JPH01285108A - Tilling depth control device of tractor - Google Patents

Abstract

PURPOSE:To accurately control tilling depth even during various tilling operation in a tractor controlling tilling depth by the amount of rotation of a tilling cover round a tilling pawl shaft by making an angle between the tilling cover and a rear cover adjustable. CONSTITUTION:A tilling cover 1 and a rear cover 2 are set in such a way that both the covers are rotated in one piece round a tilling pawl shaft 30. Tilling depth is detected as an angle of rotation round the tilling pawl shaft 30, the detected depth is compared with set tilling depth fixed by an operator and tilling depth is controlled so as to make the detected depth coincident with the set tilling depth. Therefore detecting error of tilling depth resulting from change in tilling depth is lessened by comparison with conventional tilling depth control of detecting the amount of rotation of rear cover. An angle alphabetween the tilling cover 1 and the rear cover 2 is adjustable corresponding to conditions of fields and crops, set tilling depth is automatically compensated depending upon the angle and tilling operation can be accurately carried out.

Description

[Detailed description of the invention] (a) Industrial application field The present invention detects the plowing depth of a work implement attached to a tractor, switches the lift lift valve on the tractor side, and automatically raises and lowers the work implement. This invention relates to a mechanism that automatically controls plowing depth to a set value.

(B) Prior art In most conventional automatic tillage depth control devices on tractors, a sensor for detecting the tillage depth is mounted when the rear cover, which is pivoted to the rear end of the tillage cover, rotates up and down as the tillage depth changes. The change in the rotation angle of the machine was used as a change in plowing depth and was sent to the control box, and the lift valve was switched based on the comparison.

(c) Problems to be solved by the invention However, in the conventional technology, in the process of changing the plowing depth from deep to shallow, the angle of the rear cover changes greatly up and down, so the ground contact inside the arc-shaped rear cover is There was a problem in that the rotation angle of the rear cover did not correspond to changes in plowing depth.

In order to improve this point, in the present invention, the tilling cover and the rear cover are integrated, and the integrated rotary cover is made rotatable around the tilling claw axis as the plowing depth changes, thereby controlling the amount of rotation of the rotary cover. This is detected by a rotating cover sensor and used as a proxy for changes in plowing depth to automatically control plowing depth.

In an automatic tilling depth control device in which such a rotary cover is rotated around a tilling claw shaft, the tilling depth dial 38 is normally used.
With this setting, the opening degree, which is the angle formed by the tilling cover 1 and the rear cover 2, can be set at the same time, but if the operator consciously wants to set the opening degree to a different value, the tilling depth dial 38 can be set as is. In this state, the value set by the cover opening degree setting lever 37 is read, the set value Vr of the tilling depth dial 38 is automatically corrected, and the automatic tilling depth control is started.

(d) Means for Solving the Problems The objects of the present invention are as described above. Next, the structure for achieving the objects will be explained.

The tilling cover and rear cover are rotated together around the tilling claw axis, the amount of rotation is detected by the rotating cover sensor, fed back, compared with the tilling depth set value, and the work machine is raised or lowered by switching the lift lift pulp. In this configuration, the opening degree of the tilling cover and the rear cover can be set separately using the cover opening degree setting lever, and the difference between the set opening degree and the standard opening degree is detected and the set value of the tilling depth dial is corrected. (e) Embodiment The object and structure of the present invention are as described above. Next, the structure of the embodiment shown in the attached drawings will be explained.

FIG. 1 is a side view of the rotary tilling device of the present invention, FIG. 2 is a plan view, and FIG. 3 is a side cross-section of the tilling cover rotation device that rotates the tilling cover 1 around the rotation locus of the tilling claws 13. It is a diagram.

It is supported so that it can be raised and lowered by a three-point link type work equipment mounting device on the tractor side, and power is transmitted to a rotary gearbox by a universal joint.

A main beam 27 protrudes left and right from the rotary gearbox, and a power transmission case 31 and a side plate 32 provided at the end of the main beam 27 are used to control the tilling claws 1.
A tilling claw shaft 30 on which a plowing nail shaft 3 is installed is supported by a bearing.

The tilling cover 1, which is the main part of the present invention, has a side cover supported by a bearing around the tilling claw shaft 30, and can be rotated back and forth around the tilling claw shaft 30 depending on the depth of tillage. It is said that

Further, the front end of a rear cover 2 is pivotally supported on the rear end of the tilling cover 1.

