JPS6348482B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a rotary depth control device, and in particular to a rotary depth control device that enables the tilling action by controlling the plowing depth appropriately even when the ground surface is uneven. This relates to a control device.

[Prior Art] A widely used device for automatically adjusting the plowing depth within a certain range is the one shown in Fig. 1.
Rotary cover 2 covering the top of rotary 1
The tractor detects the vertical position of the rear cover 4, which is hinged to the rear edge of the tiller with a hinge 3 and is provided so as to be in constant sliding contact with the tilling surface. This adjustment device automatically controls the work equipment lift mechanism 7 of No. 6, and the outline of this adjustment device is as follows:
One arm and the rear cover 4 are connected by a rod 10, and a feedback wire 11 that can be pushed and pulled, the rear end of which is locked to the other arm of the L-shaped lever 9, is connected to the tiller 5 and the tractor 6. The work equipment lift mechanism 7 is inserted into a flexible tube 12 whose both ends are fixed to the rear part of the tractor. The front part of the tilling device 5 is pivotally connected to the cylinder case 14.
The left and right lift arms 16, 16 are fitted onto a lift shaft 15 that is rotatably provided, and the lower links 13, 13 and the lift arms 16, 16 are connected by lift rods 17, 17 to form a tiller. By connecting the upper part of the tiller 5 to the rear part of the tractor 6 via the top link 18, the longitudinal posture of the tilling device 5 is controlled, and the tilling depth adjustment lever 19 is moved, for example, along the arrow A.
The position link 20, which operates the position link mechanism when rotated in the direction,
1 through the spool 2 of the control valve 22
3 in the direction of arrow B against the spring 24, pressure oil is supplied from the control valve 22 to the lift cylinder so that the lift piston of the lift cylinder housed in the cylinder case 14 protrudes, and the lift cylinder is lifted. The arms 16, 16 are configured to rotate upward.

Therefore, the front end of the feedback wire 11 is always brought into contact with the rear surface of the feedback arm 25, which is pivotally connected at the upper part and is rotatable in the front and back direction, and the pin 26 implanted in the feedback arm 25 is inserted into the feedback arm 25. The rear cover 4 is provided so that the longitudinal movement of the feedback wire 11 is transmitted to the spool 23 via the position link 20 and the operating arm 21. Since it will rotate upward relative to the rotary cover 2, the feedback wire 1
1 moves forward and pushes the spool 23 in the direction of arrow B via the feedback arm 25, etc., so that the lift arms 16, 16 rise and the rotary 1, which is raised and lowered together with the tilling device 5, is properly adjusted. Koufuka H
When it reaches the vicinity, the rear cover 4 also returns to its initial rotation position, the feedback wire 11 also returns to its original position, the spool 23 also returns to its original neutral position, and the lift arms 16, 16 are structured to stop. be.

[Problem to be solved by the invention] When plowing along a flat ground surface at a plowing depth H using such a conventional device, for example, a concave part 2 on the ground surface.
If the rear wheels 28, 28 of the tractor 6 fall into the ground at 7, the rotary 1 suspended from a part of the machine body also digs into the soil and plows deeply.

Next, with the increase in the amount of tilled soil by the rotary 1, the rear cover 4 rotates rearward and upward, and a rising command is given to the control valve 22 via the feedback 11. With this ascending command, the rotary 1 assumes a forward tilted posture as shown by the chain line in FIG. In such a case, in the conventional device that controls the inclination angle of the rear cover 4, the hinge 3, which is the center of rotation of the rear cover 4, is deviated toward the upper rear with respect to the center of rotation C of the tilling claw of the rotary 1. As a result, the hinge 3 rotates forward and upward at the same time as the rotary tilts forward, and the angle of the rear cover 4 is adjusted to the same plowing depth H before the rear wheels 28, 28 fall into the recess 27. Therefore, the plowing depth H becomes deeper and they hang together.

Conversely, although not shown, when the rear wheels 28, 28 ride on a convex part of the ground surface, the rear wheels 28, 28 first
The upward movement of 8 causes the rotary 1 to move upward into the air, and the tilled mud disappears (or becomes shallower), so the rear cover 4 rotates downward, and a descending command is sent to the control valve 22 via the feedback wire 11.
give to In response to this descending command, the rotary 1 descends, but the rotary 1 assumes a backward tilting position, and the hinge 3 of the rear cover 4 moves backward and downward, reducing the plowing depth before the rear wheels 28, 28 run onto the convex part of the ground surface. The rear cover has been adjusted to the same 4 angles as H,
Therefore, the plowing depth H becomes shallower and they hang together.

As described above, in the conventional device, since the plowing depth H is controlled by the angle of the rear cover 4, accurate plowing depth control cannot be performed when the hinge 3 of the rear cover 4 moves up and down with respect to the machine body. That is, when the rear wheels 28, 28 fall into a concave portion, the plowing depth H is controlled to be deep, and when the rear wheels 28, 28 ride on a convex portion, the plowing depth H is controlled to be shallow. Therefore, the present invention aims to solve the technical problems that need to be solved in order to eliminate such problems with the conventional equipment and maintain an appropriate plowing depth. shall be.

[Means for Solving the Problems] The present invention was proposed to achieve the above object, and includes a plowing depth sensor that detects the plowing depth of a rotary that is movable up and down by a hydraulic lifting mechanism. In preparation, the detected value by this plowing depth sensor,
A sensor plate that slides on the ground surface that is plowed with a rotary and leveled with a rear cover in a tractor that moves up and down according to the difference from the value set by a plowing depth setting device. is provided at the rear end of the sensor arm which is rotatably extended rearward to the rotating shaft of the rotary, and the grounding angle is determined by an imaginary straight line connecting the grounding point of the sensor plate and the rotation center of the rotary with the horizontal plane of the ground surface. A grounding angle detector is provided to detect the grounding angle, and an operation command is issued to control the lift mechanism of the rotary to raise and lower so that the detected value detected by the grounding angle detector matches the setting value set by the setting device. It is an object of the present invention to provide a rotary depth control device characterized by being provided with a control section that outputs an output.

[Function] In the present invention, a sensor arm is rotatably extended rearward on a rotary rotating shaft portion, and a sensor plate is provided at the rear end portion of the sensor arm so as to be in sliding contact with the ground surface leveled by a rear cover. , a grounding angle detector is provided on the sensor plate to detect a grounding angle formed by a virtual straight line connecting the grounding point of the sensor plate and the rotary rotation center with a horizontal plane of the earth's surface;
In order to match the ground angle detector to the value set by the setting device, the control unit outputs a rotary lifting operation command to the rotary lifting mechanism, so that the rear wheel of the tractor does not touch the uneven ground surface. ran over,
Even when the rotary machine falls, the plowing depth of the rotary is always maintained constant, making it possible to control the rotary appropriately.

[Example] Hereinafter, an example of the present invention will be described in detail with reference to FIGS. 3 and 4 attached hereto. For convenience of explanation, the conventionally known configuration will also be explained at the same time.The rotary 1 is installed on the left side of the tilling device 5, as shown in the right side in FIG. The drive chain case 30 and the side frame 31 provided on the right side are pivotally supported at the bottom of each of them.
A bearing body 32 is attached to the lower part of this side frame 31, and a central axis 33 coaxial with the rotation center C of the rotary 1 is provided in the bearing body 32, and the rear part 34a is bent inward to form an L-shape in plan view. sensor arm 34
The front part of the sensor arm 34 is loosely fitted to the center shaft 33 to allow the sensor arm 34 to rotate vertically.A sensor plate 35 is attached to the rear part 34a of the sensor arm 34, and the ground contact part 35a of the sensor plate 35 is attached to the rear part 34a of the sensor arm 34 in the tilling work posture. is provided so as to be in sliding contact with the rear cultivated soil surface leveled by the rear cover 4, and the grounding angle θ formed by the imaginary straight line l connecting the grounding point P of the grounding part 35a and the rotation center C of the rotary 1 with the horizontal plane of the ground surface is A grounding angle detector 36 for detection is provided on the mounting portion 35b at the top of the sensor plate 35. The rotary 1 is moved up and down based on the difference between this detected value and a value set by a setting device, which will be described later.

As an example of the grounding angle detector 36 that detects this grounding angle θ, the sensor plate 3
A mounting portion 35b formed at 5 is provided approximately parallel to the virtual straight line l, and a potentiometer 38 is mounted on the upper surface of this mounting portion 35b. Then, the coil 38b of the potentiometer 38 is rotated together with the sensor arm 34. Furthermore, the upper end portion of a sliding contact 37 which slides on the coil 38b and is variable is pivoted to the inner side of the potentiometer 38 and hangs down. In such a case, as the coil 38b rotates, the sliding contact portion with the coil 38b changes and varies, and the grounding angle θ can be detected by voltage. As shown in FIG. 4, a plowing depth setting lever 39 is manually operated by the operator.
The sliding contact 40 slides on the setting side coil 38a of the potentiometer 38, and the sliding contact 37 slides on the voltage corresponding to the set plowing depth set by the plowing depth setting lever 39 and the detection side coil 38b. A comparator 41 compares the voltage corresponding to the detected plowing depth detected in contact with the plowing depth, and the pulse-like output of this comparator 41 is sent to the counter 4.
2, the electromagnetic switching valve 43 for elevation is switched and controlled to supply the pressure oil of the pump 45 to the lift cylinder 44 of the work equipment lift mechanism 7 to protrude the lift piston 46, or to control the pressure inside the lift cylinder 44. Drain oil into tank 47 and lift piston 4
6 or to stop the lift piston 46 by holding the pressure oil in the lift cylinder 44 as it is, and when the voltage on the setting side is greater than the voltage on the detection side, the lifting piston 46 is stopped. The comparator 41 of the control section outputs an output to the counter 42 so that the work equipment lifting solenoid 43a of the solenoid switching valve 43 is energized, and at this time, the lift cylinder 44
Pressure oil is supplied to the tilling device 5 to raise it, and conversely, when the voltage on the setting side is lower than the voltage on the detection side, the solenoid 43b for lowering the working machine of the electromagnetic switching valve 43 for lifting is controlled so as to be energized. Since the output is from the comparator 41 of the section to the counter 42, the lift cylinder 44
The pressure oil inside is discharged and the tilling device 5 is lowered, and the control mechanism 48 is configured so that the tilling device 5 is always controlled to move up and down until both voltages match. .

Further, the grounding angle detector is not limited to the potentiometer described above, and a generally known detector can be used.

Note that the sensor arm 34 described above does not necessarily have to swing coaxially with the rotation center C of the rotary 1; the center shaft 33 may be provided at a location close to the rotation center C, or may be provided at a completely different location to adjust the ground contact angle. It is also possible to configure the sensor arm to detect an angle proportional to θ.

Incidentally, reference numeral 49 is a chain for regulating the hanging position of the sensor arm 34 when the tilling device 5 is lifted up.

As described above, the rotary depth control device according to the present invention controls the rotation center C of the rotary 1 of the tilling device 5, which is suspended from the tractor 6 by the work equipment lift mechanism 7 so that its vertical position can be adjusted, and A ground angle detector 36 detects a ground angle θ formed by an imaginary straight line l connecting a ground point P of a sensor plate 34 that slides on the ground surface plowed by A. and a control mechanism 48 configured to control the lifting and lowering of the work equipment lift mechanism 7 so that the grounding angle θ detected by the grounding angle detector 36 matches the value set by the setting device. Since this is provided, the ground contact angle θ is always constant, and the rotary 1 is always maintained at an appropriate plowing depth H.

That is, if the grounding angle θ between the grounding point P, which is in sliding contact with the ground surface at a certain position rearward from the rotational center C of the rotary 1, and the rotational center C, and the grounding angle θ that the imaginary straight line l makes with the horizontal plane of the ground surface is maintained constant. Since the plowing depth H is also constant, the plowing depth can always be maintained constant regardless of the ground contact status of the rear wheels 29 and front wheels 28 of the tractor 6, that is, the inclination of the tractor 6, etc., and it is possible to always maintain accurate plowing. This enabled deep control.

[Brief explanation of drawings]

Fig. 1 is a left side view showing the control state of a conventional rotary depth control device, Fig. 2 is a left side view of the main part showing the front and rear tilting state of the tilling device in the depth control device of Fig. 1, and Fig. 3 is a right side view of this invention,
FIG. 3B is a plan view of FIG. 3A, and FIG. 4 is a control circuit diagram of the same invention. 1...Rotary, 2...Rotary cover, 3...
...Hinge, 4...Rear cover, 5...Tilling device,
6...Tractor, 7...Work equipment lift mechanism, 8,
26... Pin, 9... L-shaped lever, 10... Rod, 11... Feedback wire, 12... Flexible tube, 13... Lower link, 14... Cylinder case, 15... Lift shaft, 16... Lift arm, 17... Lift rod, 18... Top link, 20... Position link, 21... Actuation arm, 22... Control valve, 23... Spool, 24... Spring, 25... Eid back arm, 27... recess, 28... rear wheel, 29...
...Front wheel, 30... Drive chain case, 31...
Side frame, 32... Bearing body, 33... Central shaft, 34... Sensor arm, 34a... Rear part, 3
5...Sensor plate, 35a...Grounding part, 35
b...Mounting part, 36...Grounding angle detector, 37,
40... Sliding joint, 38... Potentiometer, 3
8a...Setting side coil, 38b...Detection side coil, 39...Plowing depth setting lever, 41...Comparator,
42...Counter, 43...Solenoid switching valve for lifting/lowering, 4
3a... Solenoid for raising the work equipment, 43b... Solenoid for lowering the work equipment, 44... Lift cylinder, 45... Pump, 46... Lift piston,
47... Tank, 48... Control mechanism, 49... Chain, H, H ₁ , H ₂ ... Plowing depth, α, β... Angle,
h...Height, C...Rotation center, P...Grounding point, l
...Virtual straight line, θ... Ground contact angle.

Claims (1)

[Claims] 1 Equipped with a plowing depth sensor that detects the plowing depth of a rotary rotary that can be raised and lowered by a hydraulic lifting mechanism, and detects the difference between the value detected by this plowing depth sensor and the value set by the plowing depth setting device. In a tractor that can be raised and lowered according to A ground angle detector is provided at the rear end of the sensor arm provided to detect the ground angle that an imaginary straight line connecting the ground point of the sensor plate and the rotary rotation center forms with the horizontal plane of the ground surface. A rotary motor, characterized in that it is provided with a control unit that outputs an operation command for controlling the lift mechanism of the rotary up and down so that the detected value detected by the setter matches the set value set by the setter. Depth control device.