JPH03224404A - Retraction and lift control device for rotary tiller - 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] This invention relates to a rearward and upward movement control device for a rotary tiller connected to the rear of a power vehicle such as an agricultural tractor.

[Prior Art and Problems to be Solved by the Invention] Conventionally, as a device of this type, one is known that, when the tractor is reversed, a working machine connected to the rear of the tractor is raised in conjunction with the reverse operation. There is.

However, with this type of conventional device (work equipment backward and upward control device), when the machine was moved backward, the rotary tiller was raised to the maximum raised position. When you move it to the side,
There was a risk that the rotary tiller would fall violently from the high hanging position, which was extremely dangerous.

In addition, at that time, the speed at which the rotary tiller descended was the normal descending speed set in the position or depth mode, so inexperienced workers may have difficulty responding at the edge of the ridge. many. Generally, in order to make the most effective use of farmland, it is often the case that rotary tillers are moved all the way to the edge of the ridge for plowing. A slower speed is more convenient for inexperienced users.

[Means for solving the problem] This invention was proposed in view of the problems described above, and the following technical measures were taken.

That is, a rotary tilling device 14 having a rear cover 36 for detecting plowing depth is connected to the rear part of the vehicle 1 so as to be movable up and down, and when the traveling vehicle 1 is operated in reverse, the rotary tilling device 1
4 to a predetermined height, when the reverse operation is released and the change lever 42 is operated to the neutral position or to the forward side, the lowering speed β is lower than the normal lowering speed β. The configuration of the backward and upward control device for a rotary tiller is characterized in that a control means 27 for lowering the rotary tiller 14 at a slow set speed β2 is provided.

[Embodiment] The present invention will be described in detail below based on the drawings. First, to explain the configuration, 1 is a tractor that has a rear wheel 3.2 and a rear wheel 3.3 at the front and rear of the machine body, respectively, and a hydraulic cylinder case 5 fixed to the rear upper part of the transmission case 4. ing. A single-acting hydraulic cylinder 6 is provided inside the hydraulic cylinder case 5, and lift arms 7.7 are pivotally supported on both left and right sides of the hydraulic cylinder case 5 so as to be able to move freely. Note that, herein, the hydraulic cylinder 6 and the lift arm 7.7 are collectively referred to as a hydraulic lifting mechanism 8. A rotary tiller 14 as a ground work device is quickly connected to the rear end of the three-point link mechanism 12 consisting of the top link 10 and the lower link 11.11, and the rotary tiller 14 is connected between the lift arm 7.7 and the lower link 11.11. A lift rod 15.15 is connected to the lift rod 15.15. Reference numeral 20 denotes a hydraulic operating lever, and at the rotating base of this operating lever 20 is a ground height setting device 2 for setting the ground height of the ground work equipment connected to the rear of the tractor 1.
1 is attached.

On the other hand, a ground height detector 23 is attached to the rotation base of the one-sided lift I-arm 7 to detect its rotation angle, that is, the height of the ground work equipment, and is set by the hydraulic operation lever 20. A position control system is configured so that the lift arm 7.7 rotates to the position and stops at that position.

Next, the structure of the rotary tiller 14 will be briefly explained.
This rotary tilling device 14 includes a tilling section 34 and a tilling section 3.
The main cover 35 covers the upper part of 4, and the rear cover 36 is rotatably pivoted at the rear of the main cover 35.
The lower end of the rear cover 36 is configured to slide on the ground and press elastically to level the tilled soil surface, and the upper rear end of the rear cover 35 has a tiller for detecting the rotation angle of the rear cover 36. A depth detector 37 is provided.

Next, the control system of this device will be explained based on the block diagram shown in FIG. A ground height setting device 21 that sets the height of the ground work equipment 14 and a ground height detector 23 that detects the actual position of the lift arm 7.7 are controlled by a CPU via an A/D converter 25. 27. 28 is A/
When this switch 28 is turned on using a lift switch that is directly connected to the control unit 27 without passing through the D converter 25, the ground work equipment 14 rises to the maximum raised position, and when turned off, it lowers to the height determined by the hydraulic operating lever 20. do.

Dial-adjustable plowing depth setting device 4 located near the cockpit
0 and a tilling depth detector 37 that detects the tilling depth of the rotary tiller 14 is connected to the control section 27 via the A/D converter 25. 41 is a backward detection switch that detects a backward operation of the aircraft, and the change lever 42 is connected to the change guide 43.
When the vehicle is operated to the reverse range within the vehicle, this switch 41 is turned on and sends a signal to the control section 27. 46 is a rising proportional control valve that controls the hydraulic lifting mechanism 8, and 47 is a descending proportional control valve.

Next, the present invention will be explained in detail based on the flowchart of FIG.

The control program is stored in a part of the memory of the control unit 27, and first, it is determined whether the change lever 42 is operated to the reverse side (step S1), and the reverse detection switch 41 is determined to be in the ON state. When detected, its status,
In other words, set the flag to memorize the working machine retraction mode - step S2) and the rotary tilling device 14.
- Determine the increase amount α (step S3). Then, when the rotary tiller 14 reaches the set height in the 1-lifting mode (step S4), the lifting output is stopped (step S7, step S8), and
When the set height has not been reached, the ascending proportional control valve 4
6, a 1--increase command is output (step S9). When the change lever 42 is operated to switch from the reverse range to the forward side or the neutral position (step 5IO), the working machine reverse and rise mode is canceled and the flag is reset (step 511).

At the same time, a new setting is made so that the speed at which the rotary tiller 14 descends is slower than the normal descending speed β (step 512), and a step-down command is output to the descending proportional control valve 47 (step 513). .

For this reason, the rotary tiller 14 begins to slowly descend from the suspended position during the backward and raise mode 1, and the operator moves the rotary tiller 14 to a predetermined position while accurately checking the position of the ridges. It is possible to lower it into position. Note that, as is clear from step 5 and step S6, when the worker consciously operates the hydraulic operating lever 20,
When the position of the hydraulic operating lever 20 and the position of the lift arm 7 are made to match, the lowering speed β, which was set to be slow, can be canceled and the original lowering speed β can be restored.

More specifically, if the operator feels that the descending speed of the rotary tilling device 14 is too slow, he or she consciously operates the hydraulic operating lever 2o in the downward direction to adjust the set height above the ground and the detected height above the ground. From the time when the two match, the descending speed can be returned to the normal position control system designated speed β. Therefore, if the operator quickly operates the hydraulic operating lever 2o in the downward direction, the rotary tiller 14 can be lowered at a fast speed β1 (β,>β2) in accordance with the operation.

Next, in the tractor 1 having the configuration of this embodiment,
A partially modified control program will be explained based on the flowchart shown in FIG.

The feature of this program is that when the change lever 42 is in the reverse range, the rotary tiller 14 is lifted up to a predetermined height; The rotary tiller 14 can be lowered to a height below that height, but the rotary tiller 14 can be raised to a higher height by means of the hydraulic operating lever 20. To explain only the characteristic parts of this program, the hydraulic operation lever 2
The position set by the hydraulic control lever 20 is compared with the position of the lifted work equipment (step 57). It is smaller than the detection value on the arm 7 side. Therefore, in this case, the command value by the hydraulic control lever 2o is always fixed at the above-mentioned ascending mouth #R value α. To explain more clearly, the hydraulic operating lever 2
0, even if the hydraulic operating lever 20 is moved within that range, the rift 1-arm 7.7 will not move up or down. Then, when the hydraulic operating lever 20 is operated 1 times to the lifting side beyond the 1 rise target value α, the rotary tiller 14 is suspended within the range from the current position to the maximum rise position.
Gere (step S7, step S9, step 13)
, position operation is possible within this range. and,
When the change lever 42 is operated to switch to the forward side or the neutral position, the work equipment backward and upward mode is canceled.
The rotary tiller 14 starts descending at a speed β2 slower than the normal descending speed β (step S10, step Sll, step 512). In this case as well, the worker consciously lowers the hydraulic control lever 20 because he feels that the descending speed is slow.
After the lift arm 7.7 is operated to the lowest position and the position set by the hydraulic operating lever 20 matches the current position of the lift arm 7.7, it is possible to return to the original lowering speed β□ (step S6 ), according to this improvement program, when the rotary tillage device 14 is about to collide with the concrete ridge near the ridge, the hydraulic control lever 20
Damage to the machine due to the collision can be prevented by rotating the machine toward the downward side. [Effects of the Invention] Since the present invention is configured as described above, it has the following technical effects. That is, the rotary tilling device 14 that is suspended in the working machine backward and upward mode is moved by the change lever 4.
Since the descent is started by operating 2 to the ^1r forward side, it is efficient because the lowering operation using the hydraulic control lever can be omitted, and the descending speed is slower than the normal descending speed β1. Since it is β2, it is convenient to perform plowing work while accurately aligning the work start position at the edge of the ridge, and has the feature that damage to equipment can be reduced because there is less shock when landing.

[Brief explanation of drawings]

The figures show an embodiment of the present invention, in which Fig. 1 is an overall side view, Fig. 2 is a plan view of essential parts, Fig. 3 is a block diagram, Fig. 4 is a flowchart, and Fig. 5 is a flowchart of improvement means. be. Explanation of symbols 1 Traveling vehicle (tractor) 4 0 7 6 7 0 1 2 Hydraulic lifting mechanism Rotary tilling device Hydraulic operation lever control means (control unit) A7 cover Tilling depth detector Tilling depth setting device Reverse detection switch Change lever

Claims (1)

[Claims] 1) A rotary tilling device 14 having a rear cover 36 for plowing depth detection is connected to the rear part of the traveling vehicle 1 so as to be movable up and down, and when the traveling vehicle 1 is operated in reverse, the rotary tilling device 14 is activated.
When the reverse operation is released and the change lever 42 is operated to the neutral position or to the forward side, the set speed is slower than the normal lowering speed β_1. A backward and upward control device for a rotary tiller, characterized in that a control means 27 for lowering the rotary tiller 14 at β_2 is provided.