JPS63188306A - Plowing work part rising speed control apparatus of rotary 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 (a) Field of Industrial Application This invention relates to a tilling section lifting speed control device for a rotary work machine.

(b) Conventional technology Conventionally, a low-cultivation tiller, which is connected to the rear of a tractor and is configured to perform tillage work while being towed by the tractor, is equipped with a plowing depth detection device, and the detection value of the detection device is also It is configured to maintain a constant plowing depth by controlling the hydraulic system for raising and lowering the plowing section.

(c) Problems that the invention seeks to solveHowever,
If the front wheel of the tractor rides on a protrusion in the field or the rear box falls on all four sides, causing the tractor to tilt backwards sharply,
As the plowing depth of the plowing section suddenly increases, the load on the engine suddenly increases, which causes the engine rotation speed to drop, the hydraulic pump's discharge volume to decrease, and the rising speed of the plowing section to slow down.
There were drawbacks such as the engine stopping due to the above-mentioned load condition continuing.

In addition, if you try to solve the above drawback by setting the raising speed of the tilling section high, the raising operation of the tilling section will occur suddenly during normal tilling work, causing a greater shock to the driver and making it difficult to control the tiller. This has the disadvantage that it becomes difficult to do and increases fatigue.

(d) Means for solving the problem In this invention, a rotary tiller is connected to the rear of the tractor, the plowing depth of the rotary tiller is detected, and the lifting mechanism is controlled based on the detected value. The rotary cutting machine is configured to maintain a constant plowing depth by raising and lowering the working machine, and has an engine rotation detection means, and the lifting operation speed of the lifting mechanism is set to a slow increase during normal cutting depth control. The tiller of a rotary rotary rotary rotor is characterized in that it can be controlled in two modes: mode and rapid rise mode, and is configured to switch between the modes based on the engine rotation detection result. The present invention aims to provide a speed control device.

(B) Effect According to the present invention, by performing tilling work with the tilling section rising speed control set to the slow rising mode, the tilling section under normal plowing depth control is raised at a slow speed, thereby reducing shock. occurrence is prevented, and when the depth of ring 1 increases rapidly due to backward tilting of the tractor and the engine rotational speed falls below a preset value, the tiller section lift speed control is switched to rapid rise mode and the tiller section is raised. By raising the load rapidly, the overload condition of the engine is terminated in a short period of time, thereby preventing the engine from stopping.

Note that after the rapid ascent mode continues for a predetermined period of time, when the engine rotation returns to normal, the mode is automatically switched to the slow ascent mode, and it is possible to continue the tilling work using the normal one-depth control.

(f) Effect As described above, according to the present invention, the tilling section of the tilling control -
1- The speed increase control can be controlled in two modes: slow speed and high speed rise, and the mode is switched based on the detected value from the tachometer, which allows the tractor to operate while preventing shock during plowing work. There is an operation that can prevent the engine from stopping due to backward tilting.

(G) Embodiments The embodiments of this invention will be described in detail based on the drawings.
) indicates a tractor for commercial use, and a prime mover section (4) containing an engine (2) and a hydraulic pump (3) directly connected to the engine (2) is mounted on the top surface of the frame (1). ) The transmission case (6) is connected to the rear of the clutch housing (5), which is connected to the rear of the clutch housing (5).
6), which drives the left and right rear wheels (7) arranged on the left and right sides of the frame (1), and also drives the left and right front wheels (8) arranged on the lower left and right sides of the frame (1). The tractor (A) is configured to run by steering with <10).

Mana, on the rear surface of the mission case (6), a pitch (11) that can be freely tilted left and right is installed, and the same hinge (11) is installed.
The work fi (B) is connected through the work machine (B).
A tilling shaft (13) mounted below the machine frame (12) is rotated via an interlocking R mechanism (14), and a large number of tilling claws (15) installed on the same shaft (13) are used to cultivate the field. It is configured to plow.

Note that a rear cover (16) is connected to the rear of the dowel claw (15) and is rotatable around the upper end which is connected to the rear end of the upper cover (26). ) is connected to the rear of the tail wheel (
18〉 is installed vertically.

In addition, a hydraulically operated lift am (19) is arranged on the upper surface of the mission case (6), and left and right lift arms (20>(21>
is moved up and down around the mechanism (19), and the tips of the arms (20 and 21) are attached to the machine frame (12) of the rotary working machine (B) via the lift rod (22), respectively.
The working machine (B
) to move up and down. In addition, the same work machine (B)
The lifting operation is carried out by the hydraulic pressure from the hydraulic pump (3), but the lowering operation is carried out by its own weight of 1 m (B).

In addition, a rotary work machine (
A hydraulic cylinder (23) for rolling the tractor (A) relative to the tractor (A) is provided.

The operation of these hydraulic actuators is controlled by a control device (C) configured as below.

In other words, the same tractor (A) includes the tractor (A)
A pitching sensor (24) is installed on the left side of the driving unit (9) to detect the longitudinal inclination of the transmission case (24) from the horizontal. A rolling sensor 25) for detecting the relative inclination between the tractor (A) and the rotary work machine (B) is installed between the rotary work machine 1 (B) and the rotary work machine 1 (B).
The rotation angle of the rear cover (16) is detected via the rod (27) and the tilling claw (15) is mounted on the upper surface of the upper cover (26).
) to detect plowing depth (28)
has been set up.

In addition, at the base end of the left lift arm (20) of the lifting mechanism (19), the lifting rotation angle of the arm (2o) is detected.
A lift sensor (29) is installed to detect the vertical position of the work 11m (B), and a shift lever (30) is located at the base end of the gear change lever (3o) on the left side of the driving section (9).
Reverse detection sensor (
31) are installed.

The operation of the lifting fifFW (19) and the rolling hydraulic cylinder (23) is controlled by each of the above sensors (2).
4) It is controlled based on the detection results of (25), (28), (29), and (31), and the control box (32) for initial setting of this control and control mode switching is installed on the right fender of the operating section (9). - Located on the top surface.

The control box (32) includes a means for detecting the passage of time and a microcomputer as a means for calculating the detection results from each detection means and outputting the calculation results.
(33) and input/output interface (33-1) (3
It has built-in peripheral devices such as 3-2) and the same box (3-2).
2) has a mode selection dial (34), work machine vertical position setting dial (35), plowing depth setting dial (36), plowing depth control sensitivity setting switch (37), and work machine (B). Lift switch (38
), a left/right tilt angle setting tile (39) between the tractor (A) and the working machine (B), a left/right tilt operating speed setting switch (40), and a left/right tilt reversal switch (41) are provided.

Then, the microcomputer (33) inputs the outputs from the sensors (24) (25>(28) (29) (31) to each dial and switch <34) (35) (36).
) <37> (38) (39) (40) Electromagnetic hydraulic pressure for controlling the operation of the lifting mechanism (19) and the rolling hydraulic cylinder (23) by referring to the installation position of (39) (40) and (41). Solenoid (44) of control valve (42) (43)
) (45), (46), and (47).

In particular, the lifting mechanism (19) using the rear cover sensor (28)
) is controlled by two types of control: one is to lower the work tl(B) from an upper position away from the ground surface to the tilling work position, and the other is to maintain a constant plowing depth during the work. First, the former will be explained with reference to Figs. 6 and 7. The lift switch (3) of the control box (32)
8), etc., the microcomputer (33)
The solenoid (45) for lowering the work equipment (48)
When this happens, the lowering side port of the electrohydraulic control valve (42) opens, causing the working machine (B) to rapidly lower (4).

This rapid descent (49) is controlled by the output (48), and the same signal (48) is sent to the working machine (B
) is controlled so that the duty ratio decreases incrementally as the height above the ground decreases, and as a result, the descending speed increases gradually as the work implement (B) approaches the ground surface from above. It is designed to be slowed down.

Then, the work equipment (B) descends and the rear cover (16)
The lower end (16-1') of the rear cover sensor (28) comes into contact with the ground surface and is pushed up, the detection value (50) from the rear cover sensor (28) rises (50a), and this rise (50a) detects the grounding. (33)
Using the timer function, the specified time (t) (
In this embodiment, the duty ratio of the output (48) continues to be gradually decreased until the predetermined time (1) has elapsed, and after the predetermined time (1) has elapsed, the control shifts to maintaining a constant plowing depth.

Note that the degree of deceleration described above can be adjusted by changing the duty ratio of the pulsed output (52).

Therefore, the lower end of the tiller claw (15-1) is detected by the output from the grounding burr cover sensor (28), and the electrohydraulic control valve (42) is detected by the pulsed output (52) as a means for reducing the descending speed of the work machine. By activating the solenoid (45) of the tiller, the working machine (B) is
It is now possible to reduce the descending speed of the tiller (1
The harmful effects caused by biting in (5) can be completely prevented.

Next, the control for maintaining a constant plowing depth during plowing work will be explained with reference to FIG. If the value obtained by subtracting the detected value (50) from the set value (51) set with the plowing depth setting dial (36) is positive, that is, if the plowing depth is shallower than the set value, the duty ratio is approximately proportional to the subtracted value. Pulse output (52°)
is output to the solenoid (45) to lower the work implement (B) at a lowering speed approximately proportional to the deviation from the set value (51).

= 12- Therefore, work! Since the plowing depth control in (B) is performed by proportional control in which the control amount is proportional to the deviation from the target value, advanced plowing depth control is performed and a constant plowing depth can be maintained quickly and stably. It has the effect of being exposed.

Note that (54) is dead zone 1 provided between set value (51).
1 is shown.

In addition, in the present invention, the raising operation speed of the work implement (B) is set to be a slow raise for controlling the plowing depth during normal tilling work, and to prevent any negative effects caused by a sudden backward tilting of the tractor (A). It can be controlled in two modes: rapid rise.

That is, a tachometer (55) as an engine rotation detection means is attached to the engine (2), and the engine (2)
The rotation speed is detected and input into the microcomputer (33), and the specified rotation speed is approximately 2500 RpM for normal tilling work.

For puddling work, it costs about 500 Rp compared to about 2000 Rp M.
When M decreases, the work equipment's ``1 ascending speed control mode is switched from the slow ascending mode to the rapid ascending mode, and work 111 (B
) is rapidly increased to reduce the load on the engine (2), and when the rotational speed of the engine (2) returns to the specified speed, the mode is switched to the original slow speed increase mode.

In the slow ascent mode, as shown in FIG.
By correlating the duty ratio (56) of the signal to the solenoid (45) for lifting the work equipment (19) with the lift arm angle (57) detected by the lifting sensor (29), the same lifting speed can be calculated for normal tilling work. When the tillage depth control is activated, the working machine (B) is raised slowly, and when the working machine (B) is to be raised high, it is raised at a high speed.

In the rapid lift mode, as shown in Fig. 10, a signal with a large duty ratio is sent to the solenoid (44) regardless of the lift arm angle, and the engine (2
) does not decrease, the working machine (B) is rapidly raised to prevent overload and engine stall.

Note that the slow and rapid ascent modes are each stored in the memory of the microcomputer (33) as a correspondence between the lift arm angle and the tutee ratio, and are programmed to be read out by mode switching.

As described above, in this embodiment, the lifting operation speed of the work equipment is controlled in two modes: slow and rapid lifting, and the mode is switched by detecting fluctuations in the engine rotational speed. This has the effect of preventing harmful effects such as engine stoppage due to sudden backward tilting of the tractor, and also of preventing shock during normal plowing depth M.

[Brief explanation of the drawing]

FIG. 1 is an overall side view of a ground work machine having a descending speed control device according to the present invention. Figure 2 is the same plan view (partially deleted). FIG. 3 is a plan view of the control box. Figure 4 is a hydraulic circuit diagram. FIG. 5 is a block diagram of the control device. FIG. 6 is a graph showing the output characteristics of the rear cover sensor. FIG. 7 is a graph showing the relationship between the descending speed of the working machine from the upper position to the plowing position and the output to the solenoid. Figure 8 is a graph showing the relationship between the descending speed of the working machine and the output to the solenoid for maintaining a constant plowing depth, and Figure 1.
Figure 0 is a graph showing the relationship between lift arm angle and duty ratio in slow and rapid ascent modes, respectively. (A); Tractor (B) Two working machines (2): Engine (19): Lifting mechanism (55): Tachometer

Claims (1)

[Claims] (1) A rotary tiller (
B) is connected to detect the plowing depth of the working machine (B), and based on the detected value, the lifting mechanism (19) is controlled to raise and lower the working machine (B).
A rotary tiller configured to maintain a constant plowing depth by raising and lowering the lifting mechanism (
19) The raising operation speed can be controlled in two modes, a slow raising mode and a rapid raising mode during normal plowing depth control, and the mode is switched based on the engine rotation detection result. A tilling work part ascending speed control device of a rotary tiller, characterized by comprising: