JPH0657083B2 - Automatic control device for tractor tilling depth - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to an automatic tilling depth control device for controlling a working depth of a working machine such as a rotary tiller mounted on a tractor.

(B) Conventional Technology Conventionally, the technology of automatically controlling the tilling depth of a rotary tiller equipped with a tractor to a constant value has been known. For example, JP-B-58-26927 and JP-A-54
-75309.

(C) Problems to be Solved by the Invention An object of the present invention is to provide an automatic control device configured to pulse-drive a solenoid valve by electronic control, in which the mix control used in a conventional mechanical automatic control device is eliminated. It is possible.

Mix control is to use two types of control, position control and depth control, in the same control. The position control determines the lowest position of the work machine, and below the set position value, depth control is also performed. The depth control is configured so that it is performed only at a position higher than the position setting value as a lower limit. By enabling the mix control, in a paddy field with depressions in places, even when plowing work, even if it falls into the depressions, the working machine does not fall below the depth set by the position setting value. Since it does not descend, it becomes possible to set the lowest position of the working machine.

Then, as usual, when it is desired to use depth control over the entire range of rotation of the lift arm, the position control value can be set to the lowest value, and depth control can be performed over the entire range.

(D) Means for Solving the Problems The object of the present invention is as described above, and a configuration for achieving the object will be described below.

Tillage of the working machine is detected by the rear cover sensor 5, the position of the lift arm 8 is detected by the lift angle sensor 4, and the height setting of the working machine with respect to the tractor in the "position mode" is set by the position setter 6,
In the configuration in which the plowing depth setting in the "auto mode" is set by the plowing depth setting dial 9, when the value of the lift angle sensor 4 becomes less than the set value of the position setter 6, the "position mode" is set, and the lift arm 8 is turned on. Rotate it,
It is configured to stop at a position corresponding to the position setter 6, detect the stop state, and then switch to the "auto mode".

Further, the descending operation of the "auto mode" is configured so that the set value of the position setter 6 and the set value of the lift arm 8 in the plowing depth setting dial 9 are closer to the target,
In the "auto mode", the lowering position of the lowering operation is the setting position of the position setting device 6.

(E) Configuration of Embodiments The objects and configurations of the present invention are as described above. Next, the configuration of the embodiments shown in the accompanying drawings will be described.

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

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

The hydraulic case N is placed on the tractor mission case. The left and right lower links 14, 14 project from the rear end side surface of the mission case M so as to be vertically rotatable. A top link hinge 21 is projected from the rear surface of the hydraulic case N to pivotally support the top link 15 at the rear end.

Power is transmitted from the PTO shaft 23 of the mission case M to the bevel gear box 22 of the rotary tiller R via the universal joint shaft.

The rotary tiller R is configured to till the soil by rotating the tiller 7 and to average the tilled soil by the rear cover 1.

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

In addition, a lift arm 8 which is vertically rotated from the hydraulic case N,
8 is projected rearward. Lift links 13 and 13 are pivotally connected to the rear ends of the lift arms 8 and 8, and lower ends of the lift links 13 and 13 are pivotally connected to the middle portions of the lower links 14 and 14.

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

A seat 24 is arranged above the hydraulic case N, and a position lever 2 for the operator to manually set the height of the rotary tiller R is arranged beside the seat 24.

A position setter 6 for setting a set value by the position lever 2 is arranged at the rotation base of the position lever 2.

In addition, the controller 16 is provided between the seat 24 and the hydraulic case N.
And a microcomputer as a control device, an A / D converter, and the like are arranged in the controller 16.

A hydraulic switching valve 17 using a solenoid valve as a pilot valve is arranged inside or on the side surface of the hydraulic case N.

The output signal after the control judgment by the controller 16 is returned to the solenoid valve of the hydraulic pressure switching valve 17 and fed back.

A travel speed change lever 3 for operating a forward / reverse speed change device arranged inside the mission case M is rotatably arranged for a speed change operation, and the travel speed change lever 3 is provided at a base portion of the travel speed change lever 3. A back switch 19 is arranged to detect a state in which 3 is shifted to the reverse position.

Further, an operation box 11 for automatic control of the working depth is fixedly provided on the lower surface of the rear portion of the dashboard 25. A plowing depth setting dial 9 and a lift switch 10 are arranged on the upper surface of the operation box 11.

The plowing depth setting dial 9, the lift angle sensor 4, the rear cover sensor 5, and the position setting device 6 are all configured by a potentiometer whose voltage value changes by rotating.

Also, the lift switch 10 is turned on only when the operator operates the raising side or the releasing side, and O is released when the hand is released.
It is composed of a switch that is an FF.

Further, an automatic switch 28 is provided which is turned on when the plowing depth setting dial 9 is fully rotated in the "deep" direction. When the plowing depth setting dial 9 is rotated and is in a place other than "OFF", the automatic OFF switch 28 is OFF, and the "AUTO MODE" is "ON".

Further, when the working depth setting dial 9 is turned to the "OFF" position, the automatic OFF switch 28 is ON, but the "AUTO MODE" is in the "OFF" state and becomes the "POSITION MODE". .

(F) Operation of Embodiment Next, the operation of the automatic plowing depth control system of this embodiment will be described with reference to FIGS. 4 to 9.

FIG. 4 is a drawing showing an outline of a control flow chart, and FIG. 5 is a drawing of a flow chart in which “position mode”, “auto mode”, and “lift-up mode at back” are taken out, FIG. 6, FIG. FIG. 8 is a drawing showing a state in which the entire flow chart of the present invention is divided into a front stage, a middle stage, and a rear stage, and FIG. 9 is a diagram showing an "auto mode" operation routine.

First, FIG. 4 shows the overall outline of the control flowchart of the present invention.

That is, first, when the engine start key of the tractor is turned on, the control is started, and the switches such as the auto off switch 28, the lift switch 10 and the back switch 19 are turned on / off.
The FF state is detected and stored every 8 mm seconds.

Next, the working depth setting dial 9 in the operation box 11 is rotated to define the working depth. In conjunction with the plowing depth setting dial 9,
The auto off switch 28 that is turned on and off is off,
The "auto mode" is set to "ON" and the plowing depth value is set.

In addition, lift angle sensor 4, rear cover sensor 5,
The signal from the position setter 6 is also stored.

The control mode is selected with the various signals stored.

The types of control modes include the following modes.
There are six modes: "auto mode", "position mode", "back lift-up mode", "safety mode", "lift-up mode", and "abnormal mode".

The operation in each mode is performed according to the chart.

Then, when one of the 6 modes is selected and the control flow of one flow chart ends, the self-diagnosis flow chart (SD) and the monitor communication flow chart (M).
-It is configured to return to the start position again via C).

The main part of the present invention is in the "position mode" and the "auto mode" among the above six modes.

Next, the conditions for selecting the "position mode" will be described mainly with reference to the flowcharts of FIGS.

"Position mode" can be set by the position lever 2.
In this mode, the position setter 6 is set and the lift arm 8 is moved up and down to an arbitrary position and held. When the "off mode" switch 28 is ON, that is, the "auto mode" is in the "off" state, when "safety mode", "abnormal mode", or "lift-up mode" is not selected.

Or. Even when the automatic off switch 28 is OFF, that is, the plowing depth setting dial 9 is rotated to set the plowing depth and the automatic mode is the "auto mode", the setting position of the position lever 2 is set to the lift arm. When changed from the position 8 to above.

Then, in the above case, when the "auto mode" is changed to the "position mode", the lift arm 8 rotates upward so as to approach the position set value, enters the dead zone near the position set value, and moves. When it stops, it exits "position mode" and enters "auto mode".

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

That is, if the position of the lift arm 8 and the set position of the position lever 2 are in one-to-one correspondence and the position lever 2 is moved, the lift arm 8 also moves accordingly. It is in "position mode" while it is moving, but it switches to "auto mode" when it enters the dead zone and stops.

Since the downward movement is restricted by the position of the position lever 2 in the "auto mode" position, the lift arm 8 is stopped even when the "auto mode" is entered. However, if the value of the rear cover sensor 5 moves upward, it rises according to the "auto mode".

This state is so-called mix control.

Mix control is a control that automatically switches between "auto mode" and "position mode" in a certain fixed state, and this is performed in the conventional automatic digging depth control system for mechanical tractors. Therefore, this is also required in the electronic tilling depth automatic control device.

Next, the conditions for selecting the "auto mode" are shown.

In other than the "safety mode", "lift-up mode", and "abnormal mode", the automatic off switch 28 is turned off, that is, the working depth setting dial 9 is turned to the position showing the set value, and the automatic control state "on" is set. In this case, if any of the following conditions is satisfied, the "auto mode" is set.

(a). When the set value of the position setter 6 by the position lever 2 is near the lowest position of the working machine.

Or (b). When the set value of the position setting device 6 by the position lever 2 is the same as or lower than the position of the lift arm 8.

Or (c). From the "auto mode", the set value of the position lever 2 is above the position of the lift arm 8,
Even when the "position mode" is entered, the operation of the lift arm 8 completes the position control, and the dead zone is entered again.

Is.

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

The lift arm 8 is raised by 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, with the setting value of the plowing depth setting dial 9,
It operates with the smaller of the deviation (X-Y) of the detection value of the rear cover sensor 5 and the deviation (AB) of the set value of the position lever 2 and the position of the lift arm 8.

Therefore, if the set value of the plowing depth setting dial 9 is higher than the set value of the position lever 2, it may stop at the set value of the plowing depth setting dial 9, but it will exceed the set value of the position lever 2 and move downward. It never descends.

Therefore, even in the "auto mode", the lowest position of the lowering operation is restricted by the position of the position lever 2.

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

First, instead of separately using both position control and depth control, which are used for controlling the working depth of the working machine of the tractor, use depth control in a certain range, and switch to position control above the specified range. With this configuration, the lower limit of automatic control can be limited by the position of the position setting device 6 while performing automatic control, and the position setting device 6 sets even when there are depressions in the paddy field. It became possible to perform mix control to control the work equipment so that it would not descend below that position.

Further, the mix control can be produced with a simple structure by electronic control, and in the case of the mechanical type, it is not necessary to construct a complicated link mechanism as in the case of producing the mix control.

Secondly, since the descending motion of the "auto mode" is configured to move with the set value of the position setter 6 and the set value of the lift arm 8 closer in the plowing depth setting dial 9 as the target, As for the raising operation, due to the difference between the set value of the plowing depth setting dial 9 and the detection value of the rear cover sensor 5, the raising arm 8 is raised so as to approach the set value of the plowing depth setting dial 9.

However, if the set value of the plowing depth setting dial 9 is higher than the set value of the position lever 2, the descending operation is stopped at the set value of the plowing depth setting dial 9, so that the control converges quickly.

Further, even in the "auto mode", since the lowest position of the descending operation is the setting position of the position setting device 6, it does not descend downward beyond the set value of the position lever 2, so that the rice paddy is not moved downward. Even if there is a depression hole, the work machine no longer descends at once.

[Brief description of drawings]

FIG. 1 is a side view showing an automatic cultivating depth control device for a tractor according to the present invention, FIG. 2 is a plan view of the same, FIG. 3 is a plan view of an operation box 11 part, and FIG. 4 is a schematic view of a control flowchart. FIG. 5 is a flow chart showing the “position mode”, “auto mode”, and “lift-up mode at back”, and FIGS. 6, 7, and 8 show the whole flow chart of the present invention. FIG. 9 is a drawing showing a state in which it is divided into a front stage, a middle stage, and a rear stage, and FIG. 1 …… Rear cover 2 …… Position lever 3 …… Traveling shift lever 4 …… Lift angle sensor 5 …… Rear cover sensor 6 …… Position setting device 7 …… Tilling pawl 8 …… Lift arm 9 …… Tilling depth setting dial 10 ...... Lift switch 19 …… Back switch

Claims (2)

[Claims] 1. A rear cover sensor 5 detects the working depth of a working machine, and a lift angle sensor 4 detects the position of a lift arm 8.
In the configuration in which the height setting of the work implement for the tractor in the "position mode" is set by the position setter 6 and the working depth setting in the "auto mode" is set by the working depth setting dial 9, When the value of the lift angle sensor 4 becomes less than the value set by the position setter 6, the "position mode" is entered, the lift arm 8 is rotated, and the lift arm 8 is stopped at a position corresponding to the position setter 6 and the stop state is detected. , Automatic digging depth control device for tractors, which is configured to switch to "auto mode". 2. The automatic cultivating depth control device for a tractor according to claim 1, wherein the descending operation in the "auto mode" is carried out between the set value of the position setter 6 and the set value of the working depth setting dial 9. Then, the lift arm 8 is configured to move toward a target set value closer to the position, and the lowest position of the descending operation is the position setter 6 during the "auto mode".
The automatic control device for the working depth of the tractor, which is set to the setting position.