JPS62107704A - Apparatus for controlling earth position - 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] [Field of Industrial Application] The present invention relates to a ground position control device for controlling the height above the ground of a tilling body such as a rotary tiller, such as a rotary tiller, for example, for ground work. It can be used for tractors, etc. that are used by connecting the machine to the rear.

[Conventional technology]

Plowing depth control, which is an example of ground position control, conventionally detects #chestnuts based on the vertical movement position of the rear cover, whose trailing edge touches the ground, relative to the body of the ground work machine, and this plowing depth detection value is This course teaches how to raise and lower a ground working machine to match the plowing depth set value set by the plowing depth setting device.

[Problem that the invention seeks to solve]

12. As shown in Figure 3, when the field is flat, the plowing depth changes from the old state, as shown in Figure 4, for example, the rear wheel (II) rides on a convex part and the tractor (2) Ground work equipment (
3) becomes a downward slope in the front, the tilling body (4) moves upward and becomes shallower than the tilling depth (1), so the rear cover (5)
) becomes larger and the lift arm (6), f61? A lowering control command is output, and the ground work equipment (3) is lowered so as to return to the ground angle (α) when it is flat, but the rear cover (5)
The counter element (II) for the ground work machine body is smaller than the contact element (B) when the ground work machine is flat by the above-mentioned forward downward slope of the ground work machine (3), and this causes the plowing depth sensor (Sl
(consisting of something like a rotary potentiometer) detects that the plowing depth has become shallow, and the ground working machine ( 3)
This results in lowering the .

The depth will be deeper than the original depth (D).

Also, contrary to the above, the rear wheel (1) has a slightly soft tiller on the four parts.
When the ground working machine (3) tilts forward upward due to falling into the ground, the pair of elements (β2) becomes larger than the original pair of elements (β2), and as a result, the plowing depth of 1 element ( There is a problem that the depth becomes shallower than r>.

[Means to solve the problem]

In order to solve the above problems, the present invention has taken the following technical measures.

Ground work machine (3) connected to the tractor (2) by the work machine connection link mechanism (9)? , is installed so that it can be raised and lowered freely by a hydraulic lifting mechanism O0, and the hydraulic pressure is adjusted so that the height detection value detected by the height sensor (S+) matches the height setting value set by the height setting device (fl). In a tractor equipped with a control unit flblY that controls the elevation of the lifting mechanism 0■, a longitudinal inclination control unit that detects the longitudinal inclination of the ground work machine (3) is used.
The correction unit CI! performs a correction operation based on the detected inclination value of the height sensor (Sl) so that when the front slopes upward, a correction liquid is added to the height detection value, and when the front slope slopes downward, the correction amount is reduced. 'I
'Have you established Y? This is a unique ground position control device.

[Effect]

When the ground work equipment (3) is tilted forward upward, the correction amount calculated based on the detected inclination value detected by the forward/backward inclination set (8I) cannot be added directly to the height detection. Since the height of the ground work equipment (3) is controlled based on this corrected height detection value, the conventional problem of being controlled to a low level when the front slope is uphill is resolved. When the ground work equipment (3) is tilting forward downward, the correction amount should be subtracted from the detected height value - this also solves the problem of high control when the ground work equipment (3) is tilting forward downward. As a result, the ground work machine (3) can be controlled to the set height above the ground regardless of the unevenness of the field.

〔Example〕

Next, one embodiment of the present invention will be explained based on the drawings. Second
The figure shows a side view 1. As a guide, attach the ground work equipment (3) to the tractor (2) and lower the left and right lower lifts (7).

(7) and the top link (8) at the upper center, which are connected by the work equipment connecting link mechanism (9), and are raised and lowered by the movement of the 117 and 117 pistons of the hydraulic lifting mechanism 60). Rotating left and right lift arms (6).

(6) is connected to the lower link (force, (7)) via the left and right lift rods 031 and (13). The height sensor (S,) of the ground work equipment (3) is adjusted to the height setting value set by the operator using the height setting device (II)%'.
The on/off operation command for the ascending solenoid valve side or the descending solenoid valve a9 is configured by something like a microcomputer until the detected height value coincides with the value taking the correction value into consideration. It is provided so that the signal is amplified and output from the control section (1) (9) via the ascending drive section or the descending tail section.

As means for determining the correction value, a longitudinal inclination sensor (Sl) for detecting the longitudinal inclination of the ground work machine (3);
A correction unit (11 is provided, which calculates a correction value based on the detected inclination value detected by the longitudinal inclination sensor (Sl),
When the ground work equipment (3) is tilted forward, the correction unit 09 corrects the error in the detected height value due to the increase in the relative element (β) of the rear cover (5) based on the detected value of the tilt of the front upward slope. 7, and add this correction amount to the detected height value so that the ground height is controlled to the same height as on flat ground. , the error in the height detection value due to the decrease in the pixel ratio of the rear cover (5) is calculated as a correction amount by the correction section n!J based on the detected value of the front uphill inclination, and this correction t is The structure is such that the height above the ground is controlled to be the same as that on flat ground by subtracting the detected height value.

The illustrated longitudinal inclination sensor (Sl) detects the rotation angle of the lift arm (6) using a rotation type potentiometer, and adjusts the longitudinal inclination of the ground work equipment (3) based on this rotation angle. It is calculated by the correction unit (19), and for example, a weight-type or bubble-type inclination sensor may be used by attaching it to the ground work machine (3) as the longitudinal inclination sensor (Sl). The inclination sensor (82) can accurately detect iE regardless of the rocking of the ground work equipment (3).Also, the height detector (81) can detect
The installed 7-mu f2 (j
211? The arm is attached to the rotating potentiometer-based detection shaft 125 attached to the rotary cover Q of the ground work machine (3).

〔effect〕

The ground position control device according to the present invention has a groove structure [
-, and when the ground work equipment (3) is tilted forward, the correction (11 is the height It is added to the detected value, and the height of the ground work equipment (3) is controlled by this corrected height detected value, so that 1) flJ? The conventional problem of being tilted forward has been solved, and the correction amount is subtracted from the height detection value when the ground work machine (3) is tilting forward downward. The problem of the height being controlled too high has been resolved, and it is now possible to accurately control the height above the ground, which the ground working machine (3) always sets, regardless of the unevenness of the field.

[Brief explanation of drawings]

@ Figures 1 to 2 show an embodiment of the present invention, Figure 1 is a control circuit diagram, Figure 2 is an overall one-law diagram, and Figures 3 to 5 show control states in a conventional device. FIG. Code explanation

Claims (1)

[Claims] The ground-based work equipment, which is connected to the tractor by the work equipment connection link mechanism, can be raised and lowered by a hydraulic lifting mechanism, and the height detected by the height sensor is adjusted to the height setting value set by the height setting device. In a tractor that has a control unit that controls the elevation of the hydraulic lifting mechanism so that the detected values match, the detected height value is adjusted based on the detected inclination value of the longitudinal inclination sensor that detects the inclination of the ground work equipment in the longitudinal direction. A ground position control device comprising a correction section that performs a correction operation so as to add a correction amount when the front slopes upward and to decrease the correction amount when the front slope slopes downward.