JPS60244207A - 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 "Industrial Application Field" The present invention is applicable to, for example, a rotary tilling machine connected to a tractor through a top link and a lower link, or a rice transplanting working machine connected to a passenger vehicle body through a top link and a lower link. a tilt sensor that detects the tilting of the working machine in the horizontal direction; and a hydraulic pressure that swings the lower link etc. based on the output of the sensor to maintain the horizontal tilt of the working machine at a substantially constant level. The present invention relates to a device that includes an angle correction member such as a cylinder, and maintains the plowing depth on the left and right sides of the work machine, the planting depth of left and right seedlings, etc. to be substantially equal.

``Prior Art'' Agricultural work is carried out by attaching a farm work machine to a mobile farm machine so that it can be raised and lowered via a traction link, and swinging the traction link based on the output of a tilt sensor that detects the tilting of the farm work 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.

"Problems to be Solved by the Invention" In the prior art described above, the tilt sensor is detected in intervals of a certain period of time, and the angle correction member is adjusted based on the average output value at this time.
When working on a gentle slope in one direction, the output value of the sensor will lag behind the actual working condition, and it is difficult to quickly correct this according to the tilted posture of the agricultural machine. There was a problem that I couldn't do it.

"Means for Solving the Problem" However, the present invention detects the output change of the tilt sensor within a certain period of time, and when this output change has a certain tendency, the angle is adjusted based on this final output value. It is configured to operate a correction member.

"Function" When there is a certain tendency in the output change of the tilt sensor, the attitude of the agricultural machine is corrected based on the final output value within a certain measurement time, and when the agricultural machine tilts in one direction continuously. Correspondingly, the inclination of the agricultural machine can also be quickly corrected, and the correction operation by the sensor can be made to substantially match the actual working condition.

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

Figure 1 is an overall side view, and Figure 2 is a plan view of the main parts.A tractor (1), which is a mobile agricultural machine, is equipped with a rotary tiller (2), which is an agricultural work machine, at the rear of the tractor (1), which is a mobile agricultural machine. (3)
is the engine, and (4) is the clutch case.

(5) is the transmission case, (6) is the front wheel, (7) is the rear axis, (8) is the rear wheel, (9) is the PTO axis, (10) is the lift arm (11), &H, t' A hydraulic lift equipped with a position control lever (12), (13) a driver's seat, and (ta) a steering handle. In the figure, (15) is a tilling rotary, (16) is a rotary cover, 1 (+7) is a main beam, (1st) 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 and lowered. Said top link (
20) The front end is connected and supported to the rear side of the hydraulic lift (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 the front ends of a pair of left and right lower links (21) (21) are connected to the lower corners of both sides of the transmission case (3) via lower link pins (23). are connected and supported, and the work machine (2
) The rear ends of each lower link (21) (21) are connected to both sides of the front end of the lower link (21).

In addition, a lift rod (24) is attached to the pair of left and right lift arms (+1) (11) provided on the above-mentioned hydraulic lift (10).
(24) A hydraulic cylinder (25
) is integrally connected to the lower end of the right lift rod (24), while a turnbuckle (2B) is attached to the left lift rod (20), and the piston rod (25) of the hydraulic cylinder (25) is attached to the left lift rod (20).
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 rod (24) and hydraulic cylinder (25).
are interlocked and connected, and only the right lower link (21) is independently swung by the advancing drive of the piston rod (27), and the rotary cover (16) of the rotary tiller (2) is tilted to the center of the upper surface. A sensor (28) is fixedly installed,
The tilt sensor (28) is configured to detect the horizontal inclination of the work m(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, facing each other in the longitudinal direction of the aircraft. each element (28a) (28
b) are arranged opposite to each other, and this light emitting and light receiving element -f (2
8a) (28b) A light shielding plate (28) is pivotally supported at its upper end so as to be swingable only in the left and right direction between the opposing intervals. 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 (29) so that the light shielding plate (28) becomes vertical and immediately stops when the tilt angle of the rotary (15) changes.

Light shielding plate (29), light emitting element (28a) and light receiving element (28)
A slit (29a) is provided at the height position opposite b). The slit (28a) has a horizontal fan shape in which the opening area is larger on the left side and continuously becomes smaller on the right side, and the slit (29a)
The center line in the swinging direction is an arc centered on the pivot shaft (30) at the upper end. Therefore, as shown in FIG. 4, the amount of light emitted by the light emitting element (28a) and received by the light receiving element (28b) is such that the right side of the rotary (15) is located lower than the left side [1 (rightward tilting S)]. In contrast, it becomes large in the state where the left side is located below the right side (left-leaning state), and it changes continuously in between. Please note that the light shielding plate (
29) is designed not to swing more than a predetermined amount, and when the light emitted from the light emitting element does not pass through the slit, it will not swing any further.

