JPS60262503A - Plowing depth controller of 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 Technical Field of the Invention The present invention relates to a tillage depth control device for automatically controlling the plowing depth of a tiller connected to a tiller.

Technical background of the invention and its problems Conventionally, tillage machines such as rotary machines and plow machines connected to one herculator have been equipped with a plowing depth control device that automatically controls the plowing depth to be uniform. - A representative example of the equipment is shown in Figure 8. At the rear of the aircraft 1, there is a three-point pitch device 6 consisting of a pair of left and right lower links 2, a rift 1-arm 3, a rift 1-rod 4, and a tubular 95. 1), this three-point pinch device 6
The rotary working machine 7 is connected to the rotary working machine 7 so as to be movable up and down. In the rotary work machine 7, a grounding plate 9 whose upper end is supported by a spindle 8 and whose lower end is grounded rotates -1- downward around the axis of the spindle 8 while maintaining the lower end in a grounded state. Motion 1] is currently provided. Further, a sensor 12 is fixedly attached to the rotary work machine 7, and includes a sensor arm 11 that can freely rotate downwardly around the axis of a support shaft 10. are connected by the sensor rod 13. Here, the inclination of the ground leveling plate 9 with respect to the rotary work machine 7 is set to, for example, α, and the work is started in this state. When the forward and backward tilting posture of the machine body 1 changes during work and the plowing depth changes, the leveling plate 9 rotates around the axis of the support shaft 8, and the tilt angle α changes. . Further, as the ground leveling plate 9 rotates, the sensor arm 11 rotates via the sensor rod 13, and the amount of rotation of the ground leveling plate 9 is detected by the sensor 12.

Based on this detection result, the lift arm 3 is rotated by the hydraulic device, and the rotary work machine 7 is raised and lowered to the position where the slope of the leveling plate 9 returns to the set angle α, and the plowing depth returns to the original depth. Return.

Conventionally, the plowing depth is maintained at a set value by maintaining the inclination angle α of the ground leveling plate 9 with respect to the rotary working machine 7 constant.

By the way, controlling the plowing depth using this method is only possible when the field is flat and has a certain hardness, and the attitude of the machine 1 on the ground is kept constant. If the ground is soft or the ground is soft, the rotary work machine 7 will be in a tilted state as the attitude of the machine 1 relative to the ground changes.
Even if the inclination angle α of the ground leveling plate 9 with respect to the rotary working machine 7 is maintained at the set value, the plowing depth varies greatly.

That is, as shown by the two-dot chain line in FIG.
4 sinks, the rotary work machine 7 also sinks accordingly, the ground leveling plate 9 rotates with its lower end in contact with the ground, and the angle of inclination of the ground leveling plate 9 with respect to the rotary work machine 7 increases, The sensor arm 11 rotates in the negative direction. The rotation of the sensor arm 11 is detected by the sensor 2, and the rotary working machine 7 is lifted up via the lift arm 3 and the like by operating the hydraulic system based on the detection result. The rotary work machine 7 tilts forward and lifts up, and the rotary work machine 7
The inclination angle of the ground leveling plate 9 with respect to the rotary working machine 7 gradually decreases as the rotary working machine 7 rises, and when this inclination angle recovers to the set angle α, the lifting of the rotary working machine 7 is stopped. However, the trajectory A2 of the tip of the claw at this point is at a much deeper position than the trajectory A of the tip of the claw at the set plowing depth, resulting in a large plowing depth error.

In particular, in a two-point directly mounted rotary rotary in which the rotary moves up and down in a fan arc shape relative to the tractor body, errors in plowing depth due to changes in the ground attitude of the machine body are significant.

Purpose of the Invention The present invention has been made in view of the above points, and it is possible to perform plowing work connected to a tractor even when the position of the ground changes due to undulations or soft ground in the field. It is an object of the present invention to provide a plowing depth control device for a tractor that can maintain the plowing depth by a machine at a set value and obtain a uniform plowing depth.

Summary of the Invention The present invention provides a tilling work machine connected to the body of a tractor so as to be able to rise and fall freely, and includes a rotary body that can freely rotate in the vertical direction while one end is in contact with the tilling surface, and detects the inclination angle of the rotary body with respect to the tilling surface. Based on the detection results from the detection unit, the tilling machine is raised and lowered via the elevation control unit, and the tilt angle of the rotary body relative to the tilling surface is maintained at the set value, thereby changing the attitude of the machine against the ground. Even in such a case, the plowing depth by the tiller is maintained at the set value.

