JP2001000008A - Lift controlling device for tilling apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lift controlling device for a tilling apparatus capable of keeping the normal tilling depth as far as possible in the case of lowering the tilling apparatus at the start of tilling work. SOLUTION: A rotary tilling apparatus 10 is connected in freely liftable state to the rear end of a mobile machine body 3 via a lifting apparatus 9, the tilling depth of the rotary tilling apparatus 10 is detected by a cover sensor 16 and the lifting apparatus 9 is lifted or lowered by a controlling means to keep the rotary tilling apparatus 10 to a target tilling depth based on the detection result of the cover sensor 16. The controlling means is provided with a lowering stop restriction means to continue the lowering motion without stopping the lowering of the rotary tilling apparatus 10 even if the depth equal or close to the target tilling depth is detected by the cover sensor 16 before the vertical tilting angle of a lift arm 12 of a lifting apparatus 9 relative to the mobile body 3 becomes a preset angle in the lowering of the rotary tilling apparatus 10 from non-grounding state to the tilling work position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary tilling device which is connected to the rear end of a traveling body via a lifting device so as to be able to move up and down, and a cover sensor for detecting the tilling depth of the rotary tilling device is provided. The present invention relates to a lifting and lowering control device of a tilling device including a control unit that controls the raising and lowering of the lifting and lowering device so as to maintain the rotary tilling device at a target plowing depth based on a detection result of a sensor.

[0002]

2. Description of the Related Art Conventionally, in a lifting and lowering control device of this kind of a tilling device, at the start of a tilling operation, a rotary tilling device is lowered while being driven from a position higher than the ground and automatically moved to a predetermined tilling depth position. Had to reach. That is,
At the start of the tilling operation, the preset tilling depth information is compared with the actual tilling depth information obtained by detecting the swing angle of the cover sensor. The so-called penetration control for stopping the lowering of the device is performed. The comparison is performed until the tilling device is detected to be just before it enters the ground based on the detected value of the oscillating angle of the lift arm of the elevating device or the detection of the oscillating angle of the cover sensor provided on the rotary tilling device. It descends at a very high speed, and when it is detected, the descending speed is reduced, then it is lowered at a low speed until the cover sensor detects the target plowing depth, and the lowering operation is stopped by detecting the target plowing depth. In this way, the tilled soil is lowered at a low speed after rushing into the ground in such a manner as to prevent the cultivated soil from rising greatly.

[0003]

However, in the prior art, as described above, the determination of the descent stop due to reaching the target plowing depth position is made only by the detection result of the swing angle of the cover sensor. If the rotary tilling device is lowered while the rotary tilling device is positioned near the ridge, for example, the free end of the cover sensor of the rotary tilling device provided at the rear end of the traveling machine body contacts the ridge. Therefore, there is a high possibility that the rotary tilling device will swing upward and erroneously detect the target plowing state, and the erroneous detection may stop the lowering operation of the rotary tilling device. In particular, when the inclination of the ridge is steep and high, there is a possibility that the cover of the rotary tilling device rides on the ridge and the rotary tilling device may not be lowered in that state. Therefore, due to this erroneous detection, the descent of the rotary tilling device is temporarily stopped, and if the tilling operation is performed as it is without the driver's notice, at the start of the tilling operation, uncultivated land or a place with a shallow cultivation depth is not used. There was a problem that there was a problem that occurred and the tillage work had to be performed again.

The present invention has been made in view of the above circumstances, and has as its object to provide a lifting and lowering control device for a tilling device capable of returning a tilling device to a normal plowing state as much as possible at the time of starting the tilling operation. I do.

