JPS6229902A - Descending speed control device for automatic tillage depth control - 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 This invention relates to a descending speed control device for automatic tilling depth control, in which tilling depth is controlled at a lifting speed according to a plowing depth detection value relative to a plowing depth setting value. In a device that is configured to move downward, the ground work machine descends at high speed until it reaches the ground during the lowering operation, and after landing, the tillage depth is controlled to a predetermined level. The descending operation up to the start can be performed quickly.

An automatic tillage depth control device that automatically raises and lowers the ground work machine so that the tillage depth set by the conventional technical operation i is maintained is proportional to the difference between the detected tillage depth value and the set tillage depth value. The structure is such that a hydraulic lifting mechanism controls the lifting and lowering according to the lifting speed.

Problems to be Solved by the Invention Therefore, the descending speed of the tiller until it lands on the ground is also
The control is carried out in proportion to the magnitude of the difference, and as a result, when the plowing depth is set shallow, there is a problem that the descending speed becomes slow even until the first landing, resulting in poor efficiency.

Problem 't/Means for Solving Therefore, the present invention is designed so that the descending operation is always performed at a predetermined high speed until landing [7], so that the work can be carried out efficiently. As a result, I took the following technical measures.

That is, a paddy depth sensor (
S+), a plowing depth setting device (Tl) for setting the plowing depth, and a hydraulic lifting mechanism (6) at a lifting speed according to the difference between the two values in order to match the detected plowing depth value with the set plowing depth value. In an automatic tillage depth control device that includes a tillage depth control unit (14) configured to perform lifting control, a lift arm (S2) that detects the height of the hydraulic lift mechanism (6), and a hydraulic lift mechanism (6). (6
) during the lowering operation of the ground work equipment (2).
), the specified high-speed descent continues while the lift detection value exceeds the specified value near the point of contact with the ground.
and a descending speed control unit Cυ that performs a control operation so that the automatic tilling depth control is started when the tilling depth detection value changes. This is a descending speed control device for automatic paddy depth control, which is characterized by several features.

During the lowering operation of the operating hydraulic lifting mechanism (6), the Il lift detection value exceeds the predetermined value before landing, so if the high-speed descent continues, the lift detection value will exceed the predetermined value near the landing. When the tillage depth becomes less than the value and there is a change in the tillage depth detection value, the automatic tillage depth operation is performed from then on, and the lees bed control is performed efficiently.

Embodiment Next, an embodiment of the present invention will be explained based on the drawings. Second
As shown in the side view in the figure, the ground work equipment (2) is attached to the tractor (1) - the lower links (3) at the lower left and right sides.

(3) and the top link (4) at the upper center of the work equipment connecting link mechanism (5) connects 1 to 1 to the lift piston (8) of the lift cylinder (7) of the hydraulic lifting mechanism (6).
) The left and right lift arms (9) move up and down as they move in and out.

(9) via the left and right lift rods Ql, QO)
7 is connected to the lower link (3), (3), and temporary control of the armpit of the hydraulic lifting mechanism tGl is performed by a device such as a microcomputer in accordance with the operation of the stomach and lowering switch (111). Tillage depth control section (output 4 of 13)
3. This is done by selectively energizing the solenoid valve for earth work (131) or the solenoid valve for construction work (I4), and when the lift switch (11) is operated to the lift position (151), the When the solenoid valve (13I) is turned on, pressure oil from the oil pump is supplied to the lift cylinder (force), and the lift arm (9) operates lJT, and the lift switch (13I) is turned on.
1) is operated to the lowering position a61, the lowering solenoid valve (14) is turned on, the lift cylinder (force) pressure oil is not discharged, and the lift arm (9) is lowered. .

For automatic plowing depth control, the operator sets the plowing depth using a plowing depth setting device (1), such as a volume, and the plowing depth sensor (Sl) of the ground working machine (2) sets the plowing depth setting value. The control unit (12) outputs on/off operation commands for the ascending solenoid valve (13) or descending solenoid valve (14) until the detected plowing depth values match. solenoid valve (131 and lowering solenoid valve A4) & house, proportional to the amount of current applied to the solenoid part (,
A proportional solenoid valve is used to control the opening and closing of the pressure oil flow opening area. (2) Since the configuration is such that a pulse current with a pulse width proportional to this control current value is applied to the solenoid section, the pressure oil flow rate proportional to the difference in (1) is applied to the lift cylinder (
7), the lifting speed of the lift arm (9) will be proportional to this difference.

The plowing depth sensor (S+) in the illustrated example uses, for example, a linear moving potentiometer (18+) to detect the movement of the rear cover 071 in sliding contact with the tilled soil surface, and uses a ground work machine (2). This rear cover (171), which is hinged to the rear of the machine so that it can move up and down, is held at a constant height by the upper rod 09 when the tiller is not being used for cultivation. When the ground working machine (2) descends from the lifted position and touches the ground, it rotates upward and the plowing depth corresponding to this rotational position is detected by the potentiometer 0 barrel.

A lift sensor (Sz) for detecting high salmon of the hydraulic lifting mechanism (6); 1. In the illustrated example, a structure is used in which the rotation angle of the lift arm (9) relative to the tractor body is controlled by a rotary type potentiometer, and the ground work machine (
2) The lift detection value by the lift sensor (82) when the cultivating body Q (l is in the flying posture just before it starts touching the ground) is set in advance to a predetermined value [2 and the descending speed control unit CI'l]. When the ground work equipment (2) in the 6-fold upward position is lowered by lowering the lift switch (11), while the lift detection value by the lift sensor (Sz) exceeds the above-mentioned predetermined value. is the lift arm (9) at a predetermined high speed.
) will be lowered, and as soon as the lift detection value becomes less than the predetermined value and the tillage depth detection value changes (the tiller body +21 starts to touch the ground and the rear cover 0n also touches the tilled soil surface). The control section 112+ and descending speed control section Cυ may be configured so that the high-speed descending control is completed and the plowing depth control is switched to the above-mentioned plowing depth control. ing.

In addition to the illustrated example, the lift sensor (Sz) is
It is also possible to use a structure that detects the vertical movement of the link (3), and various types can be used.

The plowing depth sensor (S+) may also be configured with a dedicated grounding body in addition to the rear cover aη.

Effects of the Invention The descending speed control device for automatic plowing depth control according to the present invention is configured as described above, and includes a hydraulic lifting mechanism (
During the descending operation in step 6), the lift detection value exceeds the predetermined value before landing, so the predetermined high-speed descent continues, and then, near the landing, the lift detection value falls below the predetermined value. As the plowing depth increases, there is a change in the plowing depth detection value, and from then on, the plowing depth automatic control switches to an automatic plowing control that has good followability according to the difference between the plowing depth detection value and the plowing depth set value, so there is no waste in the operation. This resulted in efficient plowing depth control.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a control circuit block diagram, Fig. 2 is an overall side view of the tractor, and brush 3M is a flowchart. Description of symbols (2)...Ground work equipment (6)...Hydraulic lifting mechanism 0 hot water...Plowing depth side part 011...Descent speed Control part fT1...Plowing depth setting device (S+)...Pilling depth sensor (Sz)...Lift sensor patent applicant: Iseki Agricultural Machinery Co., Ltd.
j Procedural amendment (method) 1986 pl'1. R6 Japanese Patent Application No. 60-169537 2 Name of the invention Descending speed control device on the automatic opening side of plowing depth Address Name Iseki Agricultural Machinery Co., Ltd. 4, Agent 6, Target of expansion Drawing

Claims (1)

[Claims] A plowing depth sensor detects the plowing depth of a ground work machine that can be raised and lowered by a hydraulic lifting mechanism, a plowing depth setting device sets the plowing depth, and the detected plowing depth value matches the above plowing depth setting value. In order to increase the height of the hydraulic lifting mechanism, the height of the hydraulic lifting mechanism is adjusted in an automatic tilling depth control device that has a tilling depth control section that is configured to control the lifting and lowering of the hydraulic lifting mechanism at a lifting speed that corresponds to the difference between the above two values. During the lowering operation of the lift sensor and the hydraulic lifting mechanism, as long as the lift detection value exceeds a predetermined value that is close to where the ground work equipment touches the ground, the predetermined high-speed descent continues, and the lift detection value is lowered. The method further includes a descending speed control unit that performs a control operation so that the automatic tilling depth control is started when the tilling depth detection value is below a predetermined value and there is a change in the tilling depth detection value. Descending speed control device for automatic tillage depth control.