JPS60244205A - Angle controller for agricultural machine - 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" The present invention is applicable to rice planting work, for example, by connecting a rotary tiller to a tractor through a top link and a lower link, or to a 1F passenger vehicle through a top link and a lower link. The machine is mounted so that it can be raised and lowered, and there is also a tilt sensor that detects tilting of the work machine in the left-right direction, and a lower link, etc. is oscillated based on the output of the sensor to keep the left-right tilt of the work machine approximately constant. The present invention relates to a device that includes an angle correction member such as an oil I modilinder, and maintains the plowing depth on the left and right sides of the working machine or the planting depth of left and right seedlings to be approximately equal.

"Prior Art" A farm work machine is attached to a mobile farm machine via a traction link so as to be jointly movable, and the traction link is swung based on the output of a tilt sensor that detects the tilting of the farm machine in the left and right direction. There was a technology that included an angle correction member that kept the horizontal tilt of the machine approximately constant.

"Problem to be Solved by the Invention J In the prior art described above, the tilt sensor was detected in intervals of a certain period of time, and the angle correction member was controlled based on the average output value at this time, so the detection time of the sensor was lengthened. By doing so and stabilizing this output, the difference between the sensor output and the previous value may become large. For example, during plowing work, there may be a step in the tillage mark, or during rice planting work, the planting depth of seedlings may change drastically. There was a problem.

Means for Solving Problem J However, the present invention detects the output of the tilt sensor for a certain period of time, controls the angle correction member based on the intermediate value between the output value of the sensor and the previous time, and The angle correction member is configured to control the angle correction member later based on the output value of the sensor.

By controlling the angle correction member with an intermediate value between the output of the sensor and the plowing value, the correction operation by the sensor can be performed in multiple stages. As well as being able to reduce changes in depth.

By lengthening the detection time per sensor, the output can be easily stabilized.

"Example" Embodiments of the present invention will be described in detail below based on the drawings.

Figure fA1 is a side view of the whole, Figure 2 is a plan view of the main part,
The tractor (1), which is a mobile agricultural machine, is equipped with a rotary tiller 41 (2), which is an agricultural machine, at the rear of the tractor (1), as shown in the figure (
3) is the engine, (4) is the clutch case, (5) is the minyeon case, (6) is the front wheel, (7) is the rear axle, (8)
) is the rear wheel, (9) is the PTO shaft, (10) is the lift arm (II) and position control lever (12)
(13) is the driver's seat, (14) is the reversing handle. In the figure, (15) is a tilling rotary, (16) is a rotary car /<-, (17) is a main beam, (18) is a tail wheel, and (19) is a depth adjustment handle.

A tilling machine (2) is attached to the rear side of the tractor (1) via a top link (20) and a lower link (21) which is a traction link so that it can be raised freely. #Top link (
20) The front end is connected and supported to the rear side of the hydraulic lift I (10) via a top link hinge (22), and the work machine (2)
The rear end of the top link (20) is connected to the upper central part of the front end, and a pair of left and right lower links (21) (21) are connected to the lower corners of both sides of the minsion case (3) via lower link pins (23). The front end is connected and supported, and the work machine (2
) The rear ends of each lower link (21021) are connected to both front ends of the lower links (21021).

Furthermore, the lift loft (24) (
24) A hydraulic cylinder (25) whose upper end is connected and which is an angle correction member that keeps the horizontal inclination of the working machine (2) substantially constant.
is integrally connected to the lower end of the right lift rod (24), while
Left 1) Attach the turnbuckle (28) to the lift rod (24) and tighten the piston mid (25) of the hydraulic cylinder (25).
27) to the middle of the right lower link (21), and connect the right lower link (21) to the right lift arm (11) using the lift loft (24) and hydraulic cylinder (25).
are interlocked and connected, and only the right lower link (21) is independently swung by the forward and backward movement of the piston mid (27), and a tilt sensor ( 28) was established,
The tilt sensor (28) is configured to detect the horizontal inclination of the working machine (2).

FIG. 3 is a perspective view showing the structure of the tilt sensor (28), which includes a light emitting element (28a) made of an LED and a light receiving element (28b) made of a phototransistor.
Each element (28a) (2
8b), and this light emitting and light receiving element (28
a) (28b) Between the opposing intervals, a light shielding plate (28) is pivotally supported at its upper end so as to be swingable only in the left and right direction. An oil damper (30) is attached to the pivot shaft (30) of the light shielding plate (29).
a) is installed to suppress the swinging of the light shielding plate (28) so that when the tilt angle of the rotary (15) changes, the light shielding plate (28) becomes vertical and immediately stops.

Light shielding plate (29) (7) A slit is provided at the height position where the light emitting element (28a) and the light receiving element (28b) face each other.
a) has been established. The slit' (29a) is
The opening area is large on the left side and becomes continuously smaller on the right side, forming a horizontal fan shape, and the slit (
The center line in the swinging direction of 23a) has an arc shape centered on the pivot shaft (30) at the upper end. Therefore, the light emitting element (28a)
As shown in Fig. 4, the amount of light emitted by the rotary and received by the light receiving element (28b) is large when the right side of the rotary (15) is located lower than the left side (rightward tilted state); A state in which the position is lower than the right side (left-leaning t!
In i), it becomes small, and in between, it changes to rendo shoujo. Note that the light shielding plate (29) is designed not to move beyond a predetermined amount If, and when the light emitted from the light emitting element does not pass through the slint, no further swing is made.

