JPS62138106A - Rising/falling controller of earth working machine - Google Patents
Rising/falling controller of earth working machineInfo
- Publication number
- JPS62138106A JPS62138106A JP27988185A JP27988185A JPS62138106A JP S62138106 A JPS62138106 A JP S62138106A JP 27988185 A JP27988185 A JP 27988185A JP 27988185 A JP27988185 A JP 27988185A JP S62138106 A JPS62138106 A JP S62138106A
- Authority
- JP
- Japan
- Prior art keywords
- height
- setting device
- plowing depth
- control
- lifting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Lifting Devices For Agricultural Implements (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔産業トの利ｆ１１分野〕
この発明は、トラクタに岸結さｈているロータリ耕耘装
置の如き対地作業機の昇降制御装置に関するもので一耕
耘作業における作業窩さの調節操作に便利であるように
工夫Ｉまた昇降制御装置を提案するものであって、トラ
クタに利用できる。[Detailed Description of the Invention] [Field of industrial benefits] This invention relates to a lifting control device for a ground-based working machine, such as a rotary tiller, which is tied to a tractor. This invention proposes a device I and a lifting control device for convenient adjustment operations, which can be used for tractors.
高さ設定器にて設定されｔ高さに対地作業機を昇降制御
できる高さ制御機能と一耕深設定器によって設定された
耕深にこの対地作業機を制御できるようにした耕深制御
機能４−有ｌ、ているトラクタを用いて耕耘作業を行う
とぎ一作業前のｔ１３−ヒ位肴から対地作業機を、高さ
設定器にて設定Ｉ−だ高さまで下降させ、次に耕深設定
器を操作［−て所望の耕深設定値を設定して、この耕深
設定操作によって対地作業機は耕深設定イ（Ｋ ？ ［
１標として下動して耕深制御が開始されることになる。A height control function that allows the ground work machine to be raised and lowered to a height set by the height setting device, and a plowing depth control function that allows the ground work machine to be controlled to the tilling depth set by the tillage depth setting device. 4- Perform plowing work using a tractor that has been installed. t13- Before the plowing operation, lower the ground working machine from the H position to the set height using the height setting device, and then set the plowing depth. Operate the setting device to set the desired plowing depth setting value, and by this plowing depth setting operation, the ground working machine will set the plowing depth (K?
The plowing depth control will be started by moving down as one target.
このように、対地作業機を（１）上位骨から下降させる
には、高さ設定器による高さ設定操作に引続いて一耕深
設定操作を必ず行わねばならず、したがって−耕深制御
作業中１／ｍ−ｅん、帛−ヒ状態と１−たとぎは、必ず
可変、耕深設定操作を必要とすると云う面倒があり、例
えば畦際における比較的に高い！ｌ１ｌｌ場面では、畦
際以外のときの耕耘爪の位置よりも−Ｆ位となるように
耕耕作業を行って、畦際を終ったとぎ以降は、通常の位
置にまで耕耘爪を下降させることを行う場合、畦際とそ
れ以外の夫々の区域毎にその都度−耕深設定操作を設定
Ｉ−直す必要があって面倒である。In this way, in order to lower the ground work machine from (1) the upper bone, it is necessary to perform a plowing depth setting operation following the height setting operation using the height setting device, and therefore - plowing depth control work During the first half of the year, the plowing state and the first plowing state always require variable plowing depth setting operations, which is a hassle, and, for example, the plowing depth is relatively high at the edge of the ridge. In the l1ll scene, perform tilling work so that the tiller claws are at -F position compared to when they are not at the edge of a furrow, and lower the tiller claws to the normal position after finishing the edge of a furrow. When performing this, it is troublesome because it is necessary to adjust the plowing depth setting operation each time for each area of the ridge and other areas.