[0005]

According to a first aspect of the present invention, there is provided a lifting and lowering control device for a tilling device, wherein a rotary tilling device is connected to a rear end of a traveling machine body via a lifting and lowering device so as to be able to move up and down. A cover sensor for detecting a tillage depth of the rotary tillage device is provided, and a control unit that controls the elevating device so as to maintain the rotary tillage device at a target tillage depth based on a detection result of the cover sensor is provided, The control means, when lowering the rotary tillage device in a non-ground state to a tilling work position, before the vertical angle of the lift arm in the lifting device with respect to the traveling machine body becomes a predetermined angle set beforehand, the Even if the cover sensor detects the target plowing depth or a value close to the target plowing depth, a descent stop restricting hand that continues the descent operation without stopping the descent of the rotary tillage device. A feature is that a step is provided.

(Operation) According to the first aspect of the present invention, when lowering the non-ground rotary tilling device to the tilling operation position, the angle of the lift arm in the elevating device with respect to the traveling machine body in the vertical direction is changed. Even if the cover sensor detects the target plowing depth or a value close to the target plowing depth before reaching the predetermined angle set in advance, the descent stop regulation for continuing the descent operation without stopping the descent of the rotary tillage device. Since means are provided, for example, in order to start the tilling work, when the rotary tilling device is lowered to the tilling depth position while the rotary tilling device is located near the ridge, the cover of the cover sensor may be ridged or the like. Even if the actual tillage depth reaches the target tillage depth and the lift arm angle corresponding to the state before the rotary plow enters the ground is detected, The lowering operation of the tilling device is continued and lowered without stopping. As a result, even when the traveling body remains stopped, the rotary tilling device moves to the front side somewhat by the downward swing of the lift arm, so that the catch of the cover sensor on the ridge or the like is released, and the rotary tilling is performed as usual. It can be expected that the device will reach the target plowing depth. Further, if an alarm is issued in accordance with the detection of the target plowing depth by the cover sensor before the lift arm angle reaches the predetermined angle, the operator can be prompted to perform the forward operation of the traveling aircraft, and the operation can be continued. It is also possible to positively release the cover sensor of the rotary tilling device which is lowered and caught with the ridge.

(Effects) Therefore, according to the configuration of the first aspect of the present invention, when the rotary which has been raised to the ground is lowered to the target plowing depth position at the start of the tillage work, the rotary tillage device is used. Even if the cover sensor is caught on a ridge or the like and there is an erroneous detection of the cultivation depth, the tilling device can be lowered to the normal cultivation depth position by continuing the descending operation without stopping the descending without stopping the descending. In this case, it is possible to eliminate a situation in which sufficient tilling is not performed near the starting point of the tilling operation, and there is an advantage that a good tilling operation can be performed.

(Structure) According to a second aspect of the present invention, there is provided a lifting and lowering control device for a tilling device according to the first aspect, wherein the control means determines whether the traveling body is in a forward state. The operation of the descent stop restricting means is released.

(Operation) According to the configuration of the second aspect of the present invention, the control means is configured to release the operation of the descent stop restricting means based on the result of the determination that the traveling body is in the forward state. Therefore, the descent stop regulating means is configured to operate only when the traveling body is stopped or in the reverse state, and when the traveling body is in the forward state, even if the cover sensor is caught on a ridge or the like. With the advance, the catch is released with high certainty, and if the cover is originally advanced, it is unlikely that the cover sensor is likely to be caught on the ridge or the like, so it is not necessary to operate the descending stop posture means. I have.

(Effects) Therefore, according to the configuration of the second aspect of the present invention, when the traveling body is in the forward movement state, the lowering stop control means is not activated unnecessarily, so that the swing of the lift arm is prevented. There is an advantage that the control of monitoring the angle can be simplified.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an agricultural tractor. In this agricultural tractor, an engine 4 is arranged at the front of a traveling body 3 having a pair of left and right front wheels 1, 1 and rear wheels 2, 2, and travels on a transmission case 5 to which power from the engine 4 is transmitted. The driver's seat 7 is disposed at the rear of the vehicle body 3, the driver's seat 7 is disposed at an intermediate position between the left and right rear fenders 6 above the transmission case 5, and the steering handle 8 is disposed at the front of the driver's seat 7.
A rotary tillage device 10 is connected to a rear end position of the rotary tillage device 10 via a two-point link mechanism 9 as an elevating device so as to be able to move up and down and roll freely. In addition, mission case 5
A pair of left and right lower arms 13, 13, which are lifted and lowered by driving a lift cylinder 11 disposed at an upper position of the vehicle, are suspended by connecting them via left and right lift rods 14, 14. A two-point link mechanism 9 for supporting the lift rod 1
By interposing the rolling cylinder 15 in 4, the drive up and down of the rotary tilling device 10 and the drive rolling around the axis Y in the front-rear direction can be freely performed.

The rotary tillage device 10 is provided with a cover sensor 16 as a sensor for detecting the actual tillage depth. That is, the cover sensor 16 provides the rear cover 17 on the fixed cover C of the rotary tilling apparatus 10 so as to freely swing up and down around the horizontal axis X, and sets the swing angle of the rear cover 17 around the horizontal axis X. An angle sensor 18 composed of a potentiometer to be detected is linked to the angle sensor 18 via a link mechanism or the like. The detection information of the angle sensor 18 installed on the fixed cover C side is input to a control device 19 as control means provided on the traveling body 3. Further, the swing angle of the lift arms 12, 12 which are swinged integrally around the horizontal axis X2 is detected by a lift arm swing angle sensor 20 composed of a potentiometer, and the lift arm swings. Information detected by the angle sensor 20 is also input to the control device 19.

On the lateral side of the driver's seat 7, there is provided a target cultivation depth setting device 22 which is set, for example, by a potentiometer to set a target cultivation depth at the time of tilling work of the rotary tilling device 10. At the same time, an output signal from the target till depth setting device 22 is also input to the control device 19. Further, a lifting lever 23 for raising and lowering the rotary tillage device 10 by an artificial operation is provided on the lateral side of the driver's seat 7. As shown in FIG. 3, the post portion 21 of the steering handle 8 is provided with a forced elevating lever 24 which can be operated in the vertical direction and is urged to return to the neutral position N. The forcible raising / lowering lever 24 is operated to the ascending position U, thereby automatically raising the rotary tillage device 10 from the tillage work state to a preset high position on the ground, or operating to the descending position D. The controller 19 is provided with a start command to automatically lower the rotary tillage device 10 to a target plowing position from a position higher than the ground, and operates the forcible raising / lowering lever 24 to the ascending position U and the descending position D. A forced elevating switch 25 capable of individually detecting that the operation has been performed is provided, and detection information of the forced elevating switch 25 is input to the control device 19. Further, a speed sensor 26 for detecting the rotation direction and speed of the rear wheels 2 and 2 on the axle is provided, and a detection signal of the speed sensor 26 is also input to the control device 19.

The control device 19 raises the rotary tilling device 7 to a high position away from the ground when changing the direction of the body on a headland or the like. When starting, the rotary tilling device 7 is automatically lowered to the target cultivation depth position by a one-touch operation, and then travel is started to perform the tilling work. That is, the control device 19 is configured using a microcomputer or the like, and at the time of tilling work, the target tilling position preset by the target tilling depth setting device 22 and the position of the rear cover 17. By comparing the actual tillage depth detection results obtained by the cover sensor 16 corresponding to the vertical swing angle around the horizontal axis X, feedback control is performed so that those deviations are maintained within a predetermined dead zone. It is configured to be tilled at a constant tillage depth. And
When starting the tilling work in the field, the control device 19
As shown in the flowchart of FIG. 5, by performing one-touch operation of the forcible raising / lowering lever 23 to the lowering position D, a recession control for lowering the non-ground rotary tiller 10 to the target plowing position is performed (step # 1). , # 2 and later).
That is, based on the dimensional relationship among the traveling body 3, the two-point link mechanism 9, and the rotary tilling device 10, the control device 19 sets the lift corresponding to the position immediately before the rotary tilling device 10 enters the ground when descending. When the swing angle θ of the arm 12 is reached, the descending speed is gradually reduced (steps # 3, # 4, # 5, and # 10), and finally the descending stop is performed at the target plowing depth position. It is configured.
Further, when the rotary tilling device 10 is lowered to the plowing depth working position at the start of the operation, the control device 19 sets the lift arm 12 corresponding to the position immediately before the rotary tilling device 10 enters the ground when the rotary tilling device 10 descends. If the cover sensor 16 is detected to have reached the target plowing depth before reaching the swing angle θ (steps # 3 and # 6), the traveling body 3 moves forward based on the detection result of the speed sensor 26. If not (step # 7), the descending operation of the rotary tilling apparatus 10 is continued without stopping, while decelerating the descending speed from the point in time when the target plowing depth is detected, as when entering the soil. Control (step # 9) is provided with descent stop restricting means. Then, at that time, the fact that the descending state of the rotary tilling device 10 is abnormal is visually displayed on the alarm display means of the display unit of the operation panel of the control unit (step # 9). The alarm may be issued by voice. That is, when the rotary tillage device 10 is erroneously lowered in a state close to the ridge and the rear cover 17 swings upward by contacting the ridge or the weeds of the ridge, the swing angle of the cover 17 is thereafter changed. May be detected so that the detection information of the angle sensor 18 that reaches the target till depth reaches the target plowing depth. In this case, the descent of the rotary tillage device 10 is not simply stopped at the time of the detection, but, for example, the driver is notified of the traveling machine 3 In some cases, the upward swing caused by the slight catch of the rear cover 17 can be eliminated by further lowering the rotary tilling device 10, so that the target tilling depth is detected each time. Stopping the descent of the rotary tilling apparatus 10 while maintaining the position above the ground is restricted. When the cover sensor 16 detects that the target plowing depth has been reached before the swing angle θ of the lift arm 12 is reached (steps # 3 and # 6).
When the traveling body 3 is in the forward state (step #
7), becomes the same as the normal descent control (steps # 8, #
3, # 4, # 5, # 10), the descent stop restricting means is not operated. The swing angle θ of the lift arm 12 can be set as appropriate.

[Brief description of the drawings]

FIG. 1 is an overall side view showing an agricultural tractor.

FIG. 2 is a side view showing a rear part of the agricultural tractor, a rotary plow, and the like.

FIG. 3 is a side view showing a handle operation unit of the driving unit.

FIG. 4 is a schematic explanatory view showing a control device and the like.

FIG. 5 is a flowchart of lowering control of a rotary tillage device.

[Explanation of symbols]

 Reference Signs List 3 Traveling body 9 Lifting device 10 Rotary tilling device 12 Lift arm 16 Cover sensor 19 Control means

Continued on front page F term (reference) 2B304 KA03 LA02 LA05 LB05 LB15 MA04 MC08 MC13 MC14 QA05 QA08 QA11 QB02 QC14 QC17 RA27

Claims (2)

[Claims] 1. A rotary tilling device is connected to a rear end of a traveling machine body via a lifting device so as to be able to move up and down, and a cover sensor for detecting a tillage depth of the rotary tilling device is provided, based on a detection result of the cover sensor. Control means for raising and lowering the elevating device so as to maintain the rotary tillage device at the target plowing depth, wherein the control means comprises: Even if the cover sensor detects a target plowing depth or a value close to the target plowing depth before the swing angle of the lift arm in the device in the vertical direction with respect to the traveling body reaches a predetermined angle, A lifting and lowering control device for a tilling device comprising a descent stop restricting means for continuing the lowering operation without stopping the lowering of the rotary tilling device. 2. The tilling apparatus according to claim 1, wherein the control unit is configured to release the operation of the descent stop restricting unit based on a determination result that the traveling body is in a forward state. Lift control device.