Next, as shown in Figure wIJ5, a hydraulic pump (32)' is connected to a double-acting hydraulic cylinder (25) that adjusts the horizontal inclination angle of the working machine (2) via a 3-position, 4-boat type electromagnetic hydraulic switching valve (31). - is connected to the hydraulic switching valve (31) to switch the rising and falling solenoid (31a) (3).
1b), and a telescopic lift link (33) is interposed between the lift arm (11) and the lower link (21) in parallel with the hydraulic cylinder (25), and a Switches (33a) and (33b) are provided on the lift link (33), and the rotary work machine (2
) is supported in the raised position, position the movable end of the lift link (33) between each limit switch (33a033b), and horizontally support the work equipment (2) with respect to the tractor (1). It consists of

FIG. 6 is a control circuit diagram of the hydraulic cylinder (25), which includes a lift position switch (34) that detects the lifting operation of the work implement (2) by the position control lever (12), and the tilting An automatic switch (35) that operates the hydraulic cylinder (25) based on the output of the sensor (28), and a manual switch (36a) for manually operating the hydraulic cylinder (25) and a lowering manual switch (36a).
6b). A water V control circuit (37) is connected to the sensor (28) and each switch (33a) to (38b), and a power supply (38) is connected to the circuit (37) and each solenoid (31a) (31b). ), and the circuit (3
7) a drive circuit (42) for each of the solenoids (31a) and (31b) via ant gates (40) and (41);
(43) respectively, and each of the above-mentioned anime games)
A pulse oscillator (44) is connected to the solenoid (40M41), and each solenoid (31a ) (31b) is configured to be activated by excitation.

The present invention is constructed as described above, and as shown in the flowchart of FIG. 7, with the key switch (39) turned on, the r movement switch (36ta) (3Eib) is turned on.

By operating the ``-up or down solenoid (3
1a) and (31b) are continuously excited, the hydraulic cylinder (25) is operated and controlled manually, and the horizontal inclination of the rotary tiller (2) is adjusted to an arbitrary angle.

Furthermore, when the manual switches (36a) (36b)ffi and the position switch (34) are off, the automatic switch (35) is turned on to detect the output change of the tilt sensor (28) within a certain period of time. When the number of inputs reaches a certain value based on the output change, the inputs from the sensor (2 days) are averaged to calculate the average value.

Then, the difference from the previous control value is calculated, and the intermediate value of the difference is calculated, and when a certain waiting time has elapsed, the rising or falling trend/id (31
a) (31b) is pulse-excited, and when a certain waiting time has elapsed, the solenoid (31a) (31b) is pulse-excited based on the difference from the previous control value, and the hydraulic cylinder (31b) is pulse-excited. 25) work 411 (
The horizontal control operation of 2) is performed in multiple stages at regular intervals, and the working machine (2) is returned to the water moat position with gradual changes, so that the plowing marks of the rotary (15) are smoothly formed.

In addition, in Example 1, water motion control was performed based on the output of the sensor (28) after horizontal control was performed using the intermediate value between the output of the sensor (28) and 1111 times. It is also possible to easily reduce the frequency of horizontal control by performing horizontal control using an intermediate value only when the value exceeds a certain value.

"Effects of the Invention" As will be clearly seen from the embodiments, the present invention has the following advantages:
) A farm machine such as a rotary tiller 41 (2) is attached to a mobile farm machine such as a rotary tiller 41 (2) so as to be movable up and down via a traction link such as a lower link (21), and the tilting of the farm machine (2) in the left and right direction is detected. The agricultural machine (
2) In a structure equipped with an angle correction member such as a hydraulic cylinder (25) that keeps the horizontal inclination substantially constant, the output value of the sensor (28) is determined by detecting the output of the tilt sensor (28) for a certain period of time. The angle correction member (25) is controlled based on the intermediate value between
The angle correction member (25) is controlled based on the output value of the sensor (28) and the previous value by controlling the angle correction member (25) based on the output value of the sensor (28). The correction operation according to 28) can be performed in multiple stages, for example, it is possible to reduce the level difference in the plowing trace and the change in the W planting method, and also to lengthen the detection time per cycle of the sensor (28). It is possible to easily stabilize the output of the lever, and it is possible to achieve effects such as being able to obtain a more functional and safer on-water control operation than in the past.

[Brief explanation of the drawing]

FIG. 1 is an overall side view showing one embodiment of the present invention, a hydraulic circuit diagram of power capacity, FIG. 6 is an electric circuit diagram thereof, and FIG. 7 is a flowchart. (1)... Tractor (mobile agricultural machine) (2)... Rokuri tilling machine (agricultural machine) (21
)... Lower link (traction link) (25)...
Hydraulic cylinder (angle correction member) (28)... Tilt sensor applicant Tadashi Fujiwara, Yanmar Agricultural Machinery Co., Ltd. agent

Claims (1)

[Claims] The agricultural working machine is attached to the mobile agricultural machine via a traction link so that it can be raised and lowered, and the traction link is swung based on the output of a tilting sensor that detects the horizontal tilting of the agricultural working machine to prevent the horizontal tilting of the agricultural working machine. In a structure with a constant angle correction member, +11J, it! By detecting the output of the tilt sensor for a certain period of time, the angle correction member is controlled based on the intermediate value between the output value of the sensor described in 11j and the previous value, and after this, the angle correction member is controlled based on the output value of the sensor. ■A device for controlling the angle of agricultural transport.