この発明は、耕耘作業中では所望の耕深設定を行った後
は、対地作業機を昇降操作１．ても再度−耕深設定を行
う必要を省いて操作が容易となるように工夫したもので
あつズーその構成は、作業機連結リンク機構（力にてト
ラクタ（１）へ連結されている対地作業機（２）が、油
圧昇降機構（９）によって昇降自在に設けられ−高さ設
定器（Ｉりにて設定される高さ設定値に−高さセンサ（
Ｓ＋ ）にて検出きハだ高さ検出値が一致するよへ圧油
［Ｆ昇降機構（９）が制御ａｔ−ｂと共に一耕深設定器
（Ｔ２）Ｉｃて設定さハる耕深設定値に耕深センサ（Ｓ
２）Ｖｒ、て検出された耕深検出値が一致するように油
圧昇降機構（９）を制御する制御部ａ２１を有Ｉ〜てい
るトラクタにおいて一作業状態又は非作業状態の何れか
を指定する作業状態切替スイッチ（ハ）と、上記作業状
態切替スイッチ＠が作業状態にあるとぎ、高さ設定器（
ＴＩ）の作業機？１３上指示位置から下降方向への操作
に伴って、この高さ設定器（ＴＩ）及び耕深設定器（■
２）の何台か高い位置を設定している設定器によって指
定された設定高さに油圧昇降機構（９）全下降制御すべ
く一上記制御部Ｑ２）’／Ｉ−構成し、たことを特徴と
する対地作業機の昇降制御装置である。In this invention, during plowing work, after setting the desired plowing depth, the ground work machine is raised and lowered. This system has been devised to simplify operation by eliminating the need to set the plowing depth again. The machine (2) is provided so as to be able to be raised and lowered by a hydraulic lifting mechanism (9).
Pressurized oil (F lifting mechanism (9), together with control at-b, sets plowing depth set value using plowing depth setting device (T2) Ic) so that the detected ground height matches the detected value. tillage depth sensor (S
2) Specify either a working state or a non-working state in a tractor equipped with a control unit a21 that controls the hydraulic lifting mechanism (9) so that the plowing depth detection values detected by Vr and Vr match. When the working state selector switch (c) and the above working state selector switch @ are in the working state, the height setting device (
TI) work equipment? 13 This height setting device (TI) and plowing depth setting device (■
2) In order to control the entire lowering of the hydraulic lifting mechanism (9) to the set height specified by the setting device which sets the higher position, one of the above control parts Q2)'/I- is configured, and This is a unique elevation control device for ground-based work equipment.
作業状態切替スイッチＱ３を作業状態にセットしておい
て−高さ設定器（ＩＩ ）を作業機吊−ｈ指示位置から
下降方向へ操作すると、制御部Ｏｚの指令によってこの
高さ設定！（ＩＩ）及び耕深設定器（■２）の何台か高
い位置を設定している設定器によって指定さ幻た設定高
さに一油圧昇降機構（９）が下降制御さ幻ることになる
ので畦際以外の耕深設定値を耕深設定器（丁２）によっ
て設定［、ておいて、畦際附近では耕深設定値よりも少
ｌ−高位の位＋ｗ′？高さ設定器（ＴＩ ）によって設
定指示することによって耕耘作業を行い、畦際附近を終
えたとぎＩｃ高さ設定器（■１）を例えば最下位位置に
操作すれば、耕深設定器（■２）にて設定された耕深に
対地作業機（２）が制御されること圧なるものである。When the working state selector switch Q3 is set to the working state and the height setting device (II) is operated in the downward direction from the work equipment lifting-h instruction position, this height is set by the command from the control unit Oz! (II) and tillage depth setting device (■2) The hydraulic lifting mechanism (9) is controlled to descend to the set height specified by the setting device which is set at a high position. Therefore, set the plowing depth setting value for areas other than the ridge edge using the tilling depth setting device (Double 2). Tilling work is performed by instructing settings using the height setting device (TI), and when the area near the furrow is completed, the Ic height setting device (■1) is operated to the lowest position, for example, and the tilling depth setting device (■ It is important that the ground working machine (2) is controlled to the plowing depth set in step 2).
次にこの発明の一実施例を図に基づいて説明する。第２
図に示すように、トラクタ（１）の後部に対地作業機（
２）の１例としてのロータリ耕耘装置を左右１対のリフ
トアーム（３）（３）へ、左右のリフトロッド（４）（
４）を介して上下に揺動する左右のロワーリンク（５）
（５）及び、中央上部のトップリンク（６）からなる作
業機連結リンク機構（７）によって連結し、この作業機
連結＋１ンク磯構（７）は、そのリフトアーム（３）（
３）を、油圧を用いたリフトシリンダ（８）によって昇
降回動させる油圧昇降機構ｆ９） Ｋよって昇降動作を
するものである。Next, one embodiment of the present invention will be described based on the drawings. Second
As shown in the figure, the ground work equipment (
The rotary tillage device as an example of 2) is attached to a pair of left and right lift arms (3) (3), and left and right lift rods (4) (
4) Left and right lower links (5) that swing up and down through
(5) and a top link (6) at the upper center of the work equipment connection link mechanism (7).
3) is lifted and lowered by a hydraulic lift cylinder (8) using hydraulic pressure.
高さ制御において、油圧昇降機構（９）を昇降制御する
高さ設定５（ＴＩ）は、設定レバー（１０の回動操作に
よって操作さハるボリューム（１υにて構成され。In the height control, the height setting 5 (TI) that controls the elevation and descent of the hydraulic lifting mechanism (9) is composed of a volume (1υ) that is operated by rotating a setting lever (10).
リフトアーム（３）のリフト軸にその検出軸を連結して
いるポテンショメータからなる高さセンサ（Ｓ＋ ）に
よって検出された高さ検出値が５設定レバー００の回動
操作によって高さ設定器（ＴＩ）にて設定される高さ設
定値に一致するまで、マイクロコンピュータの如きもの
にて構成；、ている制御Ｆ！Ａ３ｏａが油圧昇降機構（
９）を制御するものであって、上昇用ンレノイド弁０□
□□又は下降用ソレノイド弁０４）のオン又はオフ動作
を、上昇用駆動部（１５＋又は下降用駆動部（Ｉｅが制
御部ａカの出力指令に基づいて行うように構成し、耕深
制御における油圧昇降機構（９）の昇降制御を行う耕深
設定器（■２）は、股？ダイヤル０ｎの回動操作によっ
て調ＷＪされるボリューム０梯にて構成され、地表な摺
接できるよりに上下回動自在に対地作業機機体１ｃ螺着
されているリヤカバー（］！ｌの上下動作を、ポテンシ
ョメータからなる耕深セン＠８ｉりてよって検出１２て
、この耕深センサ＜Ｓ２＞ Ｋよって検出さ幻た耕深検
出値が、設定ダイヤル０７１の回動操作によって耕深設
定器（Ｉ２）にて設定さ幻る耕深設定値に一致するまで
一制御部（１２１が上昇用ソレノイド弁（１３１又は下
降用ソレノイド弁（［４１のオン、オフ動作を制御する
ものであり、作業モード切替スイッチｆ２ｆｌｌ ｆ／
高さ制御部ｆＩ２１１に切替えたとぎに上記の高さ制御
が行われることになり、耕深制御位ｔｆ器に作業モード
切替スイッチ（２０１ヲ置いたときは、耕深制御が行わ
れるものであり、そして１作業切替スイッチ器ヲオン動
作して作業状態に切替えた状態では−高さ設定器（ＩＩ
）又は耕深設定器（Ｉ２）の何れか高い位ｆを設定して
いる設定器によって指定さｈた設定高さに、対地作業機
（２）の昇降制御が行わわるように制御部０２を構成し
たものである。The height detection value detected by the height sensor (S+) consisting of a potentiometer whose detection shaft is connected to the lift shaft of the lift arm (3) is set to the height setting device (TI) by rotating the setting lever 00. ) is controlled by something like a microcomputer; A3oa has a hydraulic lifting mechanism (
9), which controls the ascending renoid valve 0□
□□ or descending solenoid valve 04) is configured to be turned on or off by the ascending drive unit (15+) or the descending drive unit (Ie) based on the output command of the control unit a, and The plowing depth setting device (■2) that controls the lifting and lowering of the hydraulic lifting mechanism (9) consists of a volume 0 ladder that is adjusted by rotating the crotch dial 0n. The vertical movement of the rear cover (]!l, which is rotatably screwed onto the ground working machine body 1c, is detected by the plowing depth sensor <8i>12, which consists of a potentiometer, and is detected by this plowing depth sensor <S2>K. One control section (121 is a rising solenoid valve (131 or a descending solenoid valve (controls the on/off operation of [41), and the work mode selector switch
When switching to the height control section fI211, the above-mentioned height control will be performed, and when the work mode changeover switch (201) is placed in the tillage depth control position TF machine, the tillage depth control will be performed. , and when the work changeover switch is turned on and switched to the work state, the -height setting device (II
) or the plowing depth setting device (I2), whichever is higher, is specified by the setting device h, which controls the elevation of the ground working machine (2). It is composed of
又、ホリュームの如きものにて構成している上限設定器
ｒ２４の回動操作によって設定した上限値に。Also, the upper limit value is set by rotating the upper limit setting device r24, which is made up of something like a volume.
作業切替スイッチののオフ動作時には対地作業機（２）
が上昇するように構成している。When the work selector switch is turned off, the ground work equipment (2)
is configured so that it increases.
高さセンサ（Ｓ＋ ）は、上記実施例のほか、例えばロ
ワーリンク（５）の上下方向回動角或いはトップリンク
（６）の上下回動角な検出する構造のものを用いても良
く、種々のものを使用できる。In addition to the above embodiments, the height sensor (S+) may have a structure that detects, for example, the vertical rotation angle of the lower link (5) or the vertical movement angle of the top link (6). You can use the following.
この発明に係る対地作業機の昇降制御装置は上述のよう
に構成したものであって、作業状態切替スイッチのを作
業状態にセットしておいて、高さ設定器（Ｉ１）を作業
機墨」−指示位置から下降方向へ操作すると、制御部（
＋２１の指令によってこの高さ設定器（Ｔ＋ ）及び耕
深設定器（Ｉ２）の何れか高い位置を設定している設定
器によって指定された設定高さに油圧昇降機構（９）が
下降制御されることになるので、畦際以外の耕深設定値
を耕深設定器（Ｉ２）によって設定しておいて、畦際附
近では耕深設定値よりも少し高位の位置を高さ設定器（
１＋）によって設定指示することによって耕耘作業を行
い、畦際附近を終えたときに、高さ設定器（■りを例え
ば最下位位置に操作すれば、耕深設定器（Ｉ２）にて設
定された耕深に対地作業機（２）が制御されることにな
るので一畦際附近の耕耕作業などにおける対地作業機（
２）の昇降操作に便利となり、或いは又一作業中に土壌
抵抗の角、増が発生してエンジン回転数が急に低下１−
たとぎ一対畑作業機（２）を少し上昇操作ｌ。The elevation control device for a ground-based work machine according to the present invention is configured as described above, in which the work state changeover switch is set to the work state, and the height setting device (I1) is set to the work machine position. - When operated in the downward direction from the indicated position, the control section (
In response to the command +21, the hydraulic lifting mechanism (9) is controlled to descend to the set height specified by the height setting device (T+) or the plowing depth setting device (I2), whichever is the higher setting device. Therefore, set the plowing depth setting value other than the ridge edge using the tilling depth setting device (I2), and near the ridge edge, use the height setting device (I2) to set a position slightly higher than the plowing depth setting value.
Perform tilling work by instructing settings using the plowing depth setting device (I2), and when you finish near the furrow, operate the height setting device (■) to the lowest position, for example, and the plowing depth setting device (I2) will set it. Since the ground working machine (2) will be controlled to the plowing depth, the ground working machine (2) will be controlled at the plowing depth.
2) Convenient for lifting and lowering operations, or when the engine speed suddenly decreases due to an increase in soil resistance during work 1-
Raise the pair of Tagi field working machines (2) slightly.
て作業負荷を軽減してエンジン回転を回復した後、高さ
設定器（Ｉ１）を最下位位置に戻し７操作することによ
って上昇操作前の耕深設定値に対地作業機（２）が再び
制御さ幻ることになるので、このように、１時的に対地
作業機（２）？上昇操作した後の高さ制御における操作
を極めて容易化できたのである。After reducing the work load and restoring the engine rotation, return the height setting device (I1) to the lowest position and perform 7 operations to control the ground work machine (2) again to the plowing depth setting value before the raising operation. Since it will be a nightmare, I will temporarily use the ground work machine (2) like this? This made it extremely easy to control the height after the lifting operation.
図はこの発明の一実施例を示し一第１図は制御回路図、
第２図はトラクタの側面図−第３図は第１図における要
部斜視図である。
符号説明The figure shows an embodiment of the present invention. Figure 1 is a control circuit diagram;
FIG. 2 is a side view of the tractor, and FIG. 3 is a perspective view of the main parts in FIG. 1. Code explanation
Claims (1)
対地作業機が、油圧昇降機構によつて昇降自在に設けら
れ、高さ設定器にて設定される高さ設定値に、高さセン
サにて検出された高さ検出値が一致するように油圧昇降
機構が制御されると共に、耕深設定器にて設定される耕
深設定値に、耕深センサにて検出された耕深検出値が一
致するように油圧昇降機構を制御する制御部を有してい
るトラクタにおいて、作業状態又は非作業状態の何れか
を指定する作業状態切替スイツチと、上記作業状態切替
スイツチが作業状態にあるとき、高さ設定器の作業機吊
上指示位置から下降方向への操作に伴つて、この高さ設
定器及び耕深設定器の何れか高い位置を設定している設
定器によつて指定された設定高さに、油圧昇降機構を下
降制御すべく上記制御部を構成したことを特徴とする対
地作業機の昇降制御装置。The ground work equipment, which is connected to the tractor by the work equipment connection link mechanism, is provided so that it can be raised and lowered by a hydraulic lifting mechanism, and the height setting value set by the height setting device is set by the height sensor. The hydraulic lifting mechanism is controlled so that the detected height values match, and the plowing depth detection value detected by the plowing depth sensor matches the plowing depth set value set by the plowing depth setting device. In a tractor that has a control unit that controls the hydraulic lifting mechanism to When the height setting device is operated in the descending direction from the work equipment lifting instruction position, the setting height specified by the height setting device or the plowing depth setting device, whichever is the higher position. A lifting control device for a ground work machine, characterized in that the control section is configured to control the hydraulic lifting mechanism to lower it.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60279881A JPH0665244B2 (en) | 1985-12-12 | 1985-12-12 | Lifting control device for ground work machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60279881A JPH0665244B2 (en) | 1985-12-12 | 1985-12-12 | Lifting control device for ground work machine |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5117255A Division JP2661859B2 (en) | 1993-05-19 | 1993-05-19 | Hydraulic lifting control of tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62138106A true JPS62138106A (en) | 1987-06-20 |
| JPH0665244B2 JPH0665244B2 (en) | 1994-08-24 |
Family
ID=17617236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60279881A Expired - Lifetime JPH0665244B2 (en) | 1985-12-12 | 1985-12-12 | Lifting control device for ground work machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0665244B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62272904A (en) * | 1986-05-20 | 1987-11-27 | 株式会社クボタ | Electric type automatic controller of agricultural tractor |
| JPS633706A (en) * | 1986-06-24 | 1988-01-08 | ヤンマーディーゼル株式会社 | Plowing depth automatic control apparatus of tractor |
| JPH037683A (en) * | 1990-05-29 | 1991-01-14 | Mitsubishi Agricult Mach Co Ltd | Structure of control operating part of agricultural tractor |
| JPH03129006U (en) * | 1990-04-06 | 1991-12-25 |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53103804A (en) * | 1977-02-17 | 1978-09-09 | Diesel Kiki Co | Plow position controller of tractor |
| JPS53122505A (en) * | 1977-03-28 | 1978-10-26 | Osaka Koukiyuu Chiyuuzou Tetsu | Automatic depth control device |
| JPS54135104A (en) * | 1978-03-16 | 1979-10-20 | Fujikoshi Kk | Automatic position controller of working machine |
| JPS557070A (en) * | 1978-06-30 | 1980-01-18 | Sato Zoki Co Ltd | Working machine lifting controller of farm tractor |
| JPS5526879A (en) * | 1978-08-17 | 1980-02-26 | Sato Zoki Co Ltd | Working machine lifting and lowering device of power farm machine |
| JPS5554804A (en) * | 1978-10-19 | 1980-04-22 | Diesel Kiki Co | Lifting and lowering controller of working machine for tractor |
| JPS5678504A (en) * | 1979-11-28 | 1981-06-27 | Kubota Ltd | Soil treating machine with automatic lifting control mechanism |
| JPS5847123A (en) * | 1981-09-12 | 1983-03-18 | Mitsubishi Heavy Ind Ltd | Internal combustion engine |
| JPS602002A (en) * | 1983-06-17 | 1985-01-08 | Hitachi Ltd | Position detecting method of transport vehicle |
| JPS6016509A (en) * | 1983-07-08 | 1985-01-28 | 井関農機株式会社 | Earth working controller in tractor |
-
1985
- 1985-12-12 JP JP60279881A patent/JPH0665244B2/en not_active Expired - Lifetime
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53103804A (en) * | 1977-02-17 | 1978-09-09 | Diesel Kiki Co | Plow position controller of tractor |
| JPS53122505A (en) * | 1977-03-28 | 1978-10-26 | Osaka Koukiyuu Chiyuuzou Tetsu | Automatic depth control device |
| JPS54135104A (en) * | 1978-03-16 | 1979-10-20 | Fujikoshi Kk | Automatic position controller of working machine |
| JPS557070A (en) * | 1978-06-30 | 1980-01-18 | Sato Zoki Co Ltd | Working machine lifting controller of farm tractor |
| JPS5526879A (en) * | 1978-08-17 | 1980-02-26 | Sato Zoki Co Ltd | Working machine lifting and lowering device of power farm machine |
| JPS5554804A (en) * | 1978-10-19 | 1980-04-22 | Diesel Kiki Co | Lifting and lowering controller of working machine for tractor |
| JPS5678504A (en) * | 1979-11-28 | 1981-06-27 | Kubota Ltd | Soil treating machine with automatic lifting control mechanism |
| JPS5847123A (en) * | 1981-09-12 | 1983-03-18 | Mitsubishi Heavy Ind Ltd | Internal combustion engine |
| JPS602002A (en) * | 1983-06-17 | 1985-01-08 | Hitachi Ltd | Position detecting method of transport vehicle |
| JPS6016509A (en) * | 1983-07-08 | 1985-01-28 | 井関農機株式会社 | Earth working controller in tractor |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62272904A (en) * | 1986-05-20 | 1987-11-27 | 株式会社クボタ | Electric type automatic controller of agricultural tractor |
| JPS633706A (en) * | 1986-06-24 | 1988-01-08 | ヤンマーディーゼル株式会社 | Plowing depth automatic control apparatus of tractor |
| JPH0657083B2 (en) * | 1986-06-24 | 1994-08-03 | ヤンマーディーゼル株式会社 | Automatic control device for tractor tilling depth |
| JPH03129006U (en) * | 1990-04-06 | 1991-12-25 | ||
| JPH037683A (en) * | 1990-05-29 | 1991-01-14 | Mitsubishi Agricult Mach Co Ltd | Structure of control operating part of agricultural tractor |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0665244B2 (en) | 1994-08-24 |
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