JPS63202307A - Automatic plowing depth controller - 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 Industrial Application] The present invention relates to a rotary tilling device that is connected to a vehicle body so as to be able to rise and fall freely, and a swinging posture of a rear cover provided on the rotary tilling device is set. The present invention relates to an automatic tillage depth control device that raises and lowers the rotary tiller so that the rotary tiller is maintained at an angle.

[Conventional technology]

Conventionally, a rotary tiller has been provided with a cover that swings around a horizontal axis at the rear of the rotary tiller, and generally, the swinging posture of the cover is determined in accordance with the plowing depth of the rotary tiller. A feedback-type automatic plowing depth control device is configured to maintain the swinging posture of the cover at a predetermined angle (references not listed).

[The problem that the invention attempts to solve]

Also, considering the operation of the automatic plowing depth control device configured as described above, in a normal control system, the control system is designed so that the rear cover does not move up or down even if the rear cover is shaken to the extent that it vibrates. , a dead zone is set based on the target rocking posture of the rear cover, and a low-speed operating range is set outside the dead zone in order to prevent overshoot during lifting and lowering operations. A high speed operation range is set further outside the low speed operation range.

Now, let's consider a case in which the automatic plowing depth control device, which has a dead zone, low-speed operating range, and high-speed operating range, is activated and the vehicle is run in a direction perpendicular to the ridges to perform ridge breaking work. However, when the vehicle body is driven with the traveling direction determined in this way, the vehicle body pitches relatively significantly, so it is necessary to move the rotary tiller up and down as quickly as possible in a direction that offsets this pitching. This is necessary from the perspective of creating a flat plowing surface.

However, when pitching is performed at high speed, such as when a curved wheel descends over a ridge, the rear cover reaches the low-speed operation range from the dead zone, as described above, and then moves up and down, so the pitching operation The lifting and lowering operations cannot cope with the level changes of the rotary tilling device caused by this, and as a result, the tilling depth fluctuates, and there is room for improvement.

The purpose of the present invention is to:
The objective is to obtain a control system in which the plowing depth of a rotary tiller is as difficult to change as possible even when the vehicle body shakes significantly within a relatively short period of time.

[Means for solving inter-group points]

The uninvented feature is the automatic plowing depth control device with diary configuration.
A pitching sensor is provided for detecting the longitudinal inclination of the vehicle body, and if the downward inclination of the vehicle body per unit time detected by this pitching sensor is equal to or greater than a predetermined amount, priority is given to the elevation according to the rear cover. When the rotary tilling device is lowered and the forward slope of the vehicle body per unit time detected by the pitching sensor is greater than or equal to a predetermined amount, priority control is performed to raise the rotary tilling device Wt in preference to raising and lowering according to the slope cover. The point is that means are provided, and their functions and effects are as follows.

[For production]

Take for example the above features! < With the configuration shown in FIGS. 1 and 8, if the amount of pitching change per unit time detected by the pitching sensor a4 provided in the vehicle body (3) is equal to or greater than a predetermined amount, as shown in the flowchart of FIG. #1 to #6 of the flowchart. The priority control means (2) consisting of #$-10 to #12 steps raises and lowers the rotary tiller f(7) in the direction opposite to the level change of the rotary tiller f(7) accompanying pitching.

〔Effect of the invention〕

Therefore, the rotary tiller can be raised and lowered quickly regardless of the presence of a dead zone or low-speed operating range in the automatic plowing depth control system, and the rotary tiller can be used even during work where the vehicle body pitches significantly, such as during age-breaking work. A control system that does not significantly change the plowing depth was obtained.

〔Example〕

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

As shown in Fig. 8, a hydraulic clamp (4) is attached to the isthmus of the tractor body (3) equipped with front and rear wheels (1) and (2).
A rotary tillage device (
7) are connected.

As shown in the same figure and FIG. 1, the rotary tillage device (7) includes a trowel cover (7a) that swings around the axis facing the trowel, and a tillage depth sensor that electrically detects the swinging posture of the trowel cover. (
8), and furthermore, a lift arm sensor is provided at the base end of the lift arm (6) to electrically detect the level μ of the rotary tiller (7) relative to the vehicle body from the amount of swing of the lift arm (5). (9) is provided on the car body (3), and a control box (b) is installed on the top surface of the fender αQ, and a control box (b) is installed on the car body (3).
There is a control lever Q on the side of the driver's seat (2), and the vehicle body (3) located below the driver's seat (3)
3) Pitching sensor α that detects the longitudinal inclination in aX manner
A drain is provided for each.

Further, the control box αυ is provided with a tilling depth setting device σQ that outputs the operation amount of diamond/V (to) as an electric signal, and an automatic tilling depth control fi If (C) comprising a microprocessor (CPU). ) is installed inside the operating lever σ1, and furthermore, the operating lever (to) is installed at the base end of the operating lever σ1.
A potentiometer αη is installed to automatically detect the operating conditions of the wJ.

The automatic plowing depth control device (C) sets the operating lever side to the position control range (P) shown in FIG.
A position control mode in which the rotary tiller (7) is raised and lowered to the vehicle-to-vehicle repe y corresponding to the set position, and a set tillage control mode in which the operating lever (c) is set to the automatic tillage depth control position [A:J]. Rotary tillage device (7) to maintain depth
It is possible to operate in two modes: an automatic tilling depth control mode that raises and lowers the tiller, and furthermore, during automatic tilling depth control mode, when the vehicle body (3) pitches significantly within a relatively short period of time, the rotary tiller ( The automatic plowing depth control device (C) is equipped with a priority control means CD) for raising and lowering the plowing material 7) at high speed with priority over automatic plowing depth control.

That is, the automatic plowing depth control device (C) includes the potentiometer αη, the lift arm sensor (9), and the plowing depth sensor (8).
), an input interface (g) into which the signal from the plowing depth setting device qQ% pitching sensor a→ is input, and an output which outputs a control signal to the electromagnetic valve (1) for the hydraulic cylinder (4) via the driver α. Interface (21
The automatic plowing depth control operation is performed according to the flowchart shown in FIG. 2.

When control is started, a signal from the pitching sensor α4 is input and a timer (not shown) is turned on (steps #1 and #2).

This timer is set to count up in a relatively short set time, and when it counts up (#8 step), the signal from pitching sensor a is input again and the timer is stopped (#4. ),
Based on the two input signal values from the pitching sensor Q4, it is determined whether the pitching amount of the vehicle body (3) is within a predetermined amount (step #6).

If the timer's offset is not detected in step #8, or if the pitching amount is within the predetermined amount in step #6, the signals from the plowing depth setter Qi3 and the plowing depth sensor (8) are Please enter #7. #8 Nuteg), automatic plowing depth control is performed based on these signal values (#9 step f7).

Further, if it is determined in step #6 that the pitching amount is equal to or greater than the predetermined amount, the pitching direction is determined and the rotary tilling device (7) is raised or lowered only within a set time (#10.: #11°). #12 step).

This control is repeated until it is reset (step #13).

In addition, $11. = Rotary tillage device with #12 steps (
The lifting and lowering operation (7) is configured to be performed at high speed by maintaining the electromagnetic pulp (2) in one of the operating positions and continuously supplying and discharging hydraulic oil.

[Another example]

In addition to the embodiments described above, the present invention also includes, for example, sampling a signal from a pitching sensor at extremely short intervals, and integrating the sampled signal value by a predetermined signal at each sampling timing. The magnitude of pitching may be determined from the above, and the priority control means may be implemented by constructing a hard structure using logic gates and comparators.

Note that although reference numerals are used in the claims for convenience of 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 automatic plowing depth control device according to the invention,
FIG. 1 is a block circuit diagram showing the configuration of the control device, and FIG.
The figure is a flowchart showing the operation of the control device, and FIG. 8 is an overall side view of the tractor in a working state. (3)...Car body, (7)...Rotary tilling device, (7a)...River cover, α◆...
・・・Pitching sensor, ノ）・・・Priority control means.

Claims (1)

[Claims] The rotary tilling device (7) can be moved up and down with respect to the vehicle body (3).
), and automatic plowing depth control that raises and lowers the rotary tiller (7) so that the swinging posture of the rear cover (7a) provided on the rotary tiller (7) is maintained at a set angle. The device is a device for attaching the vehicle body (3) to the vehicle body (3).
A pitching sensor (14) is provided to detect the longitudinal inclination of the vehicle body (3). 7a), the rotary tilling device (7) is lowered preferentially to the raising and lowering according to 7a), and the forward upward slope of the vehicle body (3) per unit time detected by the pitching sensor (14) is equal to or greater than the predetermined amount. Rear cover (7a)
An automatic tillage depth control device equipped with a priority control means (D) for raising the rotary tiller (7) with priority over raising and lowering according to the following.