Further, a stand 33 can be attached below the front end of the tillage cover 1 to maintain a stable posture when the rotary tillage device is removed from the tractor, and to maintain the normal posture when the rotary tillage device is next attached to the tractor. There is.

In the conventional technology, the front and back rotation of the tillage cover 1 is
The operator sitting in the seat turned around and manually turned the rotating handle to operate the machine.

However, in the case of a manual handle, it is necessary to turn the handle with the rotary tiller in an elevated position, so it is difficult to adjust the forward and backward rotation while comparing and symmetrical with the positions of the tiller cover 1 and rear cover 2 relative to the ground surface. It was not possible.

In the present invention, in order to solve this problem, a tilling cover rotation rod 3 and a feedback link 4 are provided between the top link mast 28 and the front end of the tilling cover 10.

As shown in FIG. 3, the tilling cover rotating rod 3 is composed of a male screw rod 3b, a female screw body 3C, an outer cylinder 3d, a protection cylinder 3e, and a connecting rod 3a. The tilling cover rotating rod 3 is extended and contracted by a tilling cover drive motor 5 fixedly installed on the upper part of the tilling cover rotating rod 3.

First, gear 15 is attached to the motor shaft of tilling cover drive motor 5.
are in mesh with each other, and the gear 15 is in mesh with the counter large diameter gear 16.
The counter small diameter gear 17 is connected to the male threaded rod 3b via a safety clutch device.

Therefore, by rotating the tilling cover drive motor 5 in the forward and reverse directions, the tilling cover rotating rod 3 expands and contracts, and the tilling cover 1 is rotated back and forth.

FIG. 4 shows that the tilling cover rotation rod 3 automatically expands and contracts in response to the value set by the operation unit 43 of the tilling cover 1, and rotates the rotary cover that connects the tilling cover 1 and the rear cover 2 to the set value. This shows a flowchart for operating the system.

The operating section 43 is provided on a control box placed in front of the driver's seat where the operator sits, and when the operator uses the operating section 43 to set the angle of the tilling cover 1 to Vd using a dial or the like, the tilling will be performed accordingly. The cover rotation rod 3 expands and contracts, and the feedback value Vg from the feedback sensor 4 is transmitted.

, until the tilling cover rotation rod 3 reaches the position where Vd and Vg match.
is expanded and contracted.

5 is a side sectional view of a rotary tiller in which a tilling cover rotation device and a tillage depth control device are linked; FIG. 6 is a rear sectional view of the rotary cover sensor 7 and cover opening sensor 6; The figure is a side view of the rod bracket 9 where the cover opening sensor 6 and rotation cover sensor 7 are arranged, and Figure 8 shows the balance when the rotary cover, which integrates the tilling cover 1 and the rear cover 2, rotates. FIG. 9 is a front view of the balance rod 24 and balance spring 25, which are used to take the balance, and a side view thereof.

In Figures 1 and 2, the rotary cover in which the tilling cover 1 and the rear cover 2 are connected is configured to be electrically rotated back and forth by the tilling cover rotation rod 3, regardless of the automatic plowing depth control. However, in Fig. 5 and Fig. 6, the rotary cover that integrates the tilling cover 1 and the rear cover 2 is made so that the opening degree, which is the angle formed by both force bars, can be adjusted using a cover opening adjustment rod 8. , the rotary cover is used as a sensor for controlling plowing depth.

The mechanism for extending and retracting the cover opening adjustment rod 8 is the same as the mechanism of the tilling cover rotating rod 3 and the tilling cover drive motor 5 shown in FIG. A drive motor 10 is disposed therein.

The upper end of the cover opening adjustment rod 8 is pivotally supported by a rond bracket 9 that projects obliquely upward and rearward from the tilling cover 1, and the lower end is pivotally supported by the rear cover 2.

Therefore, the opening degrees of the tilling cover 1 and the rear cover 2 can be changed by extending and contracting the cover opening adjustment rod 8 by rotating the integrated force bar drive motor 1O in the forward and reverse directions.

When tilling work is carried out with the end of the rear cover 2 in contact with the ground with the tilling cover 1 and rear cover 2 held at a constant opening, the rear cover 2 and tilling cover 1 may become loose due to unevenness of the soil surface.
The integrated rotary cover rotates back and forth around the tilling claw shaft 30.

Then, soil adheres to the rear part of the tilling cover 1 and the rear cover 2, and the rear part of the unitary force bar becomes heavy (if this happens, it will not be able to follow the unevenness of the soil and rotate up and down, so the front end of the tilling cover 1 and the top link mast 28 Between the balance rod 24
A balance spring 25 that presses downward is provided to balance the increase in weight at the rear.

and the balance rod 24 and top link mast 28
As shown in FIGS. 8 and 9, by providing a number of pin holes 24a in the middle of the balance rod 24 and changing the position of the pin 35 inserted into the pin holes 24a, the spring of the balance spring 25 can be adjusted. This allows the pressure to be changed.

Furthermore, a lock lever 23 that locks the vertical movement of the balance rod 24 and a lock engagement hole 2 on the balance rod 24 are provided.
By matching 4b, the top link mast 28
The balance rod 24 can be used to lock the space between the tiller cover 1 and the tiller cover 1, and with the stand 33 in FIG.
Next, by extending the integral force bar rotation rod 8 and lowering the rear cover 2, the stand 33 and the rear cover 2 are brought into contact with the ground. This makes it possible to create a state in which the tillage device is placed in its proper position.

The locked position of the lock lever 23 is the most suitable position for attaching and detaching the quick hit device of the rotary tiller to the tractor.

Therefore, the structure is such that the tight hitch device can be easily removed at this position, and can also be easily reattached.

Next, the configuration of the automatic control device based on the configurations shown in FIGS. 5, 6, and 7 will be explained.

A cover opening sensor 6 and a rotating cover sensor 7 are disposed inside a Rondo bracket 9 that pivotally supports the upper end of the cover opening adjusting rod 8.

The rotating cover sensor 7 is connected to a link end fitting 20 of a lower link bracket 26 via an arm 12 and a link 19.

Therefore, when the cover opening adjustment rod 8 is expanded or contracted and the tilling cover 1 moves back and forth because the rear cover 2 is in contact with the ground, or when the integral cover turns back and forth due to uneven soil surface, the link 19 Since the end portion is fixed, the arm 12 rotates, and the interior of the rotary cover sensor 7, which is constituted by a potentiometer or the like, rotates, and the rotation value is fed back.

The arm 11 of the cover opening degree sensor 6 is pivotally connected to the metal fitting 21 of the rear cover 2 via a link 22, and when the opening degree of the tilling cover 1 and the rear cover 2 changes due to the expansion and contraction of the cover opening degree adjusting rod 8, The change angle is determined by the cover opening sensor 6 configured with a potentiometer or the like.
It provides feedback to the control section.

The rotational cover sensor 7 detects that the rotary cover, which is the integrated tilling cover 1 and the rear cover 2, moves up and down due to the unevenness of the soil surface, and this value is used as the tilling depth value.
It is configured to automatically control tillage depth.

Next, the automatic tillage depth control device of the present invention will be explained.

The conventional tilling depth automatic control device uses a sensor to detect the angle at which the rear cover 2 pivots at the rear end of the tilling cover 1 and rotates up and down, and uses the change in the angle as a substitute for the change in the tilling depth. This provided feedback and automatic control.

However, in the conventional technology, FIGS. 21, 22,
As shown in FIG. 23, there was a problem.

That is, if the position of the tillage cover 1 does not change back and forth, the tillage depth is Hmax ・Hied −Hnln
When this changes, the position where the rear cover 2 contacts the soil surface changes from a to b to c.

When the ground contact position of the rear cover 2 changes in this way, the rotation angle of the rear cover 2 changes when the plowing depth is deep, intermediate, and shallow even for the same change in plowing depth H. There was a problem in that the feedback values from the rear cover sensor differed depending on the change in plowing depth.

Additionally, when the tilling cover 1 is rotated back and forth as in the present invention, a problem arises in that the feedback value changes due to the difference in the rotational position of the tilling cover 1 even when the tilling depth is the same.

In order to solve this problem, the present invention integrates the tilling cover 1 and the rear cover 2 and uses the angle at which the integrated rotary cover is pushed up by the unevenness of the soil as a substitute for the tilling depth value.

The plowing depth value is detected by the rotary cover sensor 7.

Figure 1O shows the operation unit installed in front of the operator.
Reference numeral 39 designates a lift up/down switch of the working machine up/down device, 40 a fully automatic switch, 41 a mode changeover switch, 42 a lowering cushion release switch, and 36 an angle setting lever of a left/right tilt angle control device.

The plowing depth dial 38 is used to set the plowing depth of the present invention.
The cover distance setting lever 37 sets the opening degree, which is the angle formed by the tilling cover 1 and the rear cover 2.

FIG. 11 is a diagram showing the arrangement of the control circuit, input terminals, and output terminals.

The operator sets the tilling depth to the set value V using the tilling depth dial 38.
When set as r, the lift lift valve 49 is switched so that the feedback value d2 of the rotating cover sensor 7 matches the set value Vr.

As shown in Figs. 12 and 13, the tilling depth dial 3
The feedback value Vd2 of the rotational force bar sensor 7 is inputted to the set value Vr of 8, and by comparing the two, the lift raising/lowering valve 49 is switched.

Control is focused when the set value Vr and feedback value Vd2 match.

In the case of FIG. 13, the opening degree formed by the tilling cover 1 and the rear cover 2 is set by manually adjusting the cover opening degree adjusting rod 8.

In the flowcharts of FIGS. 14 and 15, the tilling depth dial 38 for setting the tilling depth is configured to simultaneously change the opening degree, which is the angle formed by the tilling cover 1 and the rear cover 2.

Assume that the same setting value Vr as the setting value Vr of the plowing depth is used as the opening setting value.

First, the feedback value Ve of the cover gap sensor 6 that detects the opening degree is compared with the set value Vr, and the cover opening degree adjusting rod 8 is expanded or contracted until the two values become equal.

Then, when the feedback value Ve and the set value Vr become equal, the set value Vr of the plowing depth is compared with the feedback value Vd2 of the rotating cover sensor 7, and the lift lift valve 49 is adjusted so that they match. You can switch between going up and down.

By setting both the tilling depth and the opening degree at the same time using the tilling depth dial 38 in this way, it is possible to optimally control the opening degree of the rotary cover while also controlling the tilling depth, so that the rear cover 2 can be set as the tilling cover 1. On the other hand, it is possible to get the best results for both deep and shallow plowing depths.

This improves the precision of tillage depth control, reduces the number of setting dials, and simplifies the electrical circuit.

In FIG. 16, there are two cases in which the tilling cover 1 is rotated as in the present invention and the rotation of the tilling cover 1 is detected by the rotation cover sensor 7 and fed back. The signal from the rear cover sensor 50, which detects only motion, is also transmitted as shown in FIG. The lift raising/lowering valve 49 can also be actuated by a feedback signal from.

In this case, first, it is determined whether the feedback value Vd2 from the rotating cover sensor 7 is being transmitted,
Feedback value Vd2 from the rotating cover sensor 7
is being transmitted, control is performed to compare the set value Vr of the plowing depth dial 38 and the feedper binary value Vd2, and if there is no rotating cover sensor 7 and no signal is being transmitted, It is determined whether there is a feedback value Vdl from the rear cover sensor 50, and if there is a feedback value Vdl, this value is compared with a set value Vr and the lift raising/lowering valve 49 is switched.

Next, in FIG. 17, when operating the lift up/down switch 39 in FIG. If you have not done so,
This is a flow chart showing a configuration in which the work machine is raised and lowered only while the lift lift switch 39 is pressed and held.

First, it is determined whether the fully automatic switch 40 is ON, and if the fully automatic switch 40 is ON, the lift lift switch 39 is operated to indicate that the lift is in the highest state.Vp=
The lift raising/lowering valve 49 is driven until the state is reached.

Conversely, when the fully automatic switch 40 is OFF, the lift up/down valve 49 is switched only while the lift up/down switch 39 is ON.

In FIG. 18, the opening degree, which is the angle formed by the rear cover 2 and the tilling cover 1, can also be set by the cover opening degree setting lever 37, and when the opening degree is set by the cover opening degree setting lever 37, This is a flowchart configured to detect the angle difference from the standard position in degrees and correct it to the set value Vr.

Normally, as shown in Figures 14 and 15 above, the tilling depth value and the opening degree can be set at the same time using the tilling depth dial 38, but if the operator wants to intentionally set the opening degree, this setting can be used. The setting value Vr of the plowing depth dial 38 can be automatically changed to the correction setting value Vr' in accordance with the setting value of the cover opening degree setting lever 37 without changing the setting value Vr. This is what I did.

The correction setting value Vr' = Vr+, which is calculated as (Vr-Vk).

In the above equation, 0 is a constant, and Vk is the feedback value of the cover opening sensor 6.

(F) Effects of the Invention Since the present invention is constructed as described above, it has the following effects.

First, the tillage depth dial 38 allows the opening degree, which is the angle formed by the tillage cover 1 and the rear cover 2, to be set at the same time. Even if the operator wishes to set a different opening degree in order to increase the opening size, the operator can set it using the cover opening degree setting lever 37, and if the opening degree is different from the standard, The plowing depth setting value also changes slightly, but it is a troublesome operation for the operator to make this correction.

In the present invention, since the calculation and setting of the troublesome correction value is automatically performed, the work can be continued without changing the tilling depth dial 38, and the optimum tilling depth can still be controlled. be.

[Brief explanation of the drawing]

FIG. 1 is a side view of the rotary tilling device of the present invention, FIG. 2 is a plan view, and FIG. 3 is a side cross-section of the tilling cover rotation device that rotates the tilling cover 1 around the rotation locus of the tilling claws 13. Fig. 4 shows that the tilling cover rotation rod 3 automatically expands and contracts in response to the value set by the operating section 43 of the tilling cover 1, and the rotary cover that connects the tilling cover 1 and the rear cover 2 is moved up to the set value. A flowchart for rotating the tiller, FIG. 5 is a side sectional view of a rotary tiller in which the tilling cover rotation device and tillage depth control device are linked, and FIG. 6 is a rear view of the rotary cover sensor 7 and cover opening sensor 6. Cross section, 7th
The figure is a side view of the rod bracket 9 where the cover opening sensor 6 and rotation cover sensor 7 are arranged, and Figure 8 shows the balance when the rotary cover, which integrates the tilling cover 1 and the rear cover 2, rotates. A front view of the balance rod 24 and balance spring 25 for removal, No. 9
The figure is also a side view, Figure 10 is a plan view of the operation unit provided in front of the operator, Figure 11 is a drawing showing the arrangement of the control circuit, input terminals and output terminals, and Figures 12 and 13 are settings. Flowcharts of FIGS. 14 and 15 for controlling the feedback value Vd2 of the rotating cover sensor 7 to match the value Vr, the tilling cover 1 and the tilling depth dial 38 for setting the tilling depth are shown. The opening degree, which is the angle formed by the rear cover 2, is also set (in the constructed flowchart, FIG. A flowchart of a configuration that enables automatic plowing depth control in both cases, in the case of a control device that detects and feeds back, and in the case of a signal from a rear cover sensor 50 that detects only rotation of the rear cover 2 as in the past, In FIG. 17, during automatic plowing depth control, the lift up/down switch 39
The work equipment can be raised and lowered with just a single touch of
The flowchart shown in FIG. 18 shows a flowchart in which the working machine is raised and lowered only while the button 9 is pressed and held. , when the opening degree is set by the cover distance setting lever 37, the difference angle of the opening degree from the standard position is detected and the flowchart is configured to correct the set value Vr, FIGS. 19 and 20. The figure shows the movement when the tilling cover 1 and the rear cover 2 are integrally rotatable as a rotary cover and used as a sensor as in the present invention. It is a drawing showing a problem when only the rear cover 2 is rotated up and down with respect to the tilling cover 1 and used as a tilling depth sensor. 1... Tilling cover 2... Rear cover 3... Tilling cover rotating rod 4... Feedback sensor 5... Tilling cover drive motor 6... Cover opening sensor 7... Rotating cover Sensor 8...Cover opening adjustment rod 9...Rod bracket 37...Cover opening setting lever 38...Plowing depth dial 39...Lift up/down switch 43...Operation unit Applicant: Yanmar Diesel Co., Ltd. Company agent Patent attorney Toshikazu Yano

Claims (1)

[Claims] The tilling cover and rear cover are rotated together around the tilling claw axis, the amount of rotation is detected by the rotation cover sensor, fed back, compared with the tilling depth set value, and the work machine is raised or lowered by switching the lift elevation valve. In the configuration where
The opening degree of the tilling cover and rear cover can be set separately using the cover opening degree setting lever, and the difference between the set opening degree and the standard opening degree is detected and the setting value of the tilling depth dial is corrected. Features: Tractor plowing depth control device.