JPH0614802B2 - Control device for rotary tiller - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a control device for a rotary cultivating device, and more specifically, a lift cover provided on a vehicle body is controlled to move up and down, and a swingable rear cover is provided. The present invention relates to a technique for grasping the working depth of a rotary tilling device provided.

[Conventional technology]

Conventionally, there is a technique disclosed in Japanese Utility Model Laid-Open No. 58-7507 as a technique for grasping the tilling depth of a rotary tiller, and in this conventional example, it corresponds to the operation of a knob for setting the tilling depth of the rotary tiller. It is equipped with a plurality of LEDs that display the set working depth by lighting, and also has a plurality of LEDs that display the actual working depth by lighting based on the swing amount of the cover of the rotary tilling device. It is configured so that the working depth can be grasped at the same time.

[Problems to be Solved by the Invention]

In the conventional work, a rotary tiller is connected to a rear end of a vehicle body such as a tractor via a three-point link mechanism so that the rotary tiller can be moved up and down, and lifting control is performed to maintain the swinging posture of the cover at a target posture. It is also possible to grasp the actual plowing depth of the rotary tiller from the swinging posture of the cover as in the conventional example.

However, for example, when the wheels of the vehicle body sunk with respect to the ground, such as when working on soft ground, as a result of the rotary tiller being raised against the vehicle body,
The posture of the rotary tiller changes (the higher the three-point link mechanism, the more the rear part of the rotary tiller rises), and the actual tillage depth changes even if the swing amount of the cover is constant.

Further, in the conventional example, since the actual plowing depth of the rotary tiller is grasped based on the swing amount of the cover, it is difficult to obtain the accurate actual plowing depth when the wheel sinks into the ground as described above. There is room for improvement.

An object of the present invention is to reasonably configure a device that is connected to a vehicle body via a three-point link mechanism and that can accurately grasp the actual tilling depth of a rotary tiller even when the wheels sink to the ground. In point.

[Means for Solving the Problems]

The features of the present invention include a lift arm sensor that detects a swing angle of a lift arm, a cover sensor that detects a swing angle of a rear cover included in a rotary tiller, and a lift in a working state in which wheels are not sinking to the ground. Storage means for holding in advance reference detection values from the arm sensor and the cover sensor,
The subsidence amount of the wheel with respect to the ground is obtained based on the detection values from the lift arm sensor and the cover sensor detected during work and the output value from the storage means, and the subsidence amount is based on the detection value from the lift arm sensor. The calculation means for calculating the actual tilling depth of the rotary tilling device by adding to the obtained vehicle-to-vehicle level, and the means for outputting the actual tilling depth obtained by this calculating means are provided respectively, and the action and effect are It is as follows.

[Work]

According to the above feature, as shown in FIG. 1, the swing angle that the rear cover (5a) should read from the storage means (11) in response to the signal from the lift arm sensor (8), and the operation By comparison with the swing angle of the rear cover (5a) at
As shown in FIG. 3, when the wheel (10) is sunk on the ground (G), it is determined that the rear cover (5a) is deviated to a position above the originally intended swing angle during work. At the same time, the calculating means (12) calculates the subsidence amount (S) of the wheel (10) based on this deviation amount, and the level of the rotary tiller (5) is calculated by the signal from the lift arm sensor (8). Subsidence (S)
The actual tillage depth (D) obtained by adding is output.

That is, the subsidence amount (S) of the wheel (10) is obtained by reading the data from the storage means (11) based on the swing angle of the lift arm (3) and the swing angle of the rear cover (5a). The actual plowing depth (D) is obtained based on the subsidence amount (S) and the swing angle of the lift arm (3).

〔The invention's effect〕

Therefore, by providing a storage unit and a calculation unit and modifying them to the extent that an electric circuit is added, and using the cover sensor and lift arm sensor that have been conventionally provided, for example, 3
A rotary tiller was connected to the vehicle body via a point link mechanism, and a device was obtained that could accurately determine the actual tillage depth even when the wheels were sinking to the ground.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 3, a pair of left and right lift arms (3) swinging by the operation of hydraulic cylinders (2) are provided at the rear of the vehicle body (1) of the agricultural tractor, and at the rear end of the vehicle body (1). A rotary tiller (5) is connected via a link mechanism (4) that is vertically moved by a lift arm (3).

As shown in the figure, a driver's seat (6) is provided at the rear of the vehicle body (1), and a meter panel in front of the driver's seat (6) shows the actual tillage depth of the rotary tiller (5) as a bar graph. A display mechanism (7) indicated by is provided.

The display system for outputting the actual plowing depth to the display mechanism (7) includes a lift arm sensor (8) for detecting the swing angle of the lift arm (3) and the rotary tiller (5) as shown in FIG. The cover sensor (9) that detects the swing angle of the rear cover (5a), which is swingably installed in the rear part, and various plowing depths were set without the wheels (10) sinking to the ground (G). Lift arm during work
The storage means (11) for holding the swing angle of the rear cover (5a) corresponding to the swing angle of (3), the lift arm sensor (8), the cover sensor (9), and the storage means (11) respectively. The calculation means (12) is composed of a microprocessor to which the signal of (1) is input, and this calculation means (12) is also used as a means for outputting the actual working depth (D).

Further, during the plowing work, the rotary tiller (5) has a lift arm to hold the rear cover (5a) in a predetermined swinging posture.
The elevation control is performed by a feedback type control system (not shown) for raising and lowering (3), and during this automatic plowing depth control, the lift arm sensor (8), the cover sensor (9), and the storage means (11) are set at predetermined intervals. Signals from each are calculation means
It is input to (12) and the second signal is input based on these signals.
As a result of the arithmetic processing being performed according to the flowchart shown as a plowing depth display routine in the figure, the actual plowing depth during the plowing work is output to the display mechanism (7).

That is, in the working depth display routine, the lift arm during work is
Based on the swing angle of (3), the swing angle of the rear cover (5a), which will be obtained if the wheel (10) is not sinking, is read from the storage means (11) and If there is no significant difference between the read-out result and the swing angle of the rear cover (5a), it is judged that the wheel (10) has not sunk and the lift arm
The value based on the swing angle in (3) is output as the actual plowing depth (D), and
If the rear cover (5a) is displaced to the upper side based on the result of comparison between the calculated result and the swing angle of the rear cover (5a), it is judged that the wheel (10) is sunk and this displacement is determined. Amount of wheel (10) sinking
At the same time that (S) is obtained, this value is added to the level of the rotary tiller (5) obtained from the swing angle of the lift arm (3) and the actual tillage depth (D) is output.

Note that the working depth display routine is stored in the lifting control memory, and a basic program is set so that the working depth display routine is executed at predetermined intervals during the operation of the lifting control.

[Another embodiment]

In addition to the above-described embodiment, the present invention holds the swing angle of each lift arm and the swing angle of the rear cover corresponding to the swing angle in the storage means when, for example, about three kinds of working depths are set during work, and The swing angle may be calculated based on these swing angles to obtain the proper swing angle of the rear cover. Further, only this plowing depth display system is electrically configured, and the plowing depth control system is mechanically operated. It may be configured so as to operate automatically.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a control device for a rotary tiller according to the present invention, FIG. 1 is a block diagram showing the configuration of the control device, and FIG. 2 is a flow chart showing the operation of the control device.
FIG. 3 is a side view of the rear part of the agricultural tractor. (3) …… Lift arm, (5) …… Rotary tiller, (5a)
…… Rear cover, (8) …… Lift arm sensor, (9) …… Cover sensor, (10) …… Wheels, (11) …… Storage means, (12)…
… Calculation means, (D) …… Actual tillage depth, (G) …… Ground, (S) …… Subsidence.

Claims (1)

[Claims] 1. A lift arm sensor (8) for detecting a swing angle of a lift arm (3), and a cover sensor (9) for detecting a swing angle of a rear cover (5a) provided in a rotary tiller (5). ), A storage means (11) for preliminarily holding reference detection values from the lift arm sensor (8) and the cover sensor (9) in a working state in which the wheels (10) are not sunk on the ground (G), detected during work. Based on the detection values from the lift arm sensor (8) and the cover sensor (9) and the output value from the storage means (11), the subsidence amount (S) of the wheel (10) with respect to the ground (G) is obtained, and , This subsidence
(S) is added to the level against the vehicle body obtained based on the detection value from the lift arm sensor (8), and the rotary tiller (5) is added.
Calculation means (12) for calculating the actual tilling depth (D) of this, this calculation means (12)
A control device for a rotary tiller, comprising means for outputting the actual tilling depth (D) obtained in step 1.