applied from the voltage level setting circuit 81 with the signal output from the differential amplifier 77 and outputs a predetermined voltage level signal to the motor drive circuit 79. The motor drive circuit 79 receives the signal and drives the motor 59 in forward or reverse rotation. In this embodiment, when the comparator 83 outputs the HI+ level signal to the motor drive circuit 79, the motor 59 rotates forward and the position arm 13
When the comparator 85 outputs an "H" level signal to the drive circuit 79, the motor 59 rotates in the opposite direction to rotate the position arm 13 downward. The arm 13 is configured such that the detection signal of the potentiometer 65 is connected to the virtual plowing depth setting circuit 11.
Rotate up/down until it becomes equal to the setting signal.

As described above, the lift arm 19 is raised/lowered by the raised/lowered rotation of the position arm 13.

Next, the effect of the above configuration will be explained.

When performing tillage work using the rotary 11 and the rotary shaft 5, first, the target work depth is set by setting the tillage depth setter 7 to a predetermined setting value. Then, when the tilling work is started, the working depth is detected by the sensor 9,
This detection signal is taken into the virtual plowing depth point setting circuit 11.

This virtual plowing depth point setting circuit 11 compares and integrates the detection signal from the sensor 9 and the setting signal from the plowing depth setting device 7 to set a virtual plowing depth point, and a position corresponding to this virtual plowing depth point is set. A setting signal for setting the position of arm 13 is output. This setting signal is output to the comparator 83 via a differential amplifier. Window comparator 7
83 outputs the HIT level signal or the "L" level signal to the motor drive circuit 79. When the HII level signal is output from the comparator 83 to the motor drive circuit 79, that is, the potentiometer 65 of the position arm 13
When the detection signal is larger than the setting signal of the virtual plowing depth point setting circuit 11, the motor 59 rotates in the forward direction by the drive signal given from the motor drive circuit 79. The position arm 13 is rotated upward by the forward rotation of the motor 59, and the spool 25 of the switching valve 23 is moved to the left in FIG. 2 via the operating shaft 35 and the mechanical link mechanism 37. Spool 25
As a result of the leftward movement, the piston 31 of the hydraulic actuating device 15 protrudes, causing the lift 1-arm 19 to rotate upward, and is controlled upward until the detection signal of the potentiometer 65 becomes equal to the setting signal from the virtual depth point setting circuit 11, Raise the ground work equipment 5.

Conversely, when the "LIT level signal" is output from the comparator 85 to the motor drive circuit 79, that is, when the position arm 1
When the detection signal of the potentiometer 65 of No. 3 is smaller than the setting signal of the virtual silk depth point setting circuit 11, the motor 59 rotates in the reverse direction by the drive signal given from the motor drive circuit 79. The position arm 13 is rotated downward by the reverse rotation of the motor 59, and the spool 25 of the switching valve 23 is moved to the right in FIG. 2 via the operating shaft 35 and the mechanical link mechanism 37. As the spool 25 moves to the right, the piston 31 of the hydraulic differential device 15 moves back and the lift arm 19
is rotated downward, and the detection signal of the potentiometer 65 is transmitted to the virtual 11 deep point setting circuit 11. The lowering control is performed until the signal becomes equal to the setting signal, and the ground work equipment 5 is lowered.

Comparator 83. When the H11 level signal is not output from either of the comparators 85, the potentiometer 65
Since the detection signal from the virtual plowing depth point setting circuit 11 is equal to the setting signal of the virtual plowing depth point setting circuit 11, the lift arm 19 is held at that position.

7 and 8 show a second embodiment according to the present invention, in which a tractor 1 is used for ground work such as a plow. When the I5 is connected, the plowing depth is adjusted by a plowing resistance adjustment mechanism for controlling the plowing resistance.

