JPS633708A - Plowing depth automatic control apparatus of tractor - 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 (A) Field of Industrial Application The present invention relates to an automatic tillage depth control device for controlling the tillage depth of a working machine such as a rotary tiller mounted on a tractor to a constant value.

(B) Prior Art Techniques for automatically controlling the plowing depth to a constant value using a rotary tillage device mounted on a tractor have been well known. For example, when Japanese Patent Publication No. 58-26927 was published and
As in Publication No. 4-75309.

(c) Problems to be Solved by the Invention An object of the present invention is to establish a safety mode when the tractor's engine start key is turned on in an automatic control device configured to pulse-drive a solenoid valve by electronic control. The invention relates to a release device for "safety mode."

When the tractor's engine start key is turned on, if the travel gear shift lever is in the reverse position or if the position setting device setting value is lower than the lift angle sensor value, the lift arm will not move as intended by the operator. On the other hand, it is possible for the value to rise or fall suddenly.

In order to eliminate this problem, a "safety mode" is provided, which stops the movement of the lift arm in the event of a dangerous situation.

However, after entering the "safety mode", the operation to cancel the "safety mode" is to move the travel gear shift lever to the reverse position, or rotate the position lever 2 to lift the vehicle in this state. A condition was set that it was necessary to raise the arm above the position of arm 8.

Although the conditions and operation methods for canceling the safety mode are described in detail in the manual, actual operators do not carefully read these manuals and take steps such as canceling the "safety mode". Since the lift arm did not move, I assumed that it was broken, so I operated various parts of the control device at random.
If the lift arm still does not rotate, there is a possibility that it will be returned as a defective product.

This invention is a way to release the lift arm when it enters the "safety mode" and the lift arm no longer moves. Even if the ``safety mode'' is canceled, no dangerous accidents will occur, so if you operate any of the control-related lift switches, position levers, or plowing depth setting dials, the ``safety mode'' will be canceled immediately and the lift will start. The arm is configured to rotate to a predetermined position.

(d) Means for Solving the Problems The objects of the present invention are as described above. Next, the configuration for achieving the objects will be explained.

The plowing depth of the work equipment is detected by the rear cover sensor, the position of the lift arm is detected by the lift angle sensor, the setting for "position mode" is set by the position setting device, and the plowing depth is set for "auto mode". In a configuration set using a dial, when the tractor's engine start key is turned on or off, the lift is activated when the travel gear shift lever is in the reverse position and when the setting value of the position setting device is lower than the value of the lift angle sensor. A "safety mode" is provided in which the lifting and lowering of the arm is stopped, and the "safety mode" is canceled in conjunction with the manual operation of the lift switch, position lever, or plowing depth setting dial.

(E) Structure of the Embodiment The object and structure of the present invention are as described above. Next, the structure of the embodiment shown in the attached drawings will be explained.

FIG. 1 is a side view showing an automatic tillage depth control device for a tractor according to the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is a plan view of an operation box 11 section.

The configuration will be explained with reference to FIGS. 1, 2, and 3.

A hydraulic case N is placed on top of the tractor's transmission case. Left and right lower links 14 protrude from the rear end side of the mission case M so as to be movable up and down. Further, a top link hinge 21 protrudes from the rear surface of the hydraulic case N, and a top link 15 is pivotally supported at the rear end. Power is transmitted from a bevel gear box 22 of a rotary tiller R to a PTO shaft 23 of a hemi- sion case M via a universal joint shaft.

The rotary tilling device R tills the soil by rotating the tilling claws 7, and levels the tilled soil using the rear cover 1.

In the present invention, the rear cover 1 is also used as a sensor for detecting the plowing depth, and the vertical rotation state of the rear cover 1 is detected through a sensor wire 12 arranged on the side of the hydraulic case N. It is input to the rear cover sensor 5. The rear cover sensor 5 is composed of a potentiometer or the like.

In addition, the lift arm 8, which is moved up and down from the hydraulic case N,
8 is projected backwards. Lift links 13, 13 are pivotally connected to the rear ends of the lift arms 8, 8, and lower ends of the lift links 13, 13 are pivotally connected to midway portions of the lower links 14, 14.

A lift angle sensor 4 for detecting the rotation angle of the lift arm 8 is arranged at the rotation base of the lift arm 8 .

Further, a seat 24 is arranged above the hydraulic case N, and on the side of the seat 24 there is a position lever 2 for the operator to manually set the height of the rotary tiller R.
is located.

A position setting device 6 for detecting a value set by the position lever 2 is disposed at the rotation base of the position lever 2.

Also, the controller 16 is connected between the seat 24 and the hydraulic case N.
A microcomputer, an A/D converter, etc. as a control device are arranged within the controller 16.

Further, a hydraulic switching valve 17 using a solenoid pulp as a pilot valve is disposed inside or on the side of the hydraulic case N. The output signal after the control decision by the controller 16 is sent to the solenoid pulp of the hydraulic switching valve 17 and fed back.

Further, a travel gear shift lever 3 for operating a forward/reverse transmission disposed inside the mission case M is rotatably arranged for speed change operation, and at the base of the travel gear shift lever 3,
A bank switch 19 is arranged to detect the state in which the traveling speed change lever 3 is shifted to the reverse position.

Furthermore, an operation box 11 for automatic reverse control is fixedly installed on the lower surface of the rear part of the dash board 25. A plowing depth setting dial 9 and a lift switch 10 are arranged on the top surface of the operation box 11.

The plowing depth setting dial 9, lift angle sensor 4, rear cover sensor 5, and position setting device 6 are all constituted by potentiometers whose voltage values change when rotated.

In addition, the lift switch 10 is turned ON only when the operator operates it to the upper or lower side, and turns ON when the operator releases the hand.
It is composed of switches serving as FF.

Further, an auto-off switch 28 is arranged, which is turned on when the plowing depth setting dial 9 is fully rotated in the "depth" direction. When the plowing depth setting dial 9 is rotated and is in a position other than "off", the auto-off switch 28 is OFF and in an automatic control state.

(F) Function of the Embodiment Next, the function of the automatic tillage depth control device of this embodiment will be explained with reference to the drawings of FIGS. 4 to 9.

Fig. 4 is a drawing showing an overview of the control flowchart, Fig. 5 is a drawing of the flowchart with parts of "position mode", "auto mode", and "lift-up mode when reversing", Fig. 6, Fig. 7, FIG. 8 is a diagram showing the entire flowchart of the present invention divided into a first stage, an interrupted stage, and a second stage, and FIG. 9 is a diagram showing an operation routine of "auto mode".

First, in FIG. 4, an overall outline of the control flowchart of the present invention is shown.

That is, first, when the tractor's engine start key is turned ON, the control is started and the switches such as the auto-off switch 28, lift switch 10, and puncture switch 19 are turned on and off.
The F state is detected and stored every 81a seconds.

Next, the tilling depth setting dial 9 in the operation box 11 is rotated to specify the tilling depth. O in conjunction with the tilling depth setting dial 9.
The auto cut switch 28 which is turned off is turned off and the plowing depth value is set. Furthermore, signals from the lift angle sensor 4, rear cover sensor 5, and position setting device 6 are also stored.

The control mode is selected with the various signals stored.

There are the following types of control modes:

There are six modes: "Auto mode", "Position mode", "Lift up mode when reversing", "Safety mode", "Lift after mode", and "Abnormal mode".

The operation for each mode is performed according to the flowchart.

Then, when one of the six modes is selected and the control flow of one flowchart is completed, the self-diagnosis flowchart (S-D) and the monitor communication flowchart (M
-C) to return to the starting position again.

The main part of the present invention resides in the "safety mode" among the above six modes.

Next, the conditions for selecting the "position mode" will be explained mainly with reference to the flowcharts of FIGS. 5 and 7.

Move the lift arm 8 to any position using the position lever 2.
■If the auto-off switch 28 is turned on when the "safety mode", "abnormal mode", or "lift-up mode" is not selected.

(2) When the set position of the position lever 2 is above or equal to the position of the lift arm 8.

When the "Position Mode" is entered with ■, It enters "Auto mode". In other words, it enters "Position mode" only when the lift arm is operating.

The operation of the "position mode" is as follows.

That is, the position of the lift arm 8 and the set position of the position lever 2 correspond one-to-one, and if the position lever 2 is moved, the lift arm 8 will also move accordingly.

While moving, it is in ``position mode,'' but when it enters a fuwakari and stops, it switches to ``auto mode.''

In the "auto mode" position, the lowering is restricted by the position of the position lever 2, so even if the "auto mode" is entered, the lift arm 8 remains stationary. However, if the value of the rear cover sensor 5 moves upward, it will rise in "auto mode".

The 8-state is what is called mix control.

Next, we will show the conditions under which "Auto mode" is selected.

When the auto-off switch 28 is OFF in a mode other than "safety mode,""lift amplifier mode," or "abnormal mode," the mode becomes "auto mode" if at least one of the following conditions is satisfied.

(a) When the position lever 2 is in the vicinity of the lowest position.

(b) When the set value of position lever 2 is below the lift arm 8 position.

(C) Even if the vehicle is in the "position mode", the operation of the lift arm 8 completes position control and the vehicle enters the Fuwazai zone again.

It is.

The operation in the "auto mode" is performed as follows according to the routine diagram shown in FIG.

The lift arm 8 is moved upward based on the deviation between the set value of the plowing depth setting dial 9 and the detected value of the rear cover sensor 5. On the descending side, either the deviation between the set value of the plowing depth setting dial 9 and the detected value of the rear cover sensor 5 (X - Y), or the deviation between the set value of the position lever 2 and the position of the lift arm 8 (A - B). It operates with the smaller deviation.

Therefore, if the setting value of the tilling depth setting dial 9 is above the setting value of the position lever 2, the tilling depth setting dial 9 may stop at the setting value of the tilling depth setting dial 9, but it may exceed the setting value of the position lever 2 and move downward. There is no going down. Therefore, even in the "auto mode", the downward movement is regulated by the position of the position lever 2.

Next, the conditions under which the "reverse lift-up mode" is selected are when the vehicle is in the "auto mode" and the traveling shift lever 3 is operated to the reverse position.

The operation of the "reverse lift-up mode" raises the lift arm 8 to the highest position and holds it there.

This mode cannot be entered if the auto-off switch is set to 28ON.

The "safety mode", which is the main part of the present invention, is a mode for ensuring safety at the time of starting operation of the tractor.
It may be selected only at the moment the engine start key is turned on, and will be selected under the following conditions.

That is, if the travel gear shift lever 3 is in the reverse position when the engine start key is turned on, or if the set position of the position lever 2 is lower than the set position of the lift arm 8 when the engine start key is turned on. It is.

The control operation when entering the "safety mode" is to stop the rotation of the lift arm 8, since there is a high risk of an accident occurring if the lift arm 8 is rotated in the above two states.

However, if the "safety mode" remains, the lift arm 8 cannot be rotated, so it is necessary to cancel the "safety mode".

Conventionally, the condition for canceling the "safety mode" is when the travel gear shift lever 3 is in reverse and the "reverse lift up mode" is activated to suppress the lift arm 8 from rising. In order to do so, it is necessary to set the travel gear shift lever 3 to a position other than reverse, and since the plowing depth set value is lower than the actual position of the lift arm 8, if the sudden lowering of the lift arm 8 is to be suppressed, Position lever 2
to pick up the lift arm 8 (it is necessary to move the position lever 2 from the position of the lift arm 8).
It was necessary to position the setting value of .

However, for operators operating it for the first time, they may wonder why the lift arm 8 does not rotate.
``Lift up mode when reversing'' and ``Safety mode''
They do not try to understand the necessity of this.

They also don't have time to carefully read the manual and learn how to disable "safety mode." As a result, if the operation part is operated recklessly and it does not work, they call the store and ask how to operate it, but they complain.

The present invention eliminates the conventional method of releasing the "safety mode" from a theoretical method, and eliminates the need for the lift arm 8 to move after the operator enters the "safety mode". By recognizing this and moving the operating part in a chaotic manner to move it, the "safety mode" can be canceled immediately upon detecting that the operating part has been operated in any direction or in any direction. It is composed of

In the flowchart of the "safety mode" shown in FIG. 6, the configuration is as follows: Have you ever operated the position lever 2, lift switch 10, or plowing depth setting dial 9 even once after entering the "safety mode"? It determines whether the vehicle is safe or not and then cancels the "safety mode."

(G) Effects of the Invention Since the present invention is constructed as described above, it achieves the following effects.

First, conventional methods have been used to prevent the work equipment from suddenly rising or falling when the engine start key is turned on.
"Safety mode" is provided, but the "safety mode" is provided.
After entering the "safety mode" and stopping the movement of the lift arm 8, the operator enters the "safety mode" and stops the movement of the lift arm 8.
The operation to release is very theoretical, and unless the operator understands all the functions and configurations of the electronic automatic control device, it will be difficult to find the correct release method, and even if it is written in the manual, If you drive a tractor on a Sunday during the busy farming season, which is limited to a few days, you cannot spend hours reading the manual.

In the present invention, even if the operator does not know the full details of the electronic control device or has read the manual, the "safety mode" can be canceled by simply operating the control device's control section at random. This has allowed us to reduce the number of complaints.

Second, the "safety mode" always works, and after that I realized that the lift arm 8 did not rotate.
The work equipment starts to move when the control unit is operated for the first time, and the operator operates the work equipment at random after being fully aware that the work equipment will begin to rotate. (The danger is completely reduced compared to operating the engine start key with the intention of just starting the engine.)
According to the present invention, there is no risk of an accident even if the working machine is lowered by randomly operating the position lever 2, lift switch 10, or plowing depth setting dial 9.

Therefore, the effect of ``safety mode'' is fully exerted.

[Brief explanation of drawings]

Fig. 1 is a side view showing the automatic tillage depth control device for a tractor of the present invention, Fig. 2 is a plan view thereof, Fig. 3 is a plan view of the operation box 11, and Fig. 4 is a drawing showing an outline of the control flowchart. , FIG. 5 is a flowchart showing the parts of "position mode", "auto mode" and "lift-up mode when backing up", and FIGS. 6, 7 and 8 are flowcharts of the entire invention. FIG. 9 is a diagram showing the operation routine of the "auto mode", which is a diagram showing a state in which the apparatus is divided into a front stage, a middle stage, and a rear stage. 1... Rear cover 2... Position lever 3... Travel shift lever 4... Lift angle sensor 5... Rear cover sensor 6... Position setting device 7... Tilling claw 8... Lift arm 9...Plowing depth setting dial 10...Lift switch 19...Bankusui Sochi

Claims (1)

[Claims] The plowing depth of the work equipment is detected by the rear cover sensor, the position of the lift arm is detected by the lift angle sensor, the setting for "position mode" is set by the position setting device, and the plowing depth is set for "auto mode". In a configuration in which settings are made using a dial, when the tractor's engine start key is turned on, the lift arm is activated when the travel gear shift lever is in the reverse position and when the setting value of the position setting device is lower than the value of the lift angle sensor. A tractor plowing system, characterized in that a "safety mode" is provided to stop lifting and lowering, and the "safety mode" is canceled in conjunction with manual operation of a lift switch, a position lever, or a plowing depth setting dial. Deep automatic control device.