Embodiment of the Invention A first embodiment of the present invention will be described based on FIGS. 1 to 4. FIG. Incidentally, the same parts as those explained in FIG. 8 are indicated by the same reference numerals, and the description thereof will be omitted. Tractor body 1
A rotary working machine 15, which is a tilling working machine, is connected to the rear part of the rotary plowing machine via a three-point hitch device (5-6) so as to be movable up and down. A grounding plate 16, which is a rotating body, is connected to the rotary work machine 15 so as to be rotatable in the vertical direction about the axis of the support shaft 8. The ground leveling plate 16 is a first leveling plate 17
and a second leveling plate 18, the second leveling plate 18 is locked to the first leveling plate 17 by a locking tool 19 and a locking J lever 20 so that its vertical position can be changed, and the second leveling plate 18 The lower end of the plowing surface is grounded. Further, an angle detection device 23 is removably attached to the second leveling plate 18 by locking tools 21 and 22, and this angle detection device 23 is connected to the first leveling plate 1.
7 can also be locked.

The angle detection device 23 includes a sensor 24, a sensor arm 25. Consisting of a sensor rod 26, a grounding body 27, etc., the sensor 24 is fixed to a sensor bracket 28 supported by a fixture 21. It is set freely. The ground body 27 is vertically rotatable around the axis of a fulcrum pin 30 fixed to the locking tool 21 and is supported in a six-state state in which it is in contact with the tilling surface, and the ground body 27 and the sensor arm 25
The sensor rod 26 is connected between the distal end portion of the sensor rod 26 and the distal end portion of the sensor rod 26 . As shown in the block diagram of FIG. 3, a setting device 31 is provided on the side of the machine to preset the inclination angle of the ground leveling plate 16 with respect to the tilling surface.
A comparator 32 is provided which inputs and compares the setting signal from sensor 1 and the detection signal from sensor 24. Comparator 32
An amplifier 3:3 and an ID generator 34 are connected in sequence to
An electromagnetic control valve 3G, which is an A lowering control section, is provided which receives a signal from the signal generator 34 and operates the two-point hit cylinder 35.

In such a configuration, the rear shaft 14 is
If it sinks to the state shown by the two-dot chain line in Figure 1,
The rotary working machine 15 also sinks together with the rear part of the machine 1, and the ground leveling plate 16 rotates in one direction around the axis of the support shaft 8. As shown in FIG. decreases to β2. Furthermore, due to the rotation of the ground leveling plate 16, the grounding body 27 is rotated at an angle O (0) around the axis of the fulcrum pin 30.
= 7- βj-β2), the rotation is caused by 1゛1(
3, the sensor arm 25 rotates by an angle γ, and the rotational movement of the sensor arm 25 is detected by the sensor 24, that is, a change in the inclination angle of the ground leveling plate 16 is detected by the sensor 24. The three-point pitch cylinder 35 is actuated every time the rotary work machine 15 moves up through the lift 1 head 3, etc. It rotates downward at the axis rotation 1j, and at I'F, the inclination angle of the ground leveling plate 16 with respect to the tilling surface gradually approaches the angle β1, and the rotation angle of the grounding body 27 becomes 0 and the rotation angle γ of the sensor arm 25. Then, when the rotary work machine 15 is turned on to the predetermined position shown by the two-dot chain line in FIG. The angle O and the angle γ become O, and the ascent of the rotary work machine 15 is stopped.In this way, the angle (oblique angle) of the ground leveling plate 16 relative to the tilling surface is maintained constant. As shown in FIG. Compared to the conventional example explained in Fig. 8, which causes a plowing depth error of h2, in this embodiment, the plowing depth error that occurs under the same conditions is h1.
The plowing depth is small, and it is possible to obtain an almost uniform plowing depth throughout the field. Further, since the pair 1 (mouth posture) of the ground leveling plate 16 is constant, a constant leveling effect can always be obtained.

In this embodiment, the case where the rear axle 14 has sunk has been explained, but the alignment can also be performed in cases where the front wheels have sunk and the aircraft 1 is tilted forward, or when both the front axle and the rear axle 14 have sunk. The inclination angle of the ground plate 16 with respect to the plowing surface is maintained at a set value, and a substantially uniform plowing depth is always obtained.

Next, a second embodiment of the present invention will be explained based on FIGS. 5 to 7. In addition, Figures 1 to 4 and Figure 8
The same parts as those explained in the figures are indicated by the same symbols,
Explanation will also be omitted. A rotary working machine 15 is connected to the rear part of the one-herak machine body 1 via a two-point hitch device 6 so as to be movable up and down.

9- The mission case 37 of the rotary work machine 15 is provided with an arm rod 39 which is a rotating body and is rotatable around the axis of a support shaft 38 provided on the same axis as the rotary shaft -1-. One end of the rod 39 is grounded on the tilling surface. At one end of the grounded arm rod 39, a grounding body 40 extending rearward is supported by a support shaft 41 so as to be rotatable in the -1 direction and in contact with the plowing surface. A sensor 24 including a sensor arm 25 is fixed near the grounding part of the arm rod 39, and a sensor rod 2G is connected between the five sensor arms 25 and the grounding body 40. It should be noted that a control mechanism similar to that described with reference to FIG. 3 is also provided in this embodiment.

