JPH05304802A - Lift-controlling apparatus for tilling machine - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a lifting control device capable of matching a set plowing depth and an actual plowing depth even if the rotary rotary cover is not adjusted. [Structure] A rotary tilling device is movably connected to a traveling machine body via a three-point link mechanism, and a detection value of a tilling depth sensor PM1 for detecting a vertical swing amount of a rear cover 11 of a rotary cover is a tilling depth setting device. 10 is configured to automatically drive the lifting cylinder 5 so as to match the control target value given by 10, and the rotary cover is configured to be relatively rotatable around the axis of the pawl shaft. A detection sensor PM3 for detecting the elevation angle is provided, and based on the detection result of the detection sensor PM3 when the rear cover 11 is grounded, it is determined which position the rotary cover 12 is currently adjusted, and the determination result and the above The actual plowing depth is calculated based on the detection result of the plowing depth sensor PM1, and the control target value is automatically changed so that the plowing depth set by the plowing depth setting device 10 and the actual plowing depth match. Control to change.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention connects a rotary tiller to a traveling machine body via a link mechanism so that the rotary tiller can be moved up and down in a state in which the front-back inclination changes as the elevator is moved up and down. The rear cover is connected to the rear part of the rotary cover so as to swing up and down about the horizontal axis while following the ground contact, and the detection value of the tilling depth sensor that detects the amount of vertical swing of this rear cover is given by the tilling depth setting device. The present invention relates to a lifting control device for a tiller equipped with a lifting control means for driving a lifting actuator so as to match a target value.

[0002]

2. Description of the Related Art In the lifting control device for the above-mentioned tiller,
Conventionally, the up and down control is always performed so that the set tillage depth set by the tillage depth setting device and the actual tillage depth detected by the tillage depth sensor match. However, as described above, for example, when using a link mechanism such as a three-point link mechanism having a well-known structure, in which the front-rear inclination is changed as the tilling device is moved up and down, there are a case of shallow raising and a case of deep raising. By comparison, the front and rear tilt postures of the tilling device are different in the respective work modes, and the ground reference posture of the tillage depth sensor is changed due to that, and the precision of the tillage depth control may be reduced. is there. Therefore, in order to prevent such a harmful effect, the rotary cover on which the working depth sensor is mounted is rotationally adjusted around the axis of the pawl shaft,
There has been proposed a structure in which the ground reference posture of the tilling depth sensor can be always set to be constant.

[0003]

In the structure in which the rotary cover is rotationally adjusted about the axis of the pawl shaft as described above, the operator can rotationally adjust the rotational cover in a timely manner according to the situation of the field to be worked. However, when moving to another field with different conditions, there is a risk of forgetting to readjust the rotary adjustment of the rotary cover as described above. If the operator wants to perform work while raising shallowly even if the working depth is adjusted to the maximum, the actual working depth will be deep even if the set working depth is set to a shallow depth. It causes harmful effects. SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide a lifting control device that can always perform a plowing work that matches a set plowing depth regardless of the rotation adjustment of a rotary cover.

[0004]

According to a characteristic configuration of the present invention, in the elevator control apparatus for a tilling device described at the beginning, a detection sensor for detecting an elevation angle of a lift arm for raising and lowering a drive of the link mechanism is provided. Based on the detection result of the detection sensor when the rear cover is grounded, the determination means for determining which position the rotary cover is currently adjusted, the result of the determination means and the detection result of the working depth sensor It is characterized in that it is provided with a calculating means for calculating the actual tilling depth based on the above, and a control target changing means for changing the control target value so that the set tilling depth set by the tilling depth setting device matches the actual tilling depth.

[0005]

[Effect] Even when the rotary adjustment position of the rotary cover does not match the work form, the pair of lift arms when the rear cover is grounded by lowering the tiller from the raised position to the ground during work in the field. By detecting the elevation angle of the machine, the ground height of the tiller, that is, the adjustment position of the rotary cover can be almost determined, and based on the result of the determination, the detected value of the tillage depth sensor is set based on the predetermined mechanical characteristics. The actual tillage depth can be calculated in the control state where the tillage depth matches. When the actual tilling depth is significantly different from the set tilling depth, the control target in the lifting control means is changed so as to match the tilling depth setting value.

[0006]

[Effects of the Invention] Therefore, even if the operation of adjusting the rotary cover in each field is neglected, the set plowing depth and the actual plowing depth can be made to substantially coincide with each other, and the plowing work can always be performed with high accuracy. It became a thing.

[0007]

Embodiments will be described below with reference to the drawings. Figure 4
Shows the rear part of the riding-type cultivator. This cultivator is configured by connecting a rotary cultivator 2 to a rear part of an agricultural tractor via a three-point link mechanism 1 so as to be vertically movable. The three-point link mechanism 1 is composed of a pair of left and right long lower links 3 and a short top link 4 in the left-right center, and is driven by a hydraulic cylinder 5 [an example of an actuator] provided on the side of the vehicle body. The lower link 3 is lifted up and down by the arm 6 via the lift rod 7, and the rotary tiller 2 can be driven and moved up and down. As described above, since the front and rear links 3 and 4 have different lengths, when the rotary tilling device 2 is largely lifted, the front and rear inclination becomes large, and it is configured so as to approach the traveling body side. It is configured so that the front-rear length of is short. In this cultivator, the rotary tiller 2 is automatically moved up and down so that the actual cultivating depth is maintained at the cultivating depth set by the cultivating depth setting dial 10 (an example of the cultivating depth setting device) provided in the machine body control unit 8. Elevating control means A is provided.
More specifically, the rear cover 1 in the rotary tiller 2
1 is pivotally connected to the rotary cover 12 about the horizontal axis P1 so as to be vertically swingable, and the rear cover 11
First potentiometer PM1 for detecting the vertical swing amount of the
An example of a plowing depth sensor is provided, and the lower end portion of the rear cover 11 is configured to swing up and down while following the ground contact along with the plowing work to detect the actual plowing depth. That is, as shown in FIG. 1, the output of the first potentiometer PM1 as the actual plowing depth data and the output of the second potentiometer PM2 operated by the setting dial 10 arranged in the machine control unit 8 [control target value]. Are given to a control device 13 equipped with a microcomputer, and this control device 13 drives and controls the hydraulic control valve V of the hydraulic cylinder 5 so that these outputs are substantially matched, so that the actual tillage depth is always maintained. It is automatically controlled so that the set plowing depth by the setting dial 10 is maintained. In this way, the elevation control means A is provided in the control device 13 in the form of a control program. A third potentiometer PM3 serving as a detection sensor for detecting the up-and-down angle of the aircraft is provided at the swing fulcrum of the lift arm 6, and the output of the third potentiometer PM3 is also input to the control device 13. In addition, the rotary cover 12 includes the pawl shaft 1.
A cover switching mechanism 15 is supported by the rotary frame F so as to be pivotally adjustable back and forth around the axis of 4, and is positionally fixed at a predetermined position. That is, as shown in FIG. 2, the bevel gear case 16 to which power is supplied from the fuselage side and the pipe frame 17 in which the lateral transmission shaft is installed are integrally fixed, and the three-point link mechanism 1 is pivotally connected to them. , Chain cases 1 on both left and right sides of the pipe frame 17
8 and side frame 19 for tilling rotary 20
Is rotatably supported to form a rotary frame F. Then, the rotary cover 12 is rotatably supported on the pawl shaft 14 of the cultivating rotary 20 around its axis P2, and the front-back swing type adjusting lever 21 provided on the bevel gear case 16 is provided with a push-pull link 22. The cover switching mechanism 15 is configured such that the bracket 23 formed on the rotary cover 12 is pivotally connected and the adjustment lever 21 is swung about the longitudinal axis to allow the rotary cover 12 to be pivoted back and forth. is there. The first potentiometer PM1 includes a bracket 23 and a push-pull link 22.
Is attached to the link 22 side at the pivotal connection point and the axes thereof are aligned so as to rotate around the same axis as the relative rotation axis P3 of the link 22 and the bracket 23. By rotatably configuring the rotary cover 12 in this way, as shown in FIGS. 2 (a) and 2 (b), for example, as shown in FIGS. By the dynamic adjustment, the ground reference posture of the rear cover 11 can be made substantially constant, and the actual cultivation depth can be detected with high accuracy according to the work situation. Then, to which position the rotary cover 12 is currently adjusted based on the detection value of the third potentiometer PM3 at the time when the rotary tiller 2 in the raised position descends and the lower end of the rear cover 11 comes into contact with the ground. The determination means B for determining, the calculation means C for calculating the actual tillage depth based on the determination result and the detection value of the first potentiometer PM1, and the setting tillage depth set by the second potentiometer PM2 and the actual tillage depth should match. Control target changing means D for changing the control target is provided in the control device 13 in the form of a control program. That is, the control device 13 executes the control as follows. As shown in FIG. 3, when the rotary tiller 2 is grounded and lowered from the raised position, the output of the first potentiometer PM1 is read, and it is detected from the change of the output that the rear cover 11 is grounded. Steps 1-3], the third potentiometer PM at that time
The output of No. 3 is read, and it is determined from which detection value the rotary cover 12 is rotationally adjusted [steps 4 and 5]. Then, the first potentiometer PM1
The hydraulic control valve V of the hydraulic cylinder 5 is driven so that the detection value (actual tillage depth) and the detection value (set tillage depth) of the second potentiometer PM2 coincide with each other to perform up-down control [step 6].
As described above, according to the output value of the first potentiometer PM1 and the determination result in a state where the respective detected values match,
The actual working depth at that time is calculated from the mechanical characteristics determined in advance [step 7]. Next, when the actual plowing depth and the preset plowing depth set by the setting dial 10 are significantly different, the control in the lifting control operation so that the preset plowing depth by the second potentiometer PM2 and the actual plowing depth match. The target value is changed, and the ascending / descending control is executed based on the new control target value so as to match the detected value of the first potentiometer PM1 [steps 8 to 10]. The steps 6 and 10 constitute the elevation control means A, the step 5 constitutes the discrimination means B, the step 7 constitutes the calculation means C, and the step 9 constitutes the control target change means D.

It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 Control block diagram

FIG. 2 is a side view showing a state in which the posture of the rotary cover is changed.

FIG. 3 is a control flowchart.

[Fig. 4] Side view of the rear part of the tiller

[Explanation of symbols]

 1 Link Mechanism 2 Rotary Tillage Device 5 Actuator 6 Lift Arm 10 Tillage Depth Setting Device 11 Rear Cover 12 Rotary Cover 14 Claw Shaft 15 Cover Switching Mechanism A Elevating Control Means B Discriminating Means C Computing Means D Control Target Changing Means F Rotary Frame PM1 Plowing Depth sensor PM3 detection sensor

Claims (1)

[Claims] 1. A rotary tiller (2) is movably connected to a traveling machine body via a link mechanism (1) in a state in which the front-rear inclination is changed in association with a lifting operation, and the tiller ( The rear cover (11) is connected to the rear of the rotary cover (12) of 2) so as to swing up and down about the horizontal axis while following the ground contact.
The raising / lowering control means (A) for driving the raising / lowering actuator (5) so that the detection value of the tilling depth sensor (PM1) for detecting the amount of vertical rocking of the tiller matches the control target value given by the tilling depth setter (10). Equipped with the rotary cover (12)
Is supported on a rotary frame (F) so as to be relatively rotatable around the axis of the pawl shaft (14), and the rotary cover (1
2) Adjustable and fixed cover switching mechanism (1)
5) An elevation control device for a tilling device, comprising a detection sensor (PM3) for detecting an elevation angle of a lifting arm (6) for raising and lowering the link mechanism (1) with respect to the body, and the rear cover. A discriminating means (B) for discriminating which position the rotary cover (12) is currently adjusted based on the detection result of the detection sensor (PM3) when (11) is grounded, and its discriminating means ( Calculation means (C) for calculating the actual tillage depth based on the result of B) and the detection result of the tillage depth sensor (PM1) and the tilling depth set by the tiller depth setting device (10) and the actual tillage depth match. And a control target changing means (D) for changing the control target value so that the lifting control device of the tiller.