JPS6137007A - Automatic plowing depth controller in 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 This invention relates to automatic tillage depth control in a tractor. With this in mind, 16 controls are performed on the forward/backward inclination and up/down position of the ground work machine.

Conventional technology Conventionally, the height of the ground working machine from the tilled soil surface is detected by a plowing depth sensor attached to the ground working machine, and this height above the ground is converted into the plowing depth detection value, and the plowing depth sensor is attached to the ground working machine. The structure controls the vertical position of the ground working machine so that the detected tilling depth matches the plowing depth setting value set as the appropriate plowing depth by the operator, and the ground work is controlled depending on the height after plowing. "The machine"
However, since there is a delay depending on the model of the work equipment lifting mechanism, follow-up control that feeds back the detected value after plowing is difficult to follow in the control operation. Unfortunately, as a result, there is a problem in that hunting is likely to occur in which the ground work machine repeatedly moves up and down due to the unevenness of the surface of the cultivated soil.

Problems to be Solved by the Invention The present invention is devised to improve followability by calculating the field condition as a control meter, and to perform control without notching.

Means for Solving the Problems 1-Means for Solving the Problems In order to solve the above problems, the present invention has taken the following technical means.

That is, the lifting and lowering position of the ground work equipment f2+ 7al-1 can be adjusted freely by the lifting mechanism (9) connected through a three-point link mechanism (7) having a top link (6) that is extendable and retractable. The tractor (]) is equipped with a longitudinal inclination sensor (S) that detects the longitudinal inclination of the tractor body (14) and a ground tilt sensor (S2) that detects the ground height of the abdomen of the tractor body (13). Calculated based on the plowing depth set value set as the appropriate plowing depth in the field, the longitudinal inclination detected value by the longitudinal inclination sensor (81), and the ground height detected value σ force by the ground height sensor (S2). A control unit (23) configured to add the correction amount obtained by the control unit, and control the ground work machine (2) to tilt forward and backward with respect to the tractor (1) and to control the vertical position based on this controller. This is an automatic plowing depth control device for tractors equipped with

Examples and effects Next, one embodiment of the present invention will be described based on the drawings.

Figure 2 shows a side view, and the ground work equipment (2) is attached to the rear of the tractor (1) with a pair of left and right lift arms (3) (31
A three-point link mechanism (connected by force) consisting of left and right lower links (5) (5) that can be vertically swung via left and right lift rods (4) (4), and a top link (6) in the upper center. , this three-point linkage mechanism (the force is applied to the lift arm (three points)
1f3) is lifted and lowered by a work equipment lifting mechanism (9) which is moved up and down by a lift cylinder (8) using hydraulic pressure, and the top link (6) is moved up and down by a cylinder (11 and its piston (10a). ), and as the piston (10a) moves in and out, the lower link (5) (5) and the ground work machine (2) connect the connecting pin 01) (l (2) is configured so that it can be rotated up and down to change its longitudinal posture with respect to the tractor (1).

In order to detect the longitudinal inclination of the tractor body Q21, the tractor (1) is equipped with a longitudinal inclination sensor (S
In addition, in order to detect the ground clearance force of the abdomen of the tractor body a21, a ground clearance sensor (S Installed on the aircraft body 02, the ground work machine (2
) to detect the plowing depth of the rear cover (1'3).
A plowing depth sensor (S3) is provided to detect the rocking of the top link using a rotary potentiometer, and to detect the length of the top link (6), for example, a linear sliding potentiometer is used to detect the length of the top link (6). top link length sensor (S4
), and in order to detect the lifting angle of the lift arm (3), a lift arm angle sensor (S5) is provided, which detects the lifting angle with a rotary potentiometer.
As the control circuit is illustrated in Figure 1, ground work equipment (2)
The longitudinal inclination setting device (for example, a rotary potentiometer) used to set the longitudinal inclination of the work machine to a desired value (the output of the I+ is matched with the detected longitudinal inclination value, which is the output of the longitudinal inclination sensor (S)). (assuming that the longitudinal inclination of the ground implement (2) with respect to the tractor (1) does not change) A tillage depth setting device (for example, a rotary potentiometer) is used to calculate the front and rear inclination reference value system @European calculation circuit I and set the tillage depth of the ground working machine (2) to a desired value. In order for the output of Di, that is, the output of the plowing depth sensor (S3) to match the plowing depth set value, the ground working machine (2) should be controlled to raise and lower.
The above-mentioned longitudinal inclination reference value control amount and tillage depth reference value control l are calculated by the tillage depth reference value control amount calculation circuit 09 and are based on the longitudinal inclination detection value and the ground height detection value detected in accordance with the unevenness of the field. are calculated by the longitudinal inclination correction amount calculation circuit (1e and plowing depth correction amount calculation circuit 0η), and the top link is calculated by the top link control amount calculation circuit based on the above-mentioned longitudinal inclination reference value control amount and longitudinal inclination correction amount. Calculate the control amount, calculate the lift arm control amount in the lift arm control amount calculation circuit 01 based on the plowing depth reference control amount and the plowing depth correction amount,
At this time, since the top link control amount affects the plowing depth,
A change in plowing depth when the top link control amount is executed is simulated using the simulation circuit 1' to determine an appropriate lift arm control amount, and the top link extension circuit C is adjusted by the top link control amount calculated above.
υ is configured to extend and retract the top link (6), and only the lift arm control section is configured such that the lift arm rotation circuit (2η) is configured to rotate the lift arm (3).

