JPS62253304A - Draft controller 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 [Industrial Application Field] The present invention relates to a draft control device for an agricultural machine used when a plow is towed by a tractor.

1 Equipped with a draft sensor to detect the load on the plow that changes depending on the plowing depth, and a draft setting device to preset the target load variation range, it can be used to adjust the load during work. The load is kept within a predetermined setting range by moving the plow or other working equipment up and down as appropriate using hydraulics via a mounting link device depending on the size, and the plowing depth during work is maintained within a certain range. There is a draft control device to control.

[Problems to be Solved by the Invention] In this type of draft control device, a draft sensor detects the sum of the weight of the working machine and the reaction force that the working machine receives from the ground, and this sum is divided into a certain range. However, since the weight of work equipment such as plows varies greatly depending on the type, depending on the work equipment, the load suitable for the work (the sum of its own weight and reaction force) is within the setting range of the draft setting device. There was a problem in that the operating range of the draft setting device could not be used effectively. For this reason, for example, fine adjustment of the draft may be difficult.

[Means for solving problems]

In order to solve the above problems, the present invention has the following configuration. That is, the draft control device for an agricultural working machine according to the present invention includes a draft sensor that detects the load of a working machine such as a plow, a draft setting device that sets a target load range during work, and a lifting device that raises and lowers the working machine. A draft control device for an agricultural working machine, which is equipped with a draft control device for a farm working machine, wherein the lifting device uses a detected value of the draft sensor when the working machine is lifted from the field as a reference value, and sets this reference value to the setting range of the draft setting device ( The device is characterized in that a reference value setting means is provided corresponding to the central part of the operating range for setting.

[Function] The detection value of the draft sensor when lifting a working machine such as a plow from the field is the reference value, and the detection range of the draft sensor is adjusted so that this reference value is located near the center of the setting range of the draft setting device. Since it is compatible with the draft setting device,
Draft control can be performed by effectively utilizing the entire setting range of the draft setting device.

[Example] The embodiments shown in the drawings will be described below.

FIG. 1 shows one embodiment of the present invention, in which a link device 3 is provided on a body 2 of a tractor 1, and a plow 5, which is a working machine, is attached to the link device 3.

The link device 3 includes one top link 10 having a hydraulic cylinder 9 for expansion and contraction, and a pair of left and right lower links 11, 11.
These top links IO and lower links I
f and 11 are attached to the upper and lower positions of the machine frame 13 of the plow 5, respectively. The lower link 11.11 is suspended from the hydraulic lift arm 17 of the tractor I by a lift rod 16.18 connected to its intermediate portion.

The tractor 1 is equipped with a hydraulic system in which the flow of hydraulic oil is controlled by a pair of solenoid valves 20 and 21 for raising and lowering, and the hydraulic pressure of this hydraulic system is used to control the hydraulic cylinder 9.
The lift arm 17 is rotated up and down while extending and contracting.

A position lever 26 for positioning the plow 5 and a draft lever 27 as a draft setting device for adjusting the plowing depth by the plow 5 are provided on the side of the operator's seat 25. When the position lever 26 is turned to the "up" side, the lifting solenoid valve 20 is activated and the lift arm 17 is rotated upward, and when the same lever is turned to the "down" side, the lowering solenoid valve 21 is activated and the lift arm 17 is rotated upward. Rotate downward. In addition, the draft lever (draft setting device)
27 allows setting the magnitude of the target load during work. In addition, at the base of the lift arm 17,
An angle sensor 2B that detects the rotation angle of the lift arm is provided, and a strike sensor 23 that detects the amount of expansion and contraction of the hydraulic cylinder 9 is attached to the top link 10. Further, the mounting posture of the plow 5 can be adjusted by the amount of expansion and contraction of the hydraulic cylinder 9 of the top link IO.

In addition, at the base of the top link 10, the top link l
When the plow 5, which is a work machine equipped with a draft sensor 31 that detects the load applied to the O, is lifted from the field, the top link lO is caused by the weight of the plow.
When plowing with a plow, a compressive force is applied due to the resistance of the field.

FIG. 2 is a block diagram showing the configuration of the draft control device. In the same figure, a lift arm angle sensor 28,
The draft sensor 31, the position lever 26, and the draft lever 27 are connected to the CPU 4 via the A/D converter 40.
Connected to 1. In addition, two valves of the hydraulic device for rotating the lift arm 17, that is, a proportional solenoid valve 20 for ascending and a proportional solenoid valve 21 for descending, are operated by the CPU 4.
20 and 21 which are electrically connected to 1 and are opened and closed by the output from the CPU 41.
is designed to open in proportion to the pulse signal from CPU4+.

FIG. 3 is a flowchart showing the operation of this draft control device. A plow 5, which is a working machine, is attached to the link device 3.
Once installed, operate the position lever 26 to lift the plow 5 from the field. At this time, it is determined whether the plow 5 is at the upper limit position, and if it has reached the upper limit position, the draft sensor 31 at that time is The detected load value is read as a reference value.

Next, the CPU 41 adjusts the setting range of the draft lever 27 and the range of the draft sensor 31 so that this reference value is located near the center of the draft setting range of the draft lever 27. - When setting the reference value, it is recommended not to place the load itself due to the weight of one working machine in the center of the setting range of the draft setting device, but to place the value that takes into account the load in actual work in the center of the setting range. preferable.

Work is carried out in this state, but during one work, the difference between the set value of the draft lever 27 and the detected value of the draft sensor 31 is calculated, and according to the calculation result, one of the valves is opened until the two match, and the plow is operated. 5 is raised and lowered. That is, when the set value and the detected value match, there is no need to move the working machine up and down, so the on-time is set to 0, and both pulps 20 and 21 are stopped. If the detected value is smaller than the set value, the descending side control on time is set and the descending valve 21 is opened. Conversely, if the detected value is larger than the set value, the control on time on the rising side is set and the rising valve 20 is opened. An appropriate width is provided in advance for the set value of the draft lever 27, and the actual load is controlled to be within this range. Note that, if the plow 5 has not reached the upper limit position initially, the difference between the set value and the detected value is calculated, and the working machine is raised based on the result.

Figures 4 and 5 show the detection range of the draft sensor 31 and the setting range S of the draft lever 27 (draft setting device).
And the relationship between the work area of work mA and B is shown in the diagram D.
and S are 0 work equipment A, which are provided in a one-to-one correspondence.
For example, let's take a heavy three-unit reversible plow as one working machine B, and take a relatively small normal three-unit plow as one working machine B. The work area (range of load suitable for work) was located at a position shifted from the center of the setting range S, and corresponded to portions w and w' of the setting range S, respectively. For this reason, it was often difficult to make fine adjustments when setting one working area, but in this embodiment, as shown in Fig. 4, the working area of each work machine is made to correspond to the entire width of the setting range S. The images are enlarged so that their respective centers are located at the center of the setting range S. Therefore, the amount of movement of the draft lever 27 when setting the work area can be increased, making it easy to make fine adjustments.

In addition, although the above description has been made regarding an example in which a plow is used as a working machine, the same applies to other working machines such as a yI excavation device.

[Effects of the Invention] As is clear from the above description, the draft control device according to the present invention has the working area of each working machine located approximately in the center of the setting range of the draft setting device, so that the draft control device according to the present invention Increasing the operating range of the setting device to the right has made it easier to fine-tune the 0 load setting.

[Brief explanation of drawings]

Fig. 1 is a side view showing one embodiment of the present invention, Fig. 2 is a block diagram of the control device, Fig. 3 is a flowchart showing its operation, and Figs. 4 and 5 are draft setting ranges and detection. This is an explanatory diagram that schematically shows the relationship between ranges.
The figure shows the device according to the present invention, and FIG. 5 shows the conventional device. 1... Tractor 3... Link device 5... Plow (work machine) 10... Top link 27...
Draft lever (draft setting device) 31...Draft sensor

Claims (1)

[Claims] (1) A draft control device for agricultural machinery that is equipped with a draft sensor that detects the load on a working machine such as a plow, a draft setting device that sets a target load range during work, and a lifting device that raises and lowers the working machine. Further, a reference value setting means is provided which sets the detected value of the draft sensor when the work equipment is lifted from the field by the lifting device as a reference value, and makes this reference value correspond to the center of the setting range of the draft setting device. A draft control device for agricultural machinery, characterized by: