JPS6156002A - Acting depth controller of working part of agricultural working machine - 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 provides an agricultural working machine in which a frame is provided with a working part such as a plow, a plow, a rotary tiller, an intercultivator, a sowing device, a reaping device, etc. The present invention relates to an improvement in a working depth control device of a working part of an agricultural working machine that automatically controls the working depth or working height of a working part.

As a means for controlling the working depth of the working part of an agricultural working machine, a grounding part that supports the frame in contact with the soil surface of uncultivated land or a plowing plate of already cultivated land is attached to the frame that supports the working part. The grounding part is mounted via an actuator so that it can be raised and lowered relative to the frame, and the actuator is controlled by a sensor that detects the height above the ground provided on the frame to raise and lower the ground-contact part. There is a means to keep the soil at a predetermined working depth, but this method is effective in areas where the soil in the field is soft, or in areas where hard and soft soils coexist. Even if the sensor detects the height above the ground, which changes depending on the unevenness of the soil surface, and controls the ground contact part to take a predetermined height position with respect to the frame, the ground contact part itself may not be in the muddy soil of the field. As a result, the intended purpose of holding the working part at a predetermined working depth or working height cannot be achieved, resulting in unstable work.

The present invention has been developed to solve this problem, and it is possible to stabilize the working part at a predetermined working depth or working height even in fields with soft soil or fields with mixed hard and soft soil. The purpose is to propose new means to ensure that the

The means of the present invention for this purpose is to provide a sensor for detecting the height from the ground surface to the frame that supports the working part, and to attach the frame in contact with the ground surface of uncultivated land or the plowing plate of already cultivated land. A grounding part that supports the is mounted so that it can be raised and lowered by an actuator, and the actuator of the grounding part is set to a desired value.The difference between the standard setting value and the detected value of the height above the ground detected by the sensor The present invention is characterized in that a control device equipped with a comparing ratio section controls the grounding section to be moved until there is no difference between the reference set value and the detected value of the sensor.

Next, the structure of the present invention will be specifically explained with reference to the drawings.

In FIG. 1, (l) is a frame for agricultural work ff1A (in the illustrated example, a driven desk plow), and the work 1t21 (in the illustrated example, a desk) is suspended and supported.

The frame fil is provided with a sensor (3) that detects the height above the ground surface of uncultivated land in the field. The sensor (3)
In the example shown in the figure, an arm OI) is installed that rotates up and down from a pivot shaft (7) K provided on the front end side of the frame (1), and a sensor foil is attached to the seven pivot ends. The pressure between the arm Gl) and the frame txt, the sensor wheel nQ
A balance spring (G) is provided to ground 3 with a constant ground pressure, and the rotational support shaft (3) detects the amount of vertical movement of the sensor foil country as the rotation angle 2 of the rotational support shaft (2). It is configured with a potentiometer (B), and the height above the ground is detected by the voltage value detected by this potentiometer (B) K, but the height above the ground varies depending on the unevenness of the ground surface. Any suitable sensor may be used as long as it can detect the distance to the ground surface using a phototube, ultrasonic waves, or the like.

In addition, the frame +1) has a grounding portion a that is in contact with the soil and supports the frame fi+, such as a gauge foil 91 that is in contact with the ground surface of uncultivated land, or a Norrow foil 61 that is placed on the plowing plate or the bottom of a plow ditch in already cultivated land. be installed singly or in combination. This grounding part a is mounted on the frame if by an actuator (6) so that it can be raised and lowered. In the illustrated example, the actuator (6) includes a hydraulic cylinder 6Q and a fallow wheel 6I, which are suspended between the frame fi+ and a rotating arm that pivotally supports the gauge wheel 0G at the rotating end. Although the hydraulic system includes a hydraulic cylinder υ mounted between the pivotally supported rotary arm 6υ and the frame fi+, a pneumatic system such as a cylinder 7 or an electric system may be used as appropriate.

C is a control device that controls the operation of the actuator (6), and in the illustrated example, it is a valve mechanism (1) provided in a hydraulic circuit connecting the hydraulic cylinder 6D and the hydraulic pump P.
and a control section (7) that controls the operation of the valve mechanism (2), and the control section (force is a standard for setting a reference setting value that is predetermined as desired as a standard for the working depth of the working section). It consists of a value setting part (7a) and a comparative soft part (7b) that compares the reference setting value set therein with the detected value of the height above the ground detected by the above-mentioned sensor (3) K. Since the sensor (3) uses a potentiometer (b), the reference value setting section (7a) uses a variable resistor for setting the reference voltage as shown in FIG.
Further, the comparison section (7b) compares the output voltage sent from the potentiometer (b) as the detected value of the height above the ground with the reference voltage set by the variable resistor (7a) as the reference setting value. A voltage comparison circuit σ■ detects the difference and outputs the result, a logic circuit συ determines the operating direction of the actuator (6) from the voltage difference signal output from the voltage comparison circuit, and the logic circuit συ The output circuit σ2 operates the relay σJ provided in the circuit of the above-mentioned valve mechanism VCIE (magnetic valve) in response to a signal output from the VCIE magnetic valve.

The means of the present invention configured in this manner eliminates the difference when a difference occurs between the detected value of the height above the ground detected by the sensor (3) and a predetermined reference setting value. Since the grounding part a is controlled to move up and down as shown in FIG. When the actuator (6) moves to the side where the frame (l) is raised (the side where the frame (l) is raised), the difference between the detected value of the sensor (3) and the reference setting value causes the actuator (6) to touch the ground vi6a
The actuator (6) that moves the ground contact part a downward is operated to push up the frame ill and restore the height above the ground to the predetermined height position.
As the frame IIJ is pushed up by the lowering of the ground contact part a, the height above the ground returns to the previous value, and the process continues until there is no difference between the detected value of the sensor (3) and the reference set value.

For this reason, if the field in which you are working is soft and the ground contact part a that moves downward due to the actuator (6) begins to settle into the soil, the ground contact part (a) that is descending (
4) Contrary to the amount of sedimentation, the frame +
11 is supported at a predetermined height position set as a reference setting value, the grounding part a is lowered as far as possible.

Incidentally, in order to increase the lower movement of the grounding part a, it is desirable that the arm 6Q supporting the grounding part a be formed long as shown in FIG.

Therefore, even in soft fields, the depth of action of the working part on the ground surface can be controlled properly.
Become.

[Brief explanation of the drawing]

FIG. 1 is a side view of an embodiment of the present invention, FIG. 2 is an explanatory diagram of the same control device, and FIG. 3 is a detailed explanatory diagram of the present invention. Explanation of drawing symbols A...Agricultural working machine a...Grounding part 1...Frame 2...Working part 3...Sensor (9)
...Rotating shaft 31...Arm blade...Sensor foil...Balance spring...Potentiometer 40...Gauge wheel 41...Rotating arm blade...
...Farrow wheel 51...Rotating arm 6...Actuator ω・61...Hydraulic cylinder C...Control device P...Pump ■...Valve mechanism (Isofune) 7... Control section 7a... Reference value setting section (variable resistor) 7b... Comparison section 70... Voltage comparison circuit 7
1...Logic circuit 72...Output circuit 73...
Relay patent applicant Takakita Agricultural Machinery Co., Ltd. W1

Claims (1)

[Claims] The frame that supports the working part is equipped with a sensor that detects the height above the ground, and an actuator is used to raise and lower the ground-contacting part that supports the frame in contact with the ground surface of uncultivated land or the tiller of cultivated land. A control device that is freely mounted and is equipped with a comparison unit that compares the difference between a reference setting value for setting an actuator of the grounding part to a desired value and a detected value of the height above the ground detected by the sensor. A working depth control device for a working part in an agricultural working machine, characterized in that the grounding part is controlled to be moved until there is no difference between the reference set value and the detected value of the sensor.