JP2836896B2 - Automatic tractor control mechanism - Google Patents

Description

The present invention relates to an automatic control mechanism for a working machine mounted on a tractor.

(B) Conventional technology Conventionally, a technology in which a non-contact type sensor is provided for controlling the working depth of a working machine mounted on a tractor is known.

For example, as disclosed in JP-A-56-113202.

(C) Problems to be Solved by the Invention However, in the above-described conventional technology, when a non-contact tillage depth sensor is used, since the measurement is performed at one point in the lateral direction, the working machine of which the rolling control is performed is used. in case of,
In the transitional period when the aircraft rolls and tilts, the distance from the ground detected by the non-contact tillage depth sensor becomes shorter or longer.

In the present invention, the non-contact tillage depth sensor is provided in the opposite direction to the rolling cylinder interposed in one of the lift links so as to minimize the change in the distance during the transition period that occurs during the rolling control. Placed on the side,
The non-contact tillage depth sensor is configured not to absorb the change in distance due to the expansion and contraction of the rolling cylinder, and the influence of the expansion and contraction of the rolling cylinder is corrected by a signal from the rolling sensor to reduce the change in distance. .

In addition, when the work implement is mounted with the work equipment automatic mounting mechanism interposed and the tillage depth automatic control is performed in this state, check whether the automatic mounting state of the work equipment and the tractor is completely performed. After that, it is necessary to set the plowing depth 0 position, and when the mounting state is incomplete, the setting of the 0 position is shifted and the depth is too deep or too shallow.

According to the present invention, such a defect can be controlled by detecting a completely mounted state by a connection detection sensor.

(D) Means for Solving the Problems The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

According to claim (1), in a mechanism for automatically mounting a tractor with a work machine, a rolling sensor is mounted on a hitch frame 1 mounted on a tractor side of the work machine automatic mounting mechanism.
A2 is provided, and the rolling cylinder 4 interposed in one of the lift links is expanded and contracted by a signal from the rolling sensor A2 to perform rolling control for controlling the working machine to a horizontal or set inclination angle, and a rolling cylinder 4
The non-contact tillage depth sensor A1 is arranged on the hitch frame 1 on the side opposite to the side on which the
The automatic control of the working depth of the working machine is performed based on the signal from the controller.

In claim (2), the non-contact tillage depth sensor A1 is arranged on the hitch frame 1 mounted on the tractor side of the mounting mechanism at the time of the work implement, and based on the signal from the non-contact tillage depth sensor A1, In the automatic control mechanism of the tractor for automatically controlling the working depth of the tractor, the lower link pin 20 of the work implement side of the work implement automatic mounting mechanism is connected to the front link stoppers 14, 1 on the tractor side.
Connection detection sensor A that detects the connection state to 4
3, the connection detection sensor A3 detects whether or not the work implement is correctly mounted. In this state, the work implement is grounded on the ground surface on a flat ground where the tilling claw 8 does not bite, and Is set so as to set the position.

(E) Embodiment The problems to be solved and means to be solved by the present invention are as described above. Next, the configuration of the embodiment shown in the attached drawings will be described.

1 is a side view showing a state in which a rotary tilling device R is mounted on a tractor via a work implement automatic mounting mechanism, FIG. 2 is a plan view of the same, FIG. 3 is a rear view of the work implement automatic mounting mechanism, FIG.
Fig. 5 is a side view, Fig. 5 is an enlarged side view of the non-contact tillage depth sensor A1, rolling sensor A2, and connection detection sensor A3 mounted on the work automatic mounting mechanism. Fig. 6 is the automatic control of the tractor of the present invention. It is a flowchart of a mechanism.

In FIG. 1, a top link 2 and a lower link 3 protrude from a rear portion of a transmission case M of a tractor, and a work implement automatic mounting mechanism mainly including a hitch frame 1 is provided at the rear ends of the three links. It is attached.

Then, a rotary tilling device R is attached to the working machine automatic mounting mechanism.
The top link pin 21 and the lower link pin 20 of the work implement are automatically mounted together with the backward movement of the tractor.

In the present invention, the non-contact tillage depth sensor A1 is attached to a part of the hitch frame 1 of the work implement automatic mounting mechanism,
The rotary tilling device R is located behind the rotary tilling device R, and there is a distance T between the position of the non-contact tillage depth sensor A1 and the position of the tilling claw shaft 8a.

Then, the non-contact tillage depth sensor A1 detects the distance of the part to be plowed from now on, the tractor advances, and at the position where the tilling claw has just come over the detection position, it is detected by the non-contact tillage depth sensor A1 first. By setting the distance from the ground surface and the tillage depth that is the distance from the till 8 to the till claw 8, the just time can be controlled by the feedforward signal.

The hitch frame 1 is provided with a non-contact tillage depth sensor A1 and a rolling sensor A2.

Then, according to the signal from the rolling sensor A2,
A rolling cylinder 4 for controlling the work implement to a horizontal or set inclination angle is interposed on the lift link 6R side.

The non-contact tillage depth sensor A1 is arranged on the side opposite to the side on which the rolling cylinder 4 is interposed.

In addition, a non-contact tillage sensor A1 and a rolling sensor
A display panel 7 displaying the detection results of A2 and the connection detection sensor A3 is disposed on the dashboard.

The display panel 7 is configured to display whether or not the work implement is correctly mounted, particularly by the connection detection sensor A3, and set the position of the tillage depth 0 in this state.

 Next, FIG. 3, FIG. 4, and FIG. 5 will be described.

The work implement automatic mounting mechanism is configured around a hitch frame 1 configured in an inverted U-shape.

An intermediate PTO frame 18 is interposed between the left and right hitch frames 1, and an intermediate PTO shaft 15 is provided on the intermediate PTO frame 18.

The front end of the intermediate PTO shaft 15 is completely spline-fitted with the rear end of the joint shaft 13 protruding from the PTO shaft 23 of the tractor, but the rear portion is configured as an automatically fitted dog clutch shaft, Since the dog clutch shaft is also fitted to the input shaft protruding forward from the gear box of the rotary cultivator R, both dog clutch shafts are automatically fitted following the automatic device of the rotary cultivator R. It is configured to be.

Rolling cylinder 4 on the intermediate PTO frame 18
The non-contact tillage depth sensor A1 is arranged on the side opposite to the side where is arranged, and the rolling sensor A2 is arranged near the non-contact tillage depth sensor A1.

The work machine automatic mounting mechanism is the top link locking body 10
The top link rest body 10 pivotally connects the top link 2 on the tractor side to the front part, and the work implement side to the rear hook part. The top link pin 21 can be locked from above.

In addition, the lower links 3, 3 of the tractor are attached to the hitch side lower link pins 30 at the front portions of the lower link locking members 14, 14.
Is pivoted.

Then, in the pin fitting groove 14a of the lower link locking members 14, 14,
After the work implement side lower link pin 20 of the work implement is guided and fitted, the locking hook 12 urged by the urging spring 31 from above rotates in the engagement direction, and the work implement side lower link pin 20 is disengaged. Hold it and complete the installation.

The connection detection sensor A3 is arranged at the portion of the locking hook 12, which is to detect a state that the work machine side lower link pin 20 is completely mounted by the locking hook 12 and the pin fitting groove 14a. .

When detaching the work machine mounted by the work machine automatic mounting mechanism, the locking state of the locking hook 12 is released by the operator sitting on the seat pulling the release lever 11, and the tractor is lowered while lowering the lift arm from this state. Forward, the lower link pin 20 and the top link pin
21 comes off as it is left.

The work implement lower link pin 20 is projected from the work implement side lower link bracket 19, and the top link pin 21 is projected from the work implement side top link mast 22. If not mounted, both can be directly pivoted to the top link 2 and the lower links 3, 3 on the tractor side.

(F) Operation of the invention Next, the automatic control mechanism of the tractor of the invention will be described based on the flowchart of FIG.

First, the automatic control switch is turned on to start the control.

Next, the connection detection sensor A3 displayed on the display panel 7
, It is detected whether the mounting of the working machine is completed. (S1) Next, on a flat surface such as a concrete surface where the tilling nail 8 does not bite, the nail is grounded to the ground surface. (S2) At this time, the reset button is pressed to set the distance between the non-contact tillage depth sensor A1 detected by the non-contact tillage depth sensor A1 and the ground surface to the zero tillage depth position. (S3) Then, the voltage value Va of the non-contact tillage depth sensor A1 at the tillage depth 0 position is read and stored. (S4) Next, the voltage value Vb of the tillage dial is read and stored. (S5) Next, the value of Vc = voltage value Va + voltage value Vb is calculated. (S
6) Then start tillage work. (S7) Read the voltage value Vd of the non-contact tillage depth sensor A1 during tillage. (S8) Next, to calculate the actual tillage depth, Ve = Vd−Vc is calculated. (S9) When it is determined that the Ve is larger than the dead zone x (S10), the lift arm 5 is raised (S11). When Ve is smaller than the dead zone x (S12), the lift arm 5 is lifted. Is lowered (S13).

If Ve is in the dead zone x, the lift arm 5 is left as it is (S14), and the till depth value is displayed on the display panel 7 (S15).

(G) Effects of the Invention The present invention is configured as described above, and has the following effects.

The side on which the rolling cylinder 4 is interposed is highly likely to move significantly up and down during the transition period of the rolling control.
In the case where the non-contact tillage depth sensor A1 is disposed in this portion, there is a high possibility that the detected value greatly changes during the rolling transition period.

According to the present invention, a rolling sensor A2 is provided on a hitch frame 1 mounted on a tractor side of the work machine automatic mounting mechanism, wherein the rolling sensor A2 is provided. In response to a signal from A2, the rolling cylinder 4 interposed in one of the lift links is expanded and contracted to perform rolling control for controlling the working machine to a horizontal or set inclination angle, and the reverse of the arrangement of the rolling cylinder 4 is performed. On the side hitch frame 1,
A non-contact tillage depth sensor A1 is arranged,
Since the tillage depth automatic control of the working machine is performed based on the signal from A1, the non-contact tillage depth sensor A1 is arranged on the side opposite to the rolling cylinder 4 so that an unstable signal when the rolling cylinder 4 expands and contracts can be obtained. The possibility of detection by the non-contact tillage depth sensor A1 has been reduced.

In addition, by arranging the rolling sensor A2 on the opposite side near the non-contact tillage sensor A1, the signal from the non-contact tillage depth sensor A1 can be corrected by the signal from the rolling sensor A2, Control fluctuation can be flattened.

The non-contact tillage depth sensor A1 is disposed on the hitch frame 1 mounted on the tractor side of the work implement automatic mounting mechanism as set forth in claim (2). In the tractor automatic control mechanism for automatically controlling the cultivation depth of the tractor, the work implement lower link pin 20 of the work implement automatic mounting mechanism is connected to the tractor side front link locking members 14,14.
Connection detection sensor A3 that detects that the connection has been established
The connection detection sensor A3 detects whether the working machine is correctly mounted, and in this state, the working machine is grounded on the ground surface on a flat ground where the tilling claw 8 does not bite, The configuration for setting the position allows the setting of the plowing depth 0 to be reliably performed.

That is, in the automatic mounting mechanism of the tractor, the connection detecting sensor for detecting that the lower link pin of the working machine of the automatic mounting mechanism of the working machine is connected to the connecting portion on the tractor side is arranged. It is necessary to set the cultivation depth 0 as described above in a state in which the work machine is completely mounted on the automatic machine mounting mechanism. Then, an error occurs in the entire control.

In the present invention, since the zero setting can be performed after the complete mounting state of the work implement automatic mounting mechanism is detected by the connection detection sensor A3, the setting of the zero setting is eliminated, and the accuracy of the control is improved. .

Further, since the setting of the plowing depth 0 can be easily performed in this state, the setting of the plowing depth 0 can be easily performed even when the working machine is different.

Further, an accident caused by starting work due to an incompletely mounted work machine automatic mounting mechanism can be prevented beforehand.

[Brief description of the drawings]

1 is a side view showing a state in which a rotary tilling device R is mounted on a tractor via a work implement automatic mounting mechanism, FIG. 2 is a plan view thereof, FIG. 3 is a rear view of the work implement automatic mounting mechanism, and FIG. Is a side view, FIG. 5 is an enlarged side view of a non-contact tillage depth sensor A1, a rolling sensor A2, and a connection detection sensor A3 mounted on a work machine automatic mounting mechanism, and FIG. 6 is an automatic control of the tractor of the present invention. It is a flowchart of a mechanism. A1: Non-contact tillage sensor A2: Rolling sensor A3: Connection detection sensor 1: Hitch frame 12: Locking hook 14: Lower link locking body 20: Work implement lower link pin

Claims (2)

(57) [Claims] In a tractor working machine automatic mounting mechanism,
A rolling sensor A2 is provided on a hitch frame 1 mounted on the tractor side of the work implement automatic mounting mechanism, and a signal from the rolling sensor A2 expands and contracts a rolling cylinder 4 interposed in one of the lift links. In addition to performing rolling control for controlling the working machine to a horizontal or set inclination angle, a non-contact tillage depth sensor A1 is provided on the hitch frame 1 on the side opposite to the side on which the rolling cylinder 4 is disposed.
And an automatic tractor control mechanism for automatically controlling the working depth of the working machine based on a signal from the non-contact tillage depth sensor A1. 2. A non-contact tillage depth sensor A1 is disposed on a hitch frame 1 mounted on the tractor side of the work implement automatic mounting mechanism, and a tillage depth of the work implement is determined based on a signal from the non-contact tillage depth sensor A1. In the automatic control mechanism for a tractor that performs automatic control, a lower link pin on a work implement side of the work implement automatic mounting mechanism is provided.
20 is provided with a connection detection sensor A3 for detecting that it has been connected to the front link locking members 14, 14 on the tractor side, and the connection detection sensor A3 detects whether the work implement is correctly mounted. Then, in this state, the work machine is brought into contact with the ground surface on a flat ground where the till
An automatic tractor control mechanism, characterized in that it is configured to set the position of the tractor.