JPS61152206A - Electric automatic controller of agricultural 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] [Industrial Application Field] Zero invention, lifting and lowering of the work equipment is achieved by balancing the setting signal from the manually operated position setting device and the detection signal from the machine body level detector of the work equipment. The electric position control means for operating the drive mechanism, the setting signals from the manually operated plowing depth setting device 75λ, etc., and the detection signal from the plowing device of the working device are unbalanced, and the drive mechanism is and an electric automatic plowing depth control means for operating the automatic plowing depth control means, and the automatic plowing depth control means detects a state in which the position setting device has been operated to a predetermined position within the 70-ting range beyond the position adjustment range on the downward side. The present invention relates to an electric automatic control device for an agricultural tractor configured to allow operation of a control means.

[Prior Art] Conventionally, as an automatic tillage control means, there is one shown, for example, in Japanese Patent Application Laid-Open No. 58-216602i+, and
The above-mentioned automatic control device is capable of setting the working device to two types of automatic control states and a 70-ting state using a position setting device.

1. Problems to be Solved by the Invention] In the above automatic control device, since the predetermined position corresponding to the automatic plowing depth control of the position setting device is formed on the descending side of the position adjustment area, When changing from a control state to a position control state, the setting device passes through the lowest position level during operation of the position setting device. Therefore, when working with automatic plowing depth control at a relatively shallow level, when raising the working equipment with an arbitrary level control, the VC should be set after the working equipment has been lowered once, in contrast to the operation of the position setting device. 2. This inconvenience is more pronounced as the sweeping speed of the position setting device is lower.

This was done in view of the above-mentioned circumstances, and the purpose is to eliminate the above-mentioned disadvantages through rational modification.

Means for Solving Problem L] Features of the present invention? #1. When the position setting device is adjusted to position adjustment VC from the automatic plowing depth control state, the lowering control is activated when the setting signal from the position setting device and the detection signal from the machine level detector are in a state of 6Y balance. The functions and effects are as follows.

1) In other words, as mentioned above, in order to check the lowering control operation, even if the position setting device is operated at an extremely low speed, the lowering of the working equipment is suppressed when changing from automatic plowing depth control to position system*1K. be done.

[Effect of the invention] Therefore, it is possible to configure an electric automatic control device using a microprocessor sensor, and by simply changing the settings of the program, it is also possible to configure the above-mentioned device using a hard circuit. In the original version, the modification is just adding a latch circuit and a comparison circuit.
Unnecessary lowering of the working equipment became frequent, and automatic control equipment was rejected as being easy to handle.

[Example〕 Hereinafter, an example of the present invention will be explained based on the drawings.

As shown in Figure 2, front wheels (not shown) and rear wheels (1)
A hydraulically driven lift system, a ring (2), and a pair of left and right seven-toe arms (3) that can be raised and lowered by the lift system and ring (2) are provided at the rear of the body of the useless tractor that travels on the road.

In addition, a rotary tilling device +51 is connected to the rear end of the vehicle body via a three-point link mechanism (4) consisting of a top IJ link (4a) and a pair of left and right lower IJ links (4b), and the above-mentioned seven toe arms (3) and the lower link (4b) are connected via the lift rod F (6), whereby the rotary tiller (6) as an example of the working device (C) is constructed by driving the lift cylinder (2). fil'I is configured to be able to be raised and lowered.

The agricultural tractor is provided with a driving part (A) in the center of the body, and this driving part (A) includes a steering handle ()),
A seat (8), a lever-type position setting device (9), and a dial-type plowing depth setting device (1o) are provided.

The position setting device (9) performs position control to set the rotary tilling device (6) to the aircraft level control and 70-ting setting to set the rotary tilling device (6) to a free vertical position by its swing operation. , an automatic tillage depth control that maintains the tillage device +ls+ at a constant tillage depth based on the set value of the tillage depth setting device (10), and is configured to enable the following controls and seven settings, This will be explained in detail below.

As shown in Figures 1 to 3, the position setting device (9
A potentiometer (9a) for detecting the stab angle is attached to the base end of the lift arm (3), and a rotating aircraft level detector (11) is attached to the lift arm (3). In addition, the rotary tilling device i51 is equipped with a swinging cover (5a
) tillage detector (12) that detects tillage depth from the amount of push@lJ
is installed.

Position setting device (9), aircraft level detector (11)
, the plowing depth setting device (10), and the plowing device (12) are output as voltages, and the circuit is configured so that the signals are inputted to the control device (14) consisting of a microprocessor via the relay switch (l (6)). is configured, and a relay switch (13
), the position setting device (9) and the level against the aircraft are detected! +II) Signals from both sides and plowing depth setting device (1
The input system circuit is configured to be switchable so that signals from both the 0) and the tiller extractor (12) can be selectively input to the control device (14). The selection is performed by energizing and de-energizing the solenoid (13a).

The control device (14) is configured such that the setting signal from the selected setting device and the detection signal from the detector are balanced as described above.
The lift cylinder (15) is configured to drive and operate the hydraulic pulp (15) at the hydraulic valve (15).
2) can also be set to the free state. Here, this control device fF14! , hydraulic valve (1
6) The lift cylinder (2) is also referred to as a drive mechanism (B) for lifting and lowering the working device.

Position setting @ (9) is the position control area shown by (X) in the figure, the floating control area shown by (Y) in the figure, and VC.
It is operable, and an automatic plowing depth control position (Z) is provided at the throat of the 70-ting control area (2).

In other words, the position setting device (9) is set in the position setting area (
When the operation direction is set in the direction shown in (D) in the figure (
), the rotary tiller (5) is driven up and down until it balances with the signal from the detected fin position setter (9). Furthermore, when the position setting device (9) is introduced into the floating control area (2), the rotary tiller (5) descends under its own weight. This control is mainly done by rotating the rotary tillage device 15). (5b) is used when performing work while grounded.

Set the position setting device (9) to the automatic plowing depth control position (Z).
When installed, the rotary tillage device (5) and tillage depth setting device (1)
The carcass is completely lowered at the plowing depth position set at 17 in step 0), and the plowing depth position is adjusted. Further, the introduction of the position setting device (9) into this control position (Z) is detected by using another comparator (IQ) using the same means as described above, and the relay switch 03 is activated based on the detection result. and the control device 04) is configured to switch from the 70 mode control state to the operating state.

Note that this is a switch that forcibly raises and lowers the working device (C1) only during the operation indicated by 0η in the figure, and is energized to return to neutral.

When the control device (141, 11ff position setter (9) is adjusted from the automatic plowing depth control state, that is, from the position (phantom) to the position adjustment range (X+), the setting signal from the position setter (9) is the aircraft level detector (
11) is configured to check the descending control operation in a balanced state at.

The control device [Q, s) operates according to the flowchart shown in FIG. Position control area (9) (X
), the above-mentioned position control will be carried out, and when the position setting device (9) is operated to the (Y) area other than the (Z) position, the working device (C) will be set to 7rJ as described above.
- Set to setting state i-7, position setting device (9)
When it is operated to the (Z) position, automatic plowing depth control is performed using the Mfl door. Then, set the position setting device (9) to (Z)
If you operate from the position to the (X) area, the work device (C
Automatic plowing depth control is performed just before the level of ) becomes higher than the adjustment position h' of the position setting device (9), and when it becomes higher than the adjustment position, the system shifts to position control.

As shown in Fig. 4, when the position setting device is operated within the (y range), the feedback signal from the aircraft level sensor cannot be balanced against the signal from the position setting device within the (y range). , hydraulic pulp (15
) is always lowered and the working equipment is set in a floating state.

Embodiment E] In addition to the embodiments described above, the control device of the present invention may be configured with a 7-mode circuit. In addition, a device is configured with logic gates, comparators, etc. to perform the above two controls and set the working device (C) to the 70-ting state, and furthermore, the position setting W +91 is set to the (Z) position. The control device may be configured by adding a mechanism for detecting the operation and a comparator for comparing the level of the working device and the sweeping adjustment range of the position setting device.

In addition, as a means to check the lowering control operation, the neutral state of the lifting control is maintained so that the position setting device (9) fixes the position of the working device (C) at a level just before it can be operated to a position other than the (Z) position. You may apply the means.

[Brief explanation of the drawing]

The drawings show an embodiment of the electric automatic control device for agricultural tractors according to the present invention.
3 is a side view of the rear part of the agricultural tractor, FIG. 3 is a perspective view of the position setting device, and FIG. 4 is a flowchart for operating the control device. (9)...Position setting device, (10)...
・Plowing depth setting device, (11)...Aircraft level detector, (12)...Plowing depth detection, device, (B)...
... Drive mechanism for lifting and lowering work equipment, (C) ... Work device f, (X) ... Position adjustment area, (to)
...Floating area, (Z) ...Predetermined position.

Claims (1)

[Claims] [1] The work equipment is raised and lowered until the setting signal from the manually operated position setting device (9) and the detection signal from the machine level detector (11) of the work equipment (C) are balanced. an electric position control means for operating the drive mechanism (B);
An electric automatic tiller that operates the drive mechanism (B) until the setting signal from the manually operated plowing depth setter (10) and the detection signal from the tiller extractor (12) of the working device (C) are balanced. depth control means, and detects a state in which the position setting device (9) has been operated to a predetermined position (Z) within the floating region (Y) beyond the position adjustment region (X) to the downward side; An electric automatic control device for an agricultural tractor configured to allow operation of the automatic plowing depth control means, wherein the position setting device (9) is moved from the automatic plowing depth control state to the position adjustment range (X) side. When the agricultural tractor is adjusted to Electric automatic control device. [2] The electric automatic control device for an agricultural tractor according to claim [1], which is configured to maintain an automatic plowing depth control state as a means for checking the lowering control operation. [3] The electric automatic control device for an agricultural tractor as set forth in claim [1], which is configured to maintain a neutral state of elevation control as means for checking the descending control operation.