JPH0728571B2 - Depth control device for ground work machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a depth control device for a ground work machine, and in particular, a rotary main cover is configured to be rotatable by a motor. A rear cover for supporting the front end portion, and the position of the support portion,
The present invention relates to a depth control device for a ground work machine which is automatically turned to an optimum position in accordance with the set value by setting the tilling depth by a tilling depth setting device.

[Conventional technology]

Conventionally, when performing rotary work by depth control (plow depth control), a ground work machine such as a rotary is connected to a tractor to perform rotary work by plow depth control. Thus, this plowing depth control device outputs an operation command from the control section so as to perform the raising / lowering operation according to the difference between the value detected by the plowing depth sensor and the plowing depth setting device, and the proportional solenoid valve for raising. Alternatively, the lift arm is moved up and down via a descending proportional solenoid valve to perform rotary work by controlling the working depth.

[Problems to be Solved by the Invention]

Support the rear cover on the main cover of the rotary working machine,
In a ground work machine in which the main cover is configured to be rotatable about a rotary shaft, in order to perform an optimum work at a desired working depth, adjustment of the working depth setting device and adjustment of the main cover are performed. You have to make adjustments. Furthermore, since the actual tillage depth changes with respect to the set tillage depth value set by the tiller depth setting device by rotating the main cover, the adjustment becomes extremely difficult. Therefore, there arises a technical problem to be solved in order to perform the adjustment automatically and perform an optimum work, and an object of the present invention is to solve the problem.

[Means for Solving the Problems]

The present invention has been proposed to achieve the above-mentioned object, and is provided with a tilling depth sensor for detecting the tilling depth of a ground working machine that is provided so as to be vertically movable by a hydraulic lifting mechanism. A raising / lowering operation is performed according to the difference between the detected value and the value set by the tilling depth setting device, and the main cover that supports the rear cover whose function is detected by the tilling depth sensor is configured to be a rotating type. In a tractor to which a ground work implement is connected, when performing depth work, when the plowing depth is set by the plowing depth setting device, the plowing depth is set at approximately the center of the vertical swing range of the rear cover according to the plowing depth setting value. The depth control device of the ground work machine, which is controlled by the CPU so as to automatically rotate the main cover so that the posture of the rear cover is maintained, and the ground work machine which is vertically movable by the hydraulic lifting mechanism. Plowing depth The working depth sensor is provided, and the raising and lowering operation is performed according to the difference between the value detected by the working depth sensor and the value set by the working depth setting device, and the working is detected by the working depth sensor. In a tractor with a ground cover connected to a main cover that supports the rear cover and connected to a ground work machine, when performing depth work, raise the ground work machine and then lower the ground work machine so that the rear cover touches the ground. The main cover so that the posture of the rear cover is maintained at approximately the center of the vertical swing range of the rear cover according to the angle of the lift arm of the tractor supporting the ground work machine when the vertical movement is started. CP to rotate automatically
It is intended to provide a depth control device for a ground work machine controlled by U.

[Action]

According to the present invention, the main cover of the rotary working machine can be rotated by the motor, and the rear cover, which is supported by the motor, changes its supporting position by the rotation of the main cover. When the main cover is rotated with respect to the set working depth value set by the setting device, the actual working depth changes, so in order to perform optimum work at the desired working depth, claim ( In the invention described in 1), when the working depth is set by the working depth setting device when performing the depth work, the posture of the rear cover is held substantially in the center of the vertical swing range of the rear cover according to the working depth setting value. As described above, the main cover is automatically rotated, and the invention according to claim (2) is such that, during the rotary work, after raising the ground work implement, the ground work implement is lowered and the rear cover is Grounded and started vertical movement The main cover is automatically rotated according to the angle of the lift arm of the tractor so that the posture of the rear cover is maintained at the substantially central portion of the vertical swing range of the rear cover, and is calculated in advance. The main cover is rotated so as to change the supporting position of the rear cover to an appropriate position so that the posture of the rear cover is maintained. Therefore, the rear cover can operate in an optimum state following the changes in the field.

〔Example〕

An embodiment of the present invention will be described below in detail with reference to the attached drawings. For convenience of description, a conventionally known configuration will be described at the same time.

As shown in FIG. 2, a ground work machine 2 such as a rotary is rocked up and down to a pair of left and right lift arms 3 and 3 via left and right lift rods 4 and 4 at a rear portion of a tractor 1 as a towing vehicle. It is connected by a working machine connecting link 7 composed of left and right lower links 5,5 and a central upper top link 6, and this working machine connecting link 7 is connected to its lift arms 3,3.
The lifting and lowering operation is performed by a hydraulic lifting mechanism 9 that lifts and lowers by a lift cylinder 8 using hydraulic pressure. Further, in controlling the supply and discharge of the pressurized molten oil to and from the lift cylinder 8, the operation command of the CPU 10, which is configured by a microcomputer, is associated with the operation of the elevating switch S ₃ , and the ascending drive unit 11 or the descending drive is performed. The proportional solenoid valve 13 for ascending or the proportional solenoid valve for descending after being amplified in the section 12.
By opening and closing 14, the pressure oil of the pump 15 is supplied to the lift cylinder 8 and the lift arms 3 and 3 rise, or the pressure oil of the lift cylinder 8 is discharged and the lift arms 3 and 3 descend. Is configured to.

Furthermore, a lift arm angle sensor S ₁ formed by connecting a position lever I ₁ provided in the vicinity of the cockpit and a detection axis of a rotary potentiometer to the lift arm 3,
Connected to the set value set by the operation of the position lever I ₁ , the lift command from the CPU 10 is such that the lift command from the CPU 10 causes the height detection value detected by the lift arm angle sensor S ₁ to match. The output is output to the descending drive unit 12, and the elevation control (position control) is performed by this. For automatic control of tilling depth, the tilling depth detected by the tilling depth sensor S ₂ of the ground work implement 2 is set to the tilling depth setting value set by the operator using the tiller depth setting device I _{2 including} a volume control. Proportional solenoid valve for rising 13 until the detected values match
The proportional solenoid valve for descending 14 uses a proportional solenoid valve that controls the opening area of pressure oil in proportion to the current value applied to the solenoid, and is proportional to the difference between the working depth detection value and the working depth setting value. A control current of the specified magnitude is output from the CPU 10, and a pulse current having a pulse width proportional to the control current value is configured to be applied to the solenoid valve so that the ground work implement 2 is moved up and down to control the working depth. It is done.

Further, the tilling depth sensor S ₂ in the illustrated example indicates the movement of the rear cover 17 sliding on the surface of the cultivated soil, for example, a linear movement type potentiometer.
The rear cover 17 that is used for detecting in 18 is hinged to the rear part of the body of the ground work machine 2 so as to be able to rotate up and down. It is held at a certain height by the upper rod 19, but when it comes into contact with the ground work equipment 2 from the hoisting posture as it descends, it turns upward and the working depth corresponding to this turning position is given to the potentiometer 18. Is detected. Further, a raising / lowering switch S ₃ is provided near the driver's seat, and the operator manually operates the raising / lowering switch S ₃ so that the ground work implement 2 can be raised or lowered based on this operation. -ing Therefore, the ground work implement 2 is automatically moved by the position lever I ₁ or the operator manually operating the raising / lowering switch S ₃ so that the ground work implement 2 is raised or lowered, and also by the working depth control. It goes up and down.

The main cover 21 is attached to the rotary 20 which is the ground work machine 2.
Is configured to be rotatable back and forth around a rotary shaft 22 as a center of rotation, and a rear cover is provided at a rear end portion of the main cover 21.
Seventeen are pivotally supported. Therefore, the rear cover
The angle of 17 changes depending on its support position, and has a significant influence on whether or not the working depth is properly adjusted in rotary work by controlling the working depth. Further, a stroke sensor S ₄ for detecting the rotation amount of the main cover 21
By providing the detected value to the CPU 10, the CPU 10 is pre-calculated and stored based on the input turning amount of the main cover 21 according to the working depth set by the working depth setter I ₂ . The electric signal corresponding to the optimum value is output to rotate the motor 23, and the screw rod 24 connected to the motor 23 is rotated.
Is configured to expand and contract to rotate the main cover 21 to an optimum position.

Thus, when performing rotary work with the working depth set by the working depth setting device I ₂ , the tire may sink due to the hardness of the soil, or the diameter of the rotary 21 may be changed, or the tire may be replaced. It is the current situation that the optimum tillage depth based on the set tillage depth value set by the tiller depth setter I ₂ cannot be obtained due to the difference in various conditions such as. Therefore, when the depth work is performed by inserting a pre-calculated program in the CPU 10 in order to always meet the above-mentioned various conditions and to achieve the optimum plowing depth, the claim (1 ) According to the invention described above, the rear cover is configured so that its posture is maintained substantially at the center of the vertical swing range of the rear cover 17 according to the set working depth value set by the working depth setter I ₂ . ing. Further, in the invention according to claim (2), after the ground work implement 2 is raised, the ground work implement 2 is lowered, and the ground work implement 2 when the rear cover 17 comes into contact with the ground and starts vertical movement. The rear cover 17 depending on the angle of the lift arms 3 and 3 of the tractor 1 which is supported.
The rear cover 17 can be held in a substantially central position in the vertical swing range. Therefore, the CPU 10 determines the set plunge depth value set by the plowing depth setter I ₂ and the stroke sensor S ₄ that detects the amount of rotation of the main cover 21, and the information from the inserted program is displayed. It is taken out and output to the motor 23 to generate a motor rotation corresponding to the operation command of the CPU 10, whereby the main cover 21 is rotated around the rotary shaft 22 as a rotation center, and the rear cover 17 is rotated. The support portion for the main cover 21 is changed to the most appropriate position.

Further, the above-mentioned operation procedure will be described in detail with reference to the flowchart of FIG. In step, read the set value of the lift arm angle by the position lever I ₁ or the set plowing depth value by the plowing depth setter I ₂ ,
Further, at the step, the lift arm angle by the lift arm angle sensor S ₁ or the tilling depth value by the tilling depth sensor S ₂ is read, and at the step, the main tilling depth value set by the tiller depth setting device I ₂ is used. The amount of rotation of the cover 21 is calculated, and the calculated value is output from the CPU 10 in step to output the motor 23
Is rotated, and then the main cover 21 is rotated. Further, in step, the ascending / descending operation of the lift arm 3 is determined by the set tilling depth value and the tilling depth sensor detection value, and the operation shifts to neutral or descending / ascending operation, and optimum rotary work is performed.

Next, the invention described in claim (2) will be described with reference to the flow chart in FIG. In step, set value of lift arm angle by position lever I ₁ or plowing depth setter I ₂
The digging depth set value is read, and the digging depth value is read by the lift arm angle or digging depth sensor S ₂ by the lift arm angle sensor S ₁ in step, and the ground work implement 2 is raised in step and the upper limit position is reached. Determine if it is a descent from. That is, when turning the tractor 1,
When the ground work implement 2 is raised to the upper limit position and the rotary work is started again by the plowing depth control, it is determined in the above step that the ground work implement 2 is lowered from the upper limit position, and in the step. Rear cover 17
To determine if the ground touches the ground. That is, when the rear cover 17 contacts the ground, the rear cover 17 immediately starts moving downward by controlling the working depth. Therefore, it is determined whether the rear cover 17 has started to move up and down, and if
When the working depth sensor S ₂ detects the vertical movement of the rear cover 17 and it is determined that the ground work implement 2 has started the working of the working depth control, the rear cover 17 is lifted by the lift arm angle at that time in step. In order to maintain the posture of the rear cover 17 in the substantially central portion of the vertical swing range, that is, to take the optimum posture in which a desired working depth can be expected, information from a program that is calculated in advance and inserted Then, the CPU 10 outputs an operation command to tilt the main cover 21 forward, neutral, or rearward to tilt the main cover 21 forward, neutral, or rearward, and thus the rear cover supported by the main cover 21. The 17 support parts can be adjusted and changed to the optimum positions. After that, the raising / lowering operation of the lift arm 3 is determined by the set tilling depth value designated by the tilling depth setter I ₂ and the detection value by the tilling depth sensor S ₂ , and the operation shifts to neutral, descending, and ascending operations. The rotary work is performed in this state.

〔The invention's effect〕

As described in detail in the above embodiment, the present invention according to claim (1) is such that when the depth work is performed by a ground work machine in which a main cover supporting a rear cover is configured to be rotatable. When the tiller depth is set by the setting device, the posture of the rear cover can be held substantially at the center of the vertical swing of the rear cover only by the operation for setting the tiller depth by the tiller depth setting device. In the invention described in 2), the lifted ground work implement descends to come into contact with the ground, and the vertical swing range of the rear cover is roughly determined according to the angle of the lift arm of the tractor when the rear cover starts vertical movement. Since the posture of the rear cover can be maintained in the central portion, the rotary work by the plowing depth control is shallowly raised and deeply raised with an appropriate plowing depth amount,
It has become possible to scrape money.

[Brief description of drawings]

1 shows an embodiment of the present invention, FIG. 1 is a control circuit diagram, FIG. 2 is a side view when a ground work implement of a tractor is connected,
3 and 4 are flowcharts. Explanation of symbols 1 ... tractor, 2 ... ground work equipment 3 ... lift arm, 4 ... lift rod 5 ... lower link, 6 ... top link 7 ... work equipment connecting link, 8 ... lift cylinder 9 ... … Hydraulic lifting mechanism, 10 …… CPU 11 …… Raising drive, 12 …… Driving drive 13 …… Raising proportional solenoid valve, 14 …… Descent proportional solenoid valve 15 …… Pump, 17 …… Rear cover 19 ...... Lifting rod, 20 ...... Rotary 21 ...... Main cover, 22 ...... Rotary shaft 23 ...... Motor, 24 ...... Screw rod I ₁ ...... Position lever, I ₂ ...... Working depth setting device S ₁ ...... Lifting arm angle sensor, S ₂ …… Plowing depth sensor S ₃ …… Lifting switch, S ₄ …… Stroke sensor

Claims (2)

[Claims] 1. A tillage depth sensor for detecting the tilling depth of a ground working machine, which is provided so as to be vertically movable by a hydraulic lifting mechanism,
Depending on the difference between the value detected by the tilling depth sensor and the value set by the tilling depth setting device, the lifting / lowering operation is performed, and the main cover supporting the rear cover whose function is detected by the tilling depth sensor is rotated. In a tractor to which a ground type working machine configured to be a dynamic type is connected, when performing depth work, when the working depth is set by the working depth setting device, the vertical swing range of the rear cover is adjusted according to the working depth setting value. A depth control device for a ground work machine, wherein the CPU controls the main cover to automatically rotate so that the posture of the rear cover is maintained substantially at the center. 2. A plowing depth sensor for detecting the plowing depth of a ground working machine provided so as to be vertically movable by a hydraulic lifting mechanism,
Depending on the difference between the value detected by the tilling depth sensor and the value set by the tilling depth setting device, the lifting / lowering operation is performed, and the main cover supporting the rear cover whose function is detected by the tilling depth sensor is rotated. When performing a depth work on a tractor with a ground-type working machine that is configured to be dynamic, when the ground-working machine is raised and then the ground-working machine is lowered, and the rear cover touches the ground and starts vertical movement. CPU for automatically rotating the main cover so that the posture of the rear cover is maintained at approximately the center of the vertical swing range of the rear cover depending on the angle of the lift arm of the tractor supporting the ground work machine. Depth control device for a ground work machine characterized by being controlled by.