Next, as shown in Fig. 5, a double-acting hydraulic cylinder (25) that adjusts the horizontal inclination angle of the working machine (2) is placed in the third position N4.
The hydraulic pump (
32) are connected to the hydraulic switching valve (31), and are provided with raising and lowering solenoids (3ta) (31b) for switching these to the hydraulic switching valve (31), and a lift arm (11) and a lower link in parallel with the hydraulic cylinder (25). A telescopic lift link (33) is interposed between the rotary work machine (21) and the lift link (33) is equipped with limit switches (33a-) and (33b) for lifting and lowering. While supporting the switch in the raised position, press each limit switch (3
The movable end of the lift link (33) is positioned between 3a and 33b to horizontally support the working machine (2) with respect to the tractor (1).

Figure 6 is a control circuit diagram of the hydraulic cylinder (25), which includes a lift position switch (34) that detects the lifting movement of the working machine (2) by the position control lever (12), and a tilt sensor labeled L. an automatic switch (35) that operates the hydraulic cylinder (25) based on the output of (2 days), and a manual switch (38a) for raising and lowering that operates the hydraulic cylinder (25) manually (3
Bb). Then, a power source (38) is applied to the horizontal control circuit (37) that connects the sensor (28) and each switch (33a) to (3Bb), respectively, and the circuit (37) and each of the solenoids (31a) and (31b). a key switch (39) to
7), a drive circuit (42) for each of the solenoids (31a) and (31b) via AND gates (40) and (41).
) (43) respectively, and each of the above-mentioned anime games)
(40> A pulse oscillator (44) is connected to (41), and each solenoid is subjected to either continuous excitation directly via the circuit (37) or pulse (intermittent) excitation via the oscillator (40). (31a) and (31b) are configured to excite and operate.

The present invention is constructed as described above, and as shown in the flowchart of FIG. Solenoid (31a) (
31b) is continuously excited, and the hydraulic cylinder (25
) to adjust the left and right inclination of the rotary tiller (2) to any desired angle.

Further, when the manual switches (38a) (38b) and the position switch (34) are off, the automatic switch (
35), the output change of the tilt sensor (28) within a certain period of time is detected, and if this output change has a certain tendency, the hydraulic cylinder (25) is operated based on this final output value. As shown in the input signal (A) of the tilt sensor (28) shown in FIG.
28) When the output gradually decreases, the raising or lowering solenoids (31a) (31b) based on the final minimum output value
), and when the output of this sensor (28) gradually increases like the input signal (B) of the sensor (28), the solenoid (31a) (31b) is excited based on the final maximum output value. ) is pulse-excited, and the horizontal control operation of the working machine (2) by the hydraulic cylinder (25) is performed in accordance with the actual working state.

Furthermore, the input signal (C) of the tilt sensor (28) shown in FIG.
), when the output of this sensor (28) changes irregularly, the average value of the input signal (C) is calculated and the hydraulic cylinder (25) is controlled in the same way as above based on this. be.

"Effects of the Invention" As is clear from the above embodiments, the present invention provides a tractor (1
) A farm machine such as a rotary tiller (2) is attached to a mobile farm machine such as a rotary tiller (2) so as to be movable up and down via a traction link such as a lower link (21), and a tilting of the farm machine (2) in the left and right direction is detected. The agricultural machine (2) is moved by swinging the towing link (21) based on the output of the tilt sensor (28).
) is equipped with an angle correction member such as a hydraulic cylinder (25) that keeps the horizontal inclination of the tilt sensor (25) substantially constant, detects the output change of the tilt sensor (28) within a certain period of time, and detects a certain tendency in this output change. When there is a final output value, the angle correction member (25) is operated based on this final output value, and the final output value of the sensor (28) output, which has a certain tendency, is used to bring the angle closer to the next horizontal adjustment operation. The posture of the agricultural working machine can be corrected, and even when the agricultural working machine (2) is continuously tilted in one direction, the tilting of the agricultural working machine (2) can be quickly corrected in response to this, and the sensor It is possible to match the correction operation according to (28) with the actual working condition, and also to eliminate unnecessary control operations such as hunting operations, so that the correct operation that follows the actual working condition can be achieved with fewer control operations than before. This has effects such as being able to obtain water f control.

[Brief explanation of the drawing]

FIG. 1 is an overall side view showing one embodiment of the present invention. FIG. 6 is a dual-use hydraulic circuit diagram, FIG. 6 is an electric circuit diagram, FIG. 7 is a flowchart, and FIG. 8 is a human power signal line diagram from a tilt sensor. (1)... Tractor (mobile agricultural machine) (2)... Rotary tiller (agricultural work 411) (
21)... Lower link (traction link) (25)...
・ Hydraulic cylinder (angle correction member) (28)... Tilt sensor

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 equipped with an angle correction member that maintains a constant value, a change in the output of the tilt sensor within a certain period of time is detected, and when this output change has a certain tendency, the angle correction member is adjusted based on this final output value. An angle control device for agricultural work, characterized in that it is configured to be operated.