The longitudinal inclination reference value control amount calculation circuit (+4) etc.
As shown by the two-dot chain line in Figure 1, the control section of the computer (
The calculation logic for the above-mentioned longitudinal slope correction amount and plowing depth correction amount is based on the longitudinal slope detection value (noto and ground height detection value surface) detected due to the unevenness of the field before tilling. This is carried out based on the
To explain the case shown in Fig. 9, the front wheel (23) and rear wheel 1 of the tractor (1) are placed on a flat field as shown in Fig. 3.
24), the longitudinal inclination detection value and the ground height detection value are the reference value (θo), CHD), so the longitudinal inclination correction amount and plowing depth correction amount are both O, and the longitudinal inclination reference value control amount The ground working machine (2) is controlled according to the plowing depth reference value control amount, and when the front wheel east falls into the concave part of the ridge as shown in Fig. 4, the detected longitudinal inclination value (θ) is Reference value (θ0)
If it is larger than , the ground height detection value side will be smaller than the reference value ω0, so in this case, in order to tilt the longitudinal inclination of the ground work machine (2) backward by the value equivalent to (θ-00),
The longitudinal inclination correction amount calculation circuit calculates the longitudinal inclination correction amount, and control is performed to extend the top link (6) by a value corresponding to this correction amount compared to in a flat field.

As shown in Figure 5, the ground height detection value of 0 is the standard value due to the depression...
When it is thicker than υ, the longitudinal inclination correction amount and plowing depth correction amount are set to 0 as in Fig. 3, and the rear wheel (241
falls into the recess, the detected longitudinal inclination value (is the reference value (θ0
), and the ground height detection value ■ is also smaller than the reference value σ, so the longitudinal inclination correction amount calculation circuit (1) tilts the ground work machine (2) forward and raises it.
61 calculates the longitudinal inclination correction amount, the plowing depth correction amount calculation circuit qη calculates the plowing depth correction amount of (→, and flatten 1 (
capital) by the value corresponding to these correction amounts than in the field,
Control will be performed to reduce the top link (6) and raise the lift arm (3).

As shown in Figure 7, when the front wheel rides on a convex part such as a ridge, the detected longitudinal inclination value (θ) becomes smaller than the reference value (θ0), and the detected ground height value (C) becomes lower than the reference value (Ho). ), the longitudinal inclination correction amount calculation circuit (1θ) calculates the longitudinal inclination correction amount and controls the top link (6) to reduce so as to tilt the ground work machine (2) forward.

As shown in Figure 8, due to the convex part, the ground height detection value surface is set to the reference value (
) In), and when the detected longitudinal inclination value (θ) is equal to the reference value (θ0), the longitudinal inclination correction amount and plowing depth correction amount are set to O as in Fig. 3, and as shown in Fig. 9. When the rear wheel (24) rides on a convex part, the detected longitudinal inclination value (θ)
becomes larger than the reference value (θ0), and the ground height detection value ■ becomes larger than the reference value (Hn), so the ground work equipment (2
) is tilted rearward and lowered by calculating the longitudinal inclination correction amount and the plowing depth correction amount (-+1), extending the top link (6), and lowering the lift arm (3). Although not shown in the diagram, (1) When the field is flat and sloped, the ground height detection value surface is equal to the reference value (
)b), and the detected longitudinal inclination value (θ) is equal to the reference value (θ0
), so in this case, the correction amount is O as in the case of FIG. 3 described above.

Note that the logical configuration of the calculation of the longitudinal inclination correction amount and the plowing depth correction depth calculation is not limited to the embodiment described above. The lift arm angle sensor (S5) may be replaced with one that detects the rotation angle of the lower link (5), for example.

Effects of the Invention The automatic plowing depth control device according to the present invention is configured as described above, and the correction amount is calculated based on the detected longitudinal inclination value (θ) and the detected ground height value (θ) of the tractor body (121). is calculated, this correction amount is added to the plowing depth set value in a flat field, and the ground working machine (2) is controlled to tilt forward and backward relative to the tractor (1) using the calculated control amount, and the vertical position is controlled. Therefore, the tillage depth can be controlled predictively by detecting irregularities in the field before ground work is carried out.
Therefore, it is possible to compensate for delays in the operation of the work equipment lifting mechanism (9), improving followability and being extremely effective in preventing hunting, allowing for smooth plowing across drainage channels and ridges. This makes it possible to perform particularly excellent plowing depth control in the work being performed.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention; FIG. 1 is a block diagram of a control circuit, FIG. 2 is an overall side view of the working state, and FIGS. 3 to 9 are explanatory diagrams of each field state. Description of symbols (1)...Tractor (2)...Ground work equipment (6)...Top link (Force...3-point link mechanism (9)...Work equipment lifting mechanism 02...
・Tractor body (231...control unit
(81)... Longitudinal tilt sensor (θ)... Longitudinal tilt detected value (S2)... Ground height sensor H... Ground height detected value

Claims (1)

[Claims] A ground work machine connected via a three-point link mechanism having a top link formed to be extendable and retractable is attached to a tractor whose vertical position can be adjusted freely by a work machine lifting mechanism.
A longitudinal inclination sensor that detects the longitudinal inclination of the tractor body and a ground height sensor that detects the ground height of the abdomen of the tractor body are installed respectively. A correction amount calculated based on the longitudinal inclination value detected by the inclination sensor and the ground height detection value by the ground height sensor is added as a control amount, and based on this control amount, the ground work machine is controlled to be inclined longitudinally with respect to the tractor. An automatic plowing depth control device for a tractor, further comprising a control section configured to control the vertical position.