As shown in FIG. 7, the tilling resistance adjustment mechanism for controlling the tilling resistance is provided with a draft rod 89 movable back and forth in a spring case 87 attached to the cylinder case 39. 91 to push and urge the rearward direction. A bracket 9 is attached to the draft rod 89 on the outside of the cylinder case 39.
The upper end of 3 is pivotally connected via a pin 95. The lower end of the bracket 93 is pivoted to the cylinder case 39 via a pin 97 so as to be rotatable back and forth, and the middle part has a pin hole 99 that connects the ground work m5 with a top link 98, and the bracket 93 is fixed to the cylinder case 39. Bottle hole 10 for
1 is set. Furthermore, a potentiometer 10 for detecting tilling resistance is attached to the draft rod 89 via a link 103 on the outside of the cylinder case 39.
It is connected to 5. This potentiometer 105 is
The top of the spring case 87 is attached to the fixed support bracket 107.

A tilling resistance setting device 109 is provided near the driver's seat 67 of the tractor 1 to set the tilling resistance of the ground working machine 5 to a predetermined setting value.

Figure S shows a block circuit diagram of the control circuit 111 of the tilling resistance adjustment mechanism configured as described above.The circuit configuration is approximately the same as that in Figure 6, so the same components as in Figure 6 are given the same reference numerals. The explanation will be omitted.

According to the configuration shown in FIGS. 7 and 8, when performing plowing work using the ground work l115 like a plow, the upper part of the ground work machine 5 is connected to the bracket 93 through the top link 98. The target tilling resistance is set by connecting the tilling resistance setter 109 to a predetermined setting value. Then, when the tilling work starts, the virtual tilling depth point setting circuit 1
1, a virtual plowing depth point is set, and the virtual plowing depth point corresponding to this virtual plowing depth point is set as a target value for "plowing depth" control, and the motor 59 is driven forward or reverse via the motor drive circuit 79 to drive the lift arm 19. control the elevation. As described above, in FIGS. 7 and 8, the same reference numerals as in FIGS. 1 to 6 indicate the same components.

As explained above, according to the present invention, the plowing depth m target value set based on the value set by the plowing depth setting means and the detected value given from the plowing depth detecting means is set to the detected value. Since a drive command signal is output to the drive mechanism to match the values, it is possible to provide a tractor that can prevent the hunting phenomenon and that can precisely control the plowing depth.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIG. 1 is a side view of a riding tiller in which a rotary tiller is attached to a tractor as an example of a ground work device, and FIG. 2 is a tillage depth adjustment mechanism. 3 is a vertical rear view of the plowing depth adjustment mechanism, FIG. 4 is a sectional view taken along the line IV-IV in FIG. 3, and FIG. 5 is a part of the rotary 11 rotary device equipped with a sensor. An omitted side view, FIG. 6 is a block circuit diagram showing the control circuit of the tilling depth adjustment mechanism, FIG. 7 is a vertical side view of the tilling resistance adjustment mechanism, and FIG.
The figure is a block circuit diagram showing a control circuit of the tilling resistance adjustment mechanism. (Explanation of the symbols representing the main parts of the drawing) □1...
Tractor 2... Operation switch 3... Work equipment lifting mechanism 5... Ground work equipment 7... Plowing depth setting device 9...
Sensor 11...Virtual plowing depth point setting circuit 13...Position arm 15...Hydraulic actuation device 79...Motor drive circuit 8
3... Comparator 85... Comparator Figure 2 Figure 3

Claims (1)

[Claims] a support mechanism that supports the work machine so as to be able to move up and down; a drive mechanism that is linked to the support mechanism and moves the work machine up and down; an operating means for moving the work machine up and down; The method includes means for setting a plowing depth of a working machine and means for detecting a plowing depth of the cropping machine, and a value set by the plowing depth setting means when the operating means is operated. drive mechanism control that sets a target plowing depth based on the plowing depth and the detected value given from the plowing depth detection means, and outputs a drive command signal to the drive mechanism in order to make the detected value coincide with the target value; A tractor characterized in that a means is provided.