In such a configuration, if the rear @ 14 sinks as shown in FIG. 6 during work at the depth setting E11 shown in FIG. 5, the rotary working machine 15 also sinks together with the rear of the machine body 1. As the rotary working machine 15 sinks, the arm rod 39 rotates in the direction of arrow a around the axis of the support shaft 38 while maintaining one end in contact with the ground, and the inclination angle ψ of the arm rod 39 with respect to the plowing surface decreases. At the same time, the grounding body 40 rotates around the axis of the support shaft 41 while maintaining the grounded state, and the angle δ between the grounding body 40 and the arm rod 39 increases. Further, as the angle between the grounding body 40 and the arm rod 39 increases, the sensor arm 25 is rotated downward around the support shaft 29 via the sensor rod 26, and this rotational movement is detected by the sensor 24. Ru. That is, the sensor 24 detects a change in the inclination angle of the arm rod 39 with respect to the tilling surface.

Then, based on this detection result, the three-point pinch cylinder 3
5 is activated, and the rotary working machine 15 is moved to the L position via the lift 1-arm 3 and the like. 11z, j of rotary work machine 15
t, the arm rod 39 rotates around the axis of the support shaft 38 in a direction to increase the inclination angle with respect to the tilling surface, and the rotary work machine 15
When the arm lever 39 rises to the position shown in FIG.
The angle with respect to the rotary working machine 15 also returns to δ, the sensor arm 25 returns to its original state, and the lifting of the rotary working machine 15 is stopped. In this way, the angle of inclination of the arm rod 39 with respect to the tilling surface is maintained constant, and the arm rod 39 is rotatable around the support shaft 38 provided on the same axis as the rotary shaft. Even when the tiller 15 is tilted forward, the height of the support shaft 38 and the rotary shaft above the ground is equal to that at the set plowing depth. Therefore, as shown in FIG. 7, when the ground posture of the machine body 1 changes, the trajectory of the claw tip becomes A3, and the plowing depth h3 at this time is equal to the plowing depth at the set plowing depth, and the plowing depth error A uniform plowing depth can be obtained without causing any problems.

In this embodiment and the first embodiment, a rotary potentiometer is used as a detector, but a tilt angle detector using a pendulum or the like may be attached to the arm rod 39 or the leveling plate 16. .

Further, in this embodiment and the first embodiment, the elevation control of the rotary work machine 15 is performed using electrical signals, but hydraulic control using a Bowden wire or the like may also be used.

Effects of the Invention The present invention detects the inclination angle with respect to the tilling surface of a rotary body that is vertically rotatable with one end in contact with the tilling surface as described in -, and operates a tilling work machine based on the detection result. ■ By controlling the lowering and maintaining the tilt angle of the rotary body relative to the tilling surface constant, the tilling depth can be set to be approximately equal to the tilling depth even when the 1-rakta machine tilts forward or backward and the attitude of the tilling machine changes. Therefore, the entire field can be maintained at a nearly uniform plowing depth, and especially when the center of rotation of the rotating body is placed on the same axis as the rotary shaft, the plowing depth can be maintained at a substantially uniform plowing depth over the set plowing depth. This has the effect that the error can be reduced to 0.

[Brief explanation of drawings]

Fig. 1 is a side view showing the first embodiment of the present invention, Fig. 2 is a side view showing an enlarged part of the same, Fig. 3 is a control block diagram thereof, and Fig. 4 is a side view showing the first embodiment of the present invention. Accuracy comparison diagram with conventional example,
Fig. 5 is a side view showing the second embodiment of the present invention, Fig. 6 is a side view showing the state after the rotary working machine is controlled in the negative direction, and Fig. 7 is a side view showing the second embodiment of the present invention and the conventional example. Accuracy comparison diagram, No. 8
The figure is a side view showing a conventional example. 1... Aircraft, 15... Rotary work machine (tilling work machine)
, 16 Leveling plate (rotating body), 24...Sensor (detection unit)
, 13-36...Solenoid control valve (lifting control section), 39...Arm rod (
(Rotating body) Applicant: Ishikawajima Shibaura Machinery Co., Ltd. = 14-

Claims (1)

[Claims] A tilling machine is connected to the body of a tractor so that it can be lowered freely, and one end of the tilling machine is grounded on a jilt surface, and the tilling machine is rotated downward by -1 - f'1 when the tiller's stomach is lowered. A rotating body is provided, and a detecting unit is provided for detecting an inclination angle of the rotating body with respect to the tilling surface, and a lowering control unit is provided for raising and lowering the tilling work machine based on the detection result of the detecting unit. A tractor plowing depth control device characterized by: