JPS63148907A - Plowing depth control apparatus of earth working apparatus - 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 provides automatic plowing depth control means for controlling elevation so as to maintain the relative distance between a ground working device and the rear ground of the ground working device at a target setting value; The present invention relates to a plowing depth control device for a ground working device, which is equipped with a forced lifting device that forcibly raises the ground working device in priority to control by the automatic plowing depth control device.

[Conventional technology]

For example, considering plowing work using a rotary tiller, when plowing a field using a rotary tiller, in order to maintain a constant plowing depth of the rotary tiller,
Activate an automatic plowing depth control means such as a snowflake. In addition, when a vehicle body such as a tractor equipped with the rotary tillage device reaches a headland during the work of cultivating a field, a forced lifting means such as a snow raiser is activated to turn the vehicle body and the rotary tiller is turned. The tillage device is being raised (references not listed).

[Problem that the invention seeks to solve]

Now, considering the case where the rotary tiller, which has been raised by the operation of the forced raising means as described above, is lowered after the vehicle body has turned, this lowering operation is performed by stopping the operation of the forced raising means. When the operation of the forced raising means is stopped in this way, the rotary tillage device operates the automatic tillage depth control device in the direction of maintaining the relative distance between the uncultivated ground and the rotary tillage device at the target set value. As a result, the plowing depth of the uncultivated ground becomes deeper than the plowing depth before the vehicle turns, which may overload the engine.

In other words, when plowing a field using a rotary tiller, automatic plowing depth control is performed based on the field surface that has been raised by plowing. When starting control, if the target value before the vehicle turns is maintained, the plowing depth will become deeper.

In addition, because headlands often have deep ruts from tractor wheels, etc., in fields with large unevenness such as headlands,
If automatic plowing depth control as described above is attempted, a problem arises in that the plowing depth is not constant.

An object of the present invention is to avoid setting the plowing depth too deep even when restarting the automatic plowing depth control on uncultivated ground, such as when restarting the automatic plowing depth side 1111 on a headland. Is it automatic tilling depth in a field with large unevenness like the ground? Tilling depth side 91 that allows the tilling depth to be as constant as possible even when restarting In
■It is on point to obtain the equipment.

[Means for solving problems]

A feature of the present invention is that in the plowing depth control device having the above structure, the force upper limit means is controlled. From the lowering of the ground working device due to Ill cancellation until the predetermined conditions are met, is the automatic plowing depth system? 11
A correction means for outputting a shallow plowing depth state instead of the target setting value as a control target of the means, and a checking means for stopping only the upward control of the ground working device during control using the output signal from the correction means as a control target. The functions and effects are as follows. [Function] When the above features are configured as shown in Fig. 1, for example, after turning the vehicle body (1) on the headland, When the operation of the forced lifting means (C) is canceled in order to resume work, the target plowing depth is changed to a shallow state by the correction means (D) consisting of step #9, as shown in the flowchart of Fig. 2. Also, after the target υ1 depth is changed in this way, IIIL 1
The restraining means (E) consisting of two steps prevents the ground working device (6) from operating in the upward direction.

〔Effect of the invention〕

Therefore, even when resuming plowing work on the headland, the plowing depth should be increased (
Furthermore, even in fields with large differences in unevenness, it is possible to obtain a plowing depth control device that prevents the ground working device from lifting up due to elevation control, thereby reducing the possibility of insufficient plowing. Ta.

In particular, in the present invention, by changing the value of the correction amount in proportion to the set plowing depth value (target set value), an appropriate plowing depth can be obtained whenever plowing work is restarted on the headland. It is possible.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, a lift arm (2) is attached to the rear of the vehicle body (1) of an agricultural tractor and is raised and lowered by the operation of a hydraulic cylinder (2).
3), and a rotary tiller (6), which is an example of a ground work device, is connected via a three-point linkage mechanism (4) that is raised and lowered by the lift arm (3).

As shown in the figure, a driver's seat (5) provided in the vehicle body (1)
On the right side of the machine are a position lever (7) for arbitrarily setting the level of the rotary tiller (6) relative to the vehicle body, and a control hook (8) for automatically controlling the plowing depth of the rotary tiller (6). In addition, a low tillage device (
6) includes a plowing depth sensor that electrically detects the swing angle of the swing cover (6a) in order to measure the relative distance between the rotary tiller (6) and the ground behind the rotary tiller (6). (9).

As shown in Figure 1, the control hox (8)
The plowing depth setting device (1) is operated by a dial (not shown).
0) and a lift switch (11) to be operated are provided on the top surface of the hook, and a tillage depth control ill device (A
) are decorated.

As shown in the figure, the tillage depth control device (A) includes an automatic tillage depth control means (B), a forced raising means (C), a correction means (D),
It consists of a checking means (E), a slow return means (F), a solenoid valve drive circuit (G), and a timer (11), and these five means (
B), (C), (D), (E), (F
) and timer (H) are microprocessor (not shown)
The solenoid valve (2) for the hydraulic cylinder (2) is configured according to this program.
12).

The tilling depth control device (8) compares the set tilling depth value (target set value) set by the tilling depth setting device (10) with the signal value from the tilling depth sensor (9) and performs low tilling ( 6), and when the lift switch (11) is turned on, rotary tilling takes priority over automatic tilling depth control.
6) can be switched to a forced raising mode in which the robot is raised to a set position away from the ground, and its operation follows the flowchart shown in FIG.

In other words, when the plowing depth control device (A) starts operating,
Enter the set plowing depth value (#1 step), and calculate the correction value (d) based on this set plowing depth value (#2 step)
.

Incidentally, as shown in Figure 4, the correction value (d) obtained in this way is calculated from the plowing depth value (J) based on the raised ground (13) raised by plowing, and that of the uncultivated ground (14). The correction value (d) is set proportionally larger as the plowing depth becomes deeper.

Next, determine the state of the up switch (11) (step #3), and if it is in the OFF state, determine the flag to be described later (
#4 step).

Since the tillage depth control device (A) is set to the OFF state in the cutting interval state of control j1, the flow of control from step #4 reaches the automatic tillage depth control of step #5. .

In normal tillage work, the control mode is set to automatic plowing depth control mode by step #5, and in this control mode, when the lift switch (11) is operated to ON, the flag is set to ON state and , forcibly raise the rotary tiller (6) to the set position (116.#
7 steps).

This raising operation is performed when the vehicle body (1) reaches a headland during plowing work, and when the vehicle body (1) is turned on the headland and the low-criteria tiller (6) is lowered, as shown in Figure 3. As shown in FIG. ) to prevent the plowing depth from becoming too shallow? The I11 device (A) operates as follows.

By the way, the control mode used in #7 Stesop is forced upper bound mode, and the state of this control mode! When the ascending switch (11) is turned OFF in the ring, since the flag is set to ON, the process branches to the fourth step and activates the timer (Step #8).

After the processing in step #8, the control target of automatic tillage depth control should be changed to the correction value (d) obtained in step #2.
Step #9) This correction value (d) is compared with the signal value of the plowing depth sensor (9) (Step #10), and the control direction is determined (Step #11).

Is this the lifting side of rotary tiller (6)? If the direction of Jn is downward, is it the automatic tilling depth side? 'Do J (#
Step 12), if the direction of the elevation control is upward, no control is performed, and it is determined whether or not the elapse of the set time (T) has been measured by the timer that started operating in step #8 (step lli3).

Also, the set time (T) of this #13 step is about 2 seconds, and this set time (T) is about 2 seconds, and the swing cover (6a) is raised by the V in front of the vehicle body (1) and the ground (13) This almost coincides with the timing of detection. Then, when the elapse of the set time (T) is measured in step 1113, the flag is turned off.
Set the timer to the FF state (#14 step), set the timer to the OFF state (u15 step), set the tilling depth value and the tilling depth sensor (
9) Calculate the difference with the signal value from step 115)
, compare the difference value obtained by this calculation with a predetermined value (#17
Stethop).

If the difference value is less than the predetermined value in step #17, the control target is returned to the set plowing depth value input in step #1 (step #18), and the automatic plowing depth control state in step #5 is entered. .

Also, if it is determined in step #17 that the difference value is greater than or equal to the predetermined value, the difference value is divided by the setting R(N) and (K
L step), after the control target is once replaced with the signal value from the plowing depth sensor (9), the divided values are added or subtracted at constant time intervals until reaching N times, and at the same time, the automatic plowing depth control device (6) The plowing depth is set to return to the original plowing depth at a slow speed.

Incidentally, FIG. 1 is a diagrammatic representation of the flow of the control described above from a procedural perspective.

In addition, step #5 of the flowchart is set to automatic plowing depth control means (B), step #7 is set to forced raising means (C), step #9 is set to correction means (D), step IHL112 is set to control means (E), and step #L9 is set to control means (E). ．． #20 step is a slow return means (
F).

[Another example]

In addition to the above-mentioned embodiments, the present invention can also be implemented by configuring each means as a hard circuit made of logic gates, etc., or by configuring the plowing depth sensor as a non-contact type, or by satisfying predetermined conditions. Instead of using a timer as a means for determining, it may be configured to measure when the amount of rotation of the wheels reaches a set amount.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the plowing depth side '41' device of the ground working device according to the present invention, FIG. 1 is a block diagram showing the configuration of the two plowing depth controls, and FIG. 2 is the one plowing depth control device. A flowchart showing the operation of the device, FIG. 3 is a side view showing the state at the start of plowing work, and FIG. 4 is a side view showing the state of plowing work. (6)...Ground work equipment, (B)...
automatic plowing depth control means, (C)...forced raising means,
(D)...Correction means, (E)...Barbaric means

Claims (1)

[Claims] an automatic plowing depth control means (B) that performs elevation control to maintain the relative distance between the ground work device (6) and the rear ground of the ground work device (6) at a target set value;
A plowing depth control device for a ground working device, which is equipped with a forced lifting means (C) for forcibly lifting the ground working device (6) in priority to the control by B), wherein the forced lifting means (C) a correction means (D) for outputting a control target of the automatic plowing depth control means (B) in a shallow plowing depth state instead of the target set value from the time when the ground work device (6) is lowered due to control cancellation until a predetermined condition is satisfied; ) and plowing depth control of the ground working device, which is equipped with a checking means (E) that stops only the upward control of the ground working device (6) during control using the output signal from the correction means (D) as a control target. Device.