JPS6379511A - Depth control apparatus of earth working machine - Google Patents

Abstract

(57) [Abstract] 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 depth control device for a ground-based work machine that is towed by a tractor, and particularly relates to a depth control device for a ground-based work machine that travels while being towed by a tractor. , relates to cutting depth control when lowering.

[Conventional technology]

Conventionally, the depth control device of this type of ground work machine performs the respective lifting and lowering operations according to the difference between the detected value by the plowing depth sensor and the plowing depth setting device. was output, and the lift arm was raised and lowered via the ascending proportional solenoid valve or the descending proportional solenoid valve, and rotary work was performed by controlling the plowing depth.

[Problems to be resolved by the invention] When the conventional ground work machine is performing rotary work under depth control (plowing depth control), one operator manually moves the ground work machine to a raised position. When lowering the rotary rear cover after raising it to a nearby location, the rotary rear cover swings due to inertia or wind pressure while the rotary rear cover touches the ground, resulting in an extremely unstable state. In this unstable state, when the rear cover rises around the hinged part at the upper end, the plowing depth sensor detects the operation of the rear cover, and as a result, the plowing depth sensor detects the operation of the rear cover, and as a result, it raises based on the raising command from the control unit. This causes the ground-based work equipment to automatically change to upward movement. In other words, even though the ground working machine is being lowered by a one-handed action, if the ground working machine is moved upward based on the rocking of the rear cover and the operation command from the depth control unit is raised. This causes the so-called hunting phenomenon.Therefore, a problem arises that must be solved in order to prevent such hunting phenomenon from occurring.

[Means for solving problems]

This invention has been proposed in view of the above-mentioned problem, and is intended to solve the above-mentioned problem. As soon as the controller falls below a certain value (non-operating state).

It is an object of the present invention to provide a depth control device for a ground work machine, characterized in that a control section is configured to cut depth control based on a detected value of the rear cover for a certain period of time (approximately 0.3 seconds).

[Effect]

This invention is based on position control and depth control @or.

Regardless of whether it is a mixed control such as position control, depth control, or draft control, approximately.

During rotary work using depth control, if the operator manually raises the ground work equipment to the vicinity of the raised position and then lowers the ground work equipment with a further manual action, the rotary gear will remain suspended. When the rear cover becomes almost inactive, the detection results of the rear cover are not updated for a certain period of time (for example, 0.2 seconds to 0.5 seconds) after the rear cover starts moving again. That is, when the ground work equipment is manually raised and then lowered,
This ground work machine is configured to touch the ground, change to a certain angle, and then operate the depth control for the first time after the certain period of time has elapsed, which prevents the conventional hunting phenomenon - the rear cover is in contact with the ground. Since depth control can be carried out after this process, it is possible to shift to rotary work extremely smoothly.

〔Example〕

An embodiment of the present invention will be described below in detail with reference to the accompanying drawings. As shown in Figure 2, a tractor (
At the rear of 1), connect the ground work machine (2) such as a rotary to a pair of left and right lift arms (3H3), and connect the left and right lift rods.
'(4) Connected by a work machine connecting link (7) consisting of left and right lower links (5) I5) that swing up and down via (4) and a top link (6) at the upper center, and
This work equipment connection link (7) is connected to its lift arm (3).
1 (31) is configured to be lifted and lowered by a hydraulic lifting mechanism (9) that lifts and rotates it using a lift cylinder (8) using hydraulic pressure.In addition, pressure oil is supplied and discharged to and from the lift cylinder (8). With the operation of the lift switch (S3), the operation command of the control unit α1 constituted by something like a microcomputer is sent to the lift drive unit (111).
Or, it is amplified by the lowering drive unit α2 and opens and closes the ascending proportional solenoid valve 03 or the descending proportional solenoid valve α4, thereby causing the lift cylinder (8) to receive the pump +
1!19 pressure oil is supplied and the lift arm (3) +
31 is raised or the pressure oil in the lift cylinder (8) is discharged and the lift arm (3) (3) is configured as a descender 5.

Furthermore, there is a position lever (I+) installed near the cockpit.
and a lift arm angle sensor (S) formed by connecting the detection shaft of a rotary potentiometer to the 7th arm (3) are connected to the control unit (IIVc) and set by operating the position lever (I+) marked with #. A lifting command is output from the control unit α0 to the raising drive unit αυ or the lowering drive unit 13 so that the height detection value detected by the lift arm angle sensor (81) matches the set value set by the lift arm angle sensor (81). As a result, elevation control (position control) is performed.

For automatic tillage depth control, the tillage depth sensor (S2) of the ground working machine (2) detects the tillage depth set value set by the operator using the tillage depth setting device (I2), which consists of a volume-like device. Until the plowing depth detection values match, the ascending solenoid valve Q3, the descending solenoid valve α, and the proportional solenoid valve that controls the opening and closing of the pressure oil flow opening area in proportion to the amount of current applied to the solenoid section are used. A control gJI flow proportional to the difference between the plowing depth detection value and the plowing depth set value is output from the control unit 0υ.

This control@ground work equipment (
2) is performed to perform the pj+ depth control.

In addition, the plowing depth sensor ($2) shown in the figure uses a sensor that detects the force of the rear cover qη that comes into sliding contact with the tilled soil surface (1) using, for example, a linearly moving potentiometer α&. 2) The rear cover σ, which is hinged to the rear of the machine so that it can move up and down, is the hoisting lot in the hoisting position where no tilling work is performed.

09, but when it touches the ground as the ground work equipment (2) descends from the hoisting position, it rotates upwards - the plowing depth corresponding to this rotational position is determined by the potentiometer aSI/ It is detected as follows.

Although the embodiment diagram in FIG. 1 shows a mix control section for position control and plowing depth control, the control section α1 can also be applied to other mix controls, and furthermore,
It should not be limited to mix control only. Then,
The mix control in this example diagram is the work mode ° switching board fT.
operated via l.

In other words, it is possible to switch to position control and plowing depth control using this work mode switching board tTl. In addition, there is a lift switch (S3) near the driver's seat.
The lift switch (S3) is manually operated by the operator, and the ground work machine (2) is raised and lowered based on this operation. Therefore, when the operator manually operates the position lever (11) or this lift switch (S3), the ground work machine (2) can be raised or lowered, or plowed. It automatically moves up and down using depth control, draft control, etc.

Then, as mentioned above, the operator presses the position lever (I+
) or lift switch (S3) to lower ground work equipment (2)
When manually lowering the plowing depth sensor (S2) after raising it to the vicinity of the raised position, the rotary plowing cover C1D rotates downward via the hinge at the upper end, and the plowing depth sensor (S2
) is below a certain value in a balanced state (i.e. not operating), if a certain time < fQ, then 0.2 seconds to 0
．． 5 seconds) Do not update the detection result of the rear cover σD5
A plowing depth cut control section (to 1) is provided in the control section αl.

) Now, this embodiment will be explained according to the flowchart of FIG. 3. First, in step (2).

It is determined whether or not the tillage depth control work is being performed using the work mode switching board +'l1m. Then, when the plowing depth control work is being performed, the operator manually operates the lift switch (S3) or the position lever (II) in step (2) to move the ground work machine (2) to a position near the raised position. Determine whether the sting has risen to (step ■). If the ground work equipment (2) has risen to the vicinity of the raised position, the depth control invalidation request (step ■) is sent to the control unit (
It is set by the operation command from step 10a), and the operation of the lift arm is determined based on the raised position and lift arm angle (step 2), and the ground work machine (2) moves up and down. or,
The above-mentioned ascending operation (step ■) is performed manually,
When the lowering operation is performed using E[, it is determined in step (2) whether there is a request to disable the depth control. Of course.

This depth control invalidation request is made by outputting an operation command from the plowing depth cut control section # (T11a), as in step (2) above. When the depth control invalidation request is made, step 5 determines whether the inclination angle of the rear cover side is below a certain level, that is, whether the plowing depth sensor (S2) is balanced and does not operate. Judging by ■. If the rear cover q'I) is not below a certain level, therefore, the plowing depth sensor (S2) is activated, and this state is maintained for a certain period of time (for example, 0.3 seconds), the depth The control invalidation request (step ■) is reset (step ■), and a shift is made to rotary work using plowing depth control. Furthermore, if the tilting angle of the rear cover 17) is less than one foot in step #, that is, if the first sensor (S2) is not operating, the timer is activated by step (2). That is, this timer activation determines whether or not the inclination angle of the hammer pitcher has exceeded a certain level, that is, the plowing depth control has entered a state where it can be activated, and whether this state has been maintained for a certain period of time. Therefore, this command is outputted many times by the tillage depth cut control section (10a), and only when the tillage depth sensor (S2) changes from a state in which it does not operate to a state in which it can operate, and this state continues for a certain period of time. The value 5 is set so that the output of the depth invalidation request is stopped due to time-up, and a shift can be made to rotary work using plowing depth control.

To be more specific, when the one-to-ground working machine (2) is manually raised to near the raised position and then lowered manually, the rear cover is struck at a constant angle. That is, this lifted angle is.

This is exactly the angle at which the plowing depth sensor (S2) does not operate.

When the ground work equipment (2) is lowered manually, the rear cover (one is that the inclination angle changes due to inertia or wind pressure, etc.). When this occurs, the tilt angle may be such that the tilling depth sensor (S2) can operate, but due to the weight of the rear cover q force, the primary tilling depth sensor (S2) If this hunting change occurs repeatedly without exceeding a certain set time, for example within 0.2 seconds to 0.5 seconds, a depth control invalidation request is issued. Therefore, the ground work equipment (2) was lowered manually, and this state was maintained for a certain period of time (for example, about 0.3 seconds) after the rear cover opened touched the ground and the tilt angle became a certain level. After the depth invalidation request is removed, the rotary work can be started immediately from this point on by controlling the plowing depth.The operating procedure can be understood from the flowchart shown in FIG.

〔Effect of the invention〕

As described in detail in the embodiment in the previous section, when an operator manually raises a ground-based work machine to the vicinity of the raised position and then manually lowers it, the rear cover does not touch the ground. Before contact occurs, the operation of the rear cover becomes extremely unstable. If the plowing depth sensor outputs a plowing depth control command following the unstable operation of the gravel cover, a hunting phenomenon will occur, but this hunting phenomenon can be completely eliminated by the present invention. That is, when the plowing depth sensor that is lowered from the raised position is in a state where it is hardly operating, 11
The depth invalidation request is cut when the cover reaches a certain angle and this state continues for a certain period of time.
Until then, the ground work machine will descend with tillage depth control cut off due to the constant depth invalidation request. In other words, the plowing depth control is cut off by the depth invalidation request for a certain period of time after the rover has touched the ground and reached a certain angle, so when the ground work machine is lowered, the ground work machine will experience a hunting phenomenon. This is because the plowing depth is controlled after the rear cover has touched the ground.

This enabled a smooth transition to rotary work.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a block diagram of a control section, Fig. 2 is a side view of a tractor to which a ground work machine is attached, and Fig. 3 is a flowchart. Code explanation

Claims (1)

[Claims] It is equipped with a plowing depth sensor that detects the plowing depth of a ground work machine that can be raised and lowered by a hydraulic lifting mechanism, and the value detected by this plowing depth sensor and the value set by the tilling depth setting device are In a tractor equipped with a depth control unit that performs lifting and lowering operations according to the difference in height, the operator manually raises the ground work equipment to near the raised position, and then lowers it. The control unit is configured to cut depth control based on the detected value of the rear cover for a certain period of time when the rear cover of the rotary falls below a certain value (non-operating state). Depth control device for ground-based work equipment.