JPS6232803A - Apparatus for controlling posture of plow - 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 Application of M Tojo] The present invention relates to a one-lau attitude control device, which can be used for a plow that is connected to a tractor so that it can be raised and lowered.

[Conventional technology]

The plowing angle, that is, the intersection angle between the top surface of the plow and the ground surface, is kept slightly larger near the point where the plow begins to bite into the ground surface, increasing the tilling resistance and increasing the downward force as much as possible. Manual operation is performed to stabilize the plowing depth by reducing the plowing angle as it approaches a predetermined depth. It is extremely difficult to do.

[Problem that the invention seeks to solve]

In this invention, the plowing length at the beginning of one lau work is made as short as possible, and the plowing position side @ is automatically performed so that the length at the end of the plowing near the end of raising the plow is also shortened. It was devised.

[Means for solving problems]

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

That is, the lower link (3) of the left stone to the tractor fll.

(3) and the top link cylinder in the upper center: The plow (21'ljr) is connected to the top link cylinder (21'ljr) so that it can be raised and lowered via the cylinder (4), and is configured so that its forward and backward posture can be controlled by the telescoping operation of the top link cylinder (4). and a grounding state detection means (S,) for detecting the grounding state of the plow (2), a lift sensor (S,) for detecting the height of the plow (2), and a plowing angle of the plow (2). The above-mentioned changes are made so that the angle of intrusion is large near the ground contact at the start of intrusion, and becomes smaller while reaching a steady depth, and the inset angle is maintained at a steady depth when the working road rises. A 1-lau attitude control device characterized by having a control section α which is provided to control the expansion and contraction of the top link cylinder (4) based on the detected height value and the grounding state. be.

[Function] Based on the respective height detection values detected by the lift sensor (S2) and the grounding state detected by the grounding state detection means (S,), the star of 1laut2+ is determined by a command from the control unit I. At the beginning of the fertilization, the angle digs into the ground surface at a large angle, increasing the tilling resistance, and this large tilling resistance pushes down the lau (2), quickly reaching a steady depth and firing. The plowing length will be shortened, and at the end of the work, the tilling resistance will be small because the steady-state depth will remain at a small star plowing angle, and this small plowing resistance will also reduce the push-down force. Since the plow (2) rises lightly and quickly, it can cover uncultivated land in an extremely short distance, allowing efficient cultivation of areas near headlands.

〔Example〕

Next, one embodiment of the present invention will be described based on the drawings.

m1 As shown in the diagram, plow 1 is attached to the rear of the tractor (1).
2+ 'i, lower link of left stone +31, +31
The work machine connecting link mechanism (5) consisting of the top link cylinder (41) at the upper center and the lower link (31,
The fifth right lift arm F71 is connected to +31,
+71 e, the lift piston (9) of the lift cylinder (8) is provided with a mechanism to move up and down by moving it in and out VJ, and also by moving the top link piston αG of the top link cylinder (4) in and out, The plow (2) rotates vertically about the connecting bins αυ, +Ill as fulcrums to change its posture.

Plow (2) lift control lI, lift switch +12i
By supplying the lift to the lift position α3, the control unit I, which is controlled by something like a microcomputer, commands the lift control valve α9 to be energized, and the pressure oil from the oil pump is supplied to the lift cylinder (8). The lift arm (7) will rise, and by putting the lift switch uz'6 into the lower position αG, the lowering control valve α will be energized, and the pressure oil in the lift cylinder (8) will be discharged to the tank. The 11 foot arm (71, (7) is configured to descend), and the tilling depth control is set by the tilling resistance setting device I11, which is controlled by something like a volume control. In addition to the resistance setting value, the tilling resistance acting on the plow (2) (in the example shown, the force between the front and rear acting on the lower link 1311m) is detected by the tilling resistance setting device as the grounding state detection means (S,). ) so that the lift arms (71, 1
71, and when the plow (2) is lowered by operating the lift switch azt and lowering position αe to control the attitude of 1 lau (2), the position of the plow (2) is as shown in Fig. As an example, in order to increase the inflow angle (d) of the plow (2), the top link piston C11t of the top link cylinder (4) is reduced and held in the following state, and when the height is below just before touching the ground, the plow ( 2) is shown as an example in Fig. 2, and the top link piston (1G1r: extends) from the state just before touching the ground to a small plowing angle (C), and the tilling resistance setting value [2 tilling resistance The plow (21) is lowered until the detected values match, as shown in Figure 3 (Fig. 3). As shown in the solid line A shown in FIG. When the plow (2) is raised by operating the lift switch σ2 to the rising position rx, as with the beam being plowed at a steady depth and the plow (2) is at a steady depth, the top link cylinder (4) ) length control characteristic is illustrated by the two-dot chain line B, when the plow (2) is completely away from the ground surface ρλ
the top link cylinder (
4) is maintained at the same length at the above-mentioned steady depth, and the IM
The top link cylinder (4) is reduced to 9 points beyond the point IQlt, and the height of the plow (2) is adjusted by, for example, a rotary potentiometer on the telescopic side # of the saw of the dog link cylinder (4). Something like (:te lift arm (7)
) to detect the rotation angle of the lift sensor (S2)
The length of the top link cylinder (4) is detected by something like a linear movement type potentiometer, and the detected value of the lift sensor (S2) and the detected value of the ground state detection means (Sl) (: Based on the above point just before touchdown I
The control unit I determines whether the PI has been reached or not (because the detection value of the ground state detection means (S) will be a large value below ground contact). In order to match the link cylinder setting value ζ and the Nitogg link cylinder detection value, the control part α creates the extension control valve αS or the contraction control valve α*t-giJJ to connect the trough link cylinder (4). The extension or narrowing control will be performed, and whether the separation point + (Jk Guplar (2) exceeds ρλ in the descending operation C2) is determined by the detection value of the lift sensor (S2) and the detection of the grounding state detection means (Sl). After the inspection is carried out based on the value, the determination as to whether it is an upward movement or a downward movement is made depending on whether the lift switch Q3 is operated at the upward position αJ or the downward position [tQe. be.

Then, by performing attitude control on the plow (211) as shown in the control characteristics shown in Figure 5, when plowing starts, the plow bites into the ground at a large angle and the tilling resistance becomes thick, and the plowing resistance due to this large tilling resistance is reduced. The force quickly reaches the steady depth, shortening the plowing length, and at the end of the work, the plowing angle remains at one steady depth, so the tilling resistance is small and the plow ( 2) The soil rises slightly and the uncultivated length is extremely short, making it possible to efficiently till the area near the headland.

The control characteristics of the top link cylinder (4) during the attitude control operation of the plow (2) are not limited to those shown in FIG.

In the illustrated example, the tilling resistance sensor is also used as the grounding state detection means (Sl), which makes it possible to reduce the cost of the device. From the detected value of link cylinder (4),
It is also possible to inspect the acceptance so that the judgment is made only by calculation at Control @ Evil 0. Also, in 1 Lau (2), for example, ultrasonic C
A second ground distance detection sensor may be used as the ground state detection means.

In addition to the illustrated example, the lift sensor (S) may also be one that detects the elevation angle of the lower link (3), for example.

〔Effect of the invention〕

Plow attitude control 1 [l device according to this invention! As mentioned above! It is a friend of R, and there are 7 sensors (S,)
Based on the respective height detection values detected by the grounding state detection means (31) and the grounding state detected by the grounding state detection means (31), the command of the control unit α center (2) determines the plowing angle of the plow (2). At the beginning of plowing, the plow (2) digs into the ground at a large angle and the tilling resistance increases, and the plow (2) is pushed down by this large plowing resistance and quickly reaches the depth. The plowing length is shortened and the plowing angle is small.At the end of the work, the plowing angle remains at a small steady state depth, so the tilling resistance is small, and because of this small plowing resistance, the push-down force is also small. Since the plow (2) rises lightly and quickly, the length of uncultivated land becomes extremely short, making it possible to cultivate areas near headlands efficiently.

[Brief explanation of drawings]

An embodiment of the present invention is shown in the figure, and each of the postures of the plow is shown in Figs. Code explanation (11...Tractor (2)...
・Plow (3)...Lower link (41...
...Top link cylinder α fathom...Control section

Claims (1)

[Claims] The plow is connected to the tractor via the left and right lower links and the top link cylinder at the top center, allowing it to move up and down.
The top link cylinder is configured to be able to control its forward and backward posture by extension and contraction, and includes a grounding state detection means for detecting the grounding state of the plow, a lift sensor for detecting the height of the plow, and a means for detecting the plowing angle of the plow. The angle of penetration is large near the ground contact at the start of the work, and decreases while reaching the steady depth, and when rising at the end of the work, the penetration angle is maintained at the steady depth.
A control section for controlling the expansion and contraction of a top link cylinder based on the respective detected height values and ground contact conditions in order to change the position of the plow.