JPS62118809A - Plowing depth controller - 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] The present invention relates to a plowing depth control device for tillage work performed using a ground work machine such as a rotary tillage device, and the invention relates to a tillage depth control device for tillage work performed using a ground work machine such as a rotary tillage device. It can be used for tractors etc.

[Conventional technology]

As shown in Figures 3 and 4, plowing depth detection in the plowing depth control device is performed by using a rear cover (2) that is pivotally supported on the body (1), which is the rotary cover of the ground working machine. It is used as a sensing body (3), and the aircraft body (1)
A detection arm (5) is attached to the detection axis of the tillage depth sensor (Sl) formed by something like a potentiometer (4) attached to the
The arm (6) attached to the sensing body (3) and the detection arm (5) are connected by a link (7), and the sensing body (3) slidingly contacts the ground surface is tilted in the longitudinal direction with respect to the aircraft body (1). The plowing depth (1'), which is the depth of the plowing body (8) from the ground surface, is calculated by the diagonal angle (α) by detecting the corner as a diagonal angle (river), and then cultivating the plowing as instructed by the operator. In this book, the ground working machine is automatically controlled by a hydraulic lifting mechanism so that the detected plowing depth value matches the set depth value.

[Grid point to be solved by the invention] However, in order to optimize the bending angle of the universal joint shaft that connects the PTO shaft and the input shaft of the field work machine in order to drive the ground work machine, it is necessary to , when changing the longitudinal attitude of the ground work equipment, etc., the aircraft (1) will be tilted by the longitudinal inclination angle (β) with respect to the tractor (or the ground) as shown in Figure 4. In order to control the plowing depth IDI before and after tilting in (1) to be the same, the tangent angle (α1 in Figure @3) needs to change to the tangent angle (αI) in Figure @4. but.

As mentioned above, the plowing depth 11) is calculated by the tangent angle (φ), so if you try to control the tangent angle ((to) to be constant before and after tilting the aircraft (11), the plowing depth will be the same after tilting. Is it bigger than Koufuka (I)?There is a problem that it becomes.

[Means for solving problems]

This invention is devised so that the plowing depth can be controlled to a predetermined value regardless of the inclination of the ground work machine in the longitudinal direction. A sensing body (3) is provided with a ground work machine aQ that can be raised and lowered by a hydraulic lifting mechanism H, and whose upper part is pivoted to the ground work machine Ql so that its lower edge can slide on the ground surface.
The tangent angle (rvc), which is the inclination angle in the longitudinal direction with respect to the ground work machine α1, is provided to detect the plowing depth, and the plowing depth set value set by the plowing depth setting device (II) is In a plowing depth control device having a control unit (211) that commands the elevation control of the ground working machine Ql in order to match the detected depth value, the ground working machine Tilt sensor (S2) that detects angles
A correction unit (24) is provided, which performs correction based on the tangent angle (c4ft) and calculates a corrected plowing depth detection value based on the tractor angle IA. This is a plowing depth control device characterized in that the control unit Qυ is configured to perform plowing.

[Effect]

When the ground work machine a1 leans forward, the field angle to the tractor (/
? The correction that adds I to the tangent angle (field) is performed by the correction unit QJ, and when the ground work machine α@ tilts backward, the correction that adds I to the tangent angle (a3) Part f
21, the plowing depth (■) can be controlled to a predetermined size regardless of the longitudinal inclination of the single ground work machine (II).

〔Example〕

Next, one embodiment of the present invention will be described based on the drawings. Second
As shown in the side view, the tractor (9) is equipped with a ground work machine +11), and the lower links aD at the lower left and right sides.

Old! and a top link q4 at the upper center (connected by 131, hydraulic lifting mechanism α
Lift cylinder (I51 lift piston)
゜071 is connected to the lower link old + ttuic via the left and right lift rod openings (18), and is equipped with a tilling depth setting device (11 ) until the plowing depth setting value set by the operator matches the plowing depth detection value detected by the plowing depth sensor (Sl) of the ground work machine αl, taking into account the correction value, the raising solenoid Valve Ql or lowering solenoid valve (
The on/off operation command of 2Ii is amplified and outputted from the control section 1211, which is composed of something like a microcomputer, via the ascending drive section (2) or the descending drive section (c). There is.

As a means for determining the correction value, the angle with respect to the tractor + A? which is the inclination angle in the longitudinal direction of the ground work machine 01 with respect to the tractor C9)? A tilt sensor (S2) is provided to detect the tilt.

The correction unit 12 calculates the tractor angle (/9), which is the longitudinal inclination angle of the body (1) of the ground work machine a [with respect to the tractor (9)], from the detected value of the inclination sensor (S2),
This angle (support) relative to the tractor is set to (+l) when the machine (1) is in a forward-leaning position, and is set to (+l) when the machine (1) is in a backward-leaning position. Calculate a correction value by adding this angle to the tractor as it is to the angle (φ), or correct the tangent angle (river) and the angle to the tractor (c) as appropriate and add them to each other. The correction unit (21) is configured so that the corrected plowing depth detected value can be expressed as plowing depth ([)'?: which is the depth of the tilling body (8) from the ground surface.

The tilt sensor (S2) in the illustrated example is configured to detect the rotation angle of the lift arm (1η) relative to the tractor body using, for example, a rotary potentiometer. The detection shaft of the potentiometer is installed, but the tilt sensor (
Although not shown, S2) includes a sensor that detects the rotation angle of the lower link (lυ) with respect to the tractor body, a sensor that detects the rotation angle of the top link az with respect to the tractor body, and a sensor that detects the rotation angle of the lower link (Il+) with respect to the tractor body (1). A sensor for detecting the rotation angle, a linearly movable potentiometer provided in the form of a bridge between the tractor body and the body (1), etc. may be used.

In addition to the above-mentioned methods, methods such as method 1 for calculating the above-mentioned correction value based on the angle to the machine and the angle to the tractor can be used.

〔Effect of the invention〕

The plowing depth control device according to the present invention is constructed as described above, and when the ground work machine α1 is tilted forward, the correction unit adds the angle relative to the tractor (-H) to the machine angle (φ). c!
In addition, when the ground work implement Ql tilts backward, the correction unit 1241 performs a correction to add the angle to the tractor (1) of (-1) to the angle to the ground < dJ.

The plowing depth (n) can always be controlled to a predetermined size regardless of the longitudinal inclination of the ground work machine a. Therefore, according to the present invention, for example, the plowing body (8) can be driven freely. In order to control the bending angle of the joint shaft G with respect to the PTO axis (A) and the input shaft to an appropriate value in order to ensure smooth rotation of the universal joint shaft (C), the top link a2 is controlled to expand and contract using hydraulic pressure. As a result, even when plowing work is performed while the longitudinal inclination of the ground working machine 0 is being changed and controlled, the plowing depth can always be controlled to a predetermined level.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a control circuit diagram, FIG. 2 is an overall side view, and FIGS. 3 and 4 are side views showing the principle of plowing depth detection. Code explanation

Claims (1)

[Claims] A ground work machine connected to a tractor by a work machine connection link mechanism is provided so that it can be raised and lowered by a hydraulic lifting mechanism, and its upper part is pivoted to the ground work machine so that its lower edge can slide on the ground surface. The plowing depth is detected based on the angle of inclination of the sensor in the longitudinal direction relative to the ground work machine, and the plowing depth detected value is matched to the plowing depth set value set by the plowing depth setting device. In a plowing depth control device that has a control unit that commands the elevation control of a ground work machine in order to A correction unit is provided for correcting the angle based on the angle with respect to the tractor to calculate a corrected plowing depth detection value, and the control unit is configured so that the above-mentioned elevation control is performed based on the corrected plowing depth detection value. A plowing depth control device featuring: