JP2569323Y2 - Tillage detector - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tillage depth detecting device for detecting the tillage depth of a tillage implement mounted behind a traveling machine.

[0002]

2. Description of the Related Art Conventionally, Japanese Utility Model Application Laid- Open No. 55-159701 or Japanese Utility Model Application Laid- Open No. 60-15111
As disclosed in Japanese Patent No. 168110, there is a technique for detecting the height of a tillage implement mounted on a tractor so as to be able to move up and down by an ultrasonic sensor and controlling the plowing depth of the tillage implement.

[0003]

According to the above prior art, a specific position within a tillage width is detected by an ultrasonic sensor, and the ultrasonic sensor is turned in the front-rear direction. Since the height is not measured, the uneven surface such as the embankment or drainage groove that is long in the front and rear running direction is located below the ultrasonic sensor, so that the appropriate tillage depth control is performed based on the detection result of the sensor. There was a functional problem such that the operation could not be performed. Also, Japanese Patent Application Laid-Open No. 64-7
As shown in Japanese Patent No. 4910, a wide waveguide is provided.
There is also a technology to prevent erroneous detection due to small irregularities in the center,
Detection accuracy of ultrasonic sensor by using wide waveguide
There is a problem that the degree of
Large and continuous in the direction of travel
There is a problem that the continuous concave part is easily erroneously detected.
Since the sensor is mounted on the tractor, it works with the tractor.
It is necessary to provide a sensor that detects the relative position of industrial equipment,
The detection error of the ultrasonic sensor using a wide waveguide
Relative position calculation error is added to improve tillage depth detection accuracy, etc.
Is not easily achieved.

[0004]

In order to solve the problems] However, the present invention is, Tiger
Rotary tillage via a link and a hydraulic cylinder
Yeah work machine is installed to be able to move up and down freely, and the ground of the tillage work machine
An ultrasonic sensor that detects the height is provided, and
A horizontal control hydraulic cylinder is provided to correct the left-right inclination of industrial equipment.
In the tractor tillage depth detection device,
Rearward, ahead of the rotary cover of the tillage machine
Within the left and right tillage widths of the tillage rotary,
A sensor and the detection position of the ultrasonic sensor
A scanning motor for moving in the left-right direction,
For detecting the position of the ultrasonic sensor to detect the lateral movement
Ultrasonic sensor with a small detection range
Detecting undulations in the field scene of the left and right full width of the tillage work machine
Therefore, the detection accuracy of the ultrasonic sensor should not be reduced.
Erroneous detection of drainage ditches and combine ruts
Without changing the tillage depth of the tillage rotary with higher accuracy than before
Detectable and relative position detection between tractor and tillage implement
Is unnecessary, and the raising / lowering hydraulic cylinder plowing depth control error is easily reduced.
And can be detected by the ultrasonic sensor
Horizontal control hydraulic system using the left and right ground height of the tillage machine
Easy automatic control of the Linda
Improved output accuracy and simplified horizontal control detection structure.
It can be easily achieved .

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is an explanatory rear view of a main part, and FIG. 2 is a side view of the entirety, in which a rotary tilling work machine (2) is provided at a rear part of a tractor (1) as a traveling body, and an engine (3) and a clutch are provided. A case (4) and a transmission case (5) are integrally connected to form a tractor body, and front and rear running wheels (6) and (7) are arranged at front and rear portions of the body.
A three-point link mechanism (12) formed by a top link (10) and a lower link (11) at the rear of the fuselage with a driver's seat (8) and a steering handle (9), and a hydraulic lift (13)
The work machine (2) is connected to be able to move up and down via a lift arm (14) or the like.

As shown in FIGS. 3 and 4, the working machine (2) includes an input gear case (16) for inputting a driving force from a PTO shaft (15) of the tractor (1), and the case (16). ) Through the main beam (17) and the side drive case (18).
9) The tillage rotary (21) for rotating the rotary tillage claw (20) by rotating the rotary till (20), the rotary cover (22) covering the upper side of the rotary (21), and the rotary cover (22) are provided on the left and right sides of the rear. A rotary side cover (23), a rotary rear cover (24) provided at the rear of the rotary cover (22), and the gear case (1);
6) A top link bracket (26) that is fixed on the upper side and connects the top link (10) and the hitch mast (25) is provided, and the rotary (21) is lowered to a ground contact state to perform plowing work. As shown in FIG. 5, the depth of plowing is controlled by controlling a hydraulic switch valve (29) for raising and lowering a work implement provided in a hydraulic supply line between a hydraulic cylinder (27) of the hydraulic lift (13) and a hydraulic pump (28). It is configured to adjust.

[0007] Left and right ultrasonic sensors (30) and (30) for detecting the height of the working machine (2) above the ground are provided on both left and right sides at the front position of the rotary cover (22), and a servo motor for digital control. Scan motor (3)
1) (31) and an angle sensor (32) (32) for detecting a rotation angle of the sensor (30) (30), and the ultrasonic sensor (30) is rotated left and right by the motor (31). The right and left ultrasonic sensors (30) and (30) are attached to the front side of the tillage machine (2) so as to be displaced in the left and right directions.
The ultrasonic sensor (30) is configured to perform scanning control to measure a field scene within a predetermined range (tilling width) in the left-right direction within the tilling width of the tillage.

Further, as shown in FIG. 6, a tillage depth control circuit (33) constituted by a microcomputer is provided, and the sensors (30) (32) and the motor (31) are connected to the circuit (33). , The hydraulic switching valve (29)
Solenoids (34) and (35) are connected to the circuit (33).

As shown in the flowchart of FIG. 7, when the tractor (1) pulls and moves the tilling work machine (2) to perform tilling work, the scanning motor (31) rotates the ultrasonic sensor (30). The sensor (30) measures the distance to the field scene while changing the direction of detection in the left-right direction, calculates the height of the rotary (21) relative to the ground, stores the data in a memory, and stores the data in the memory. When the scanning of the tillage width according to (30) is completed,
The average height is calculated based on the ground height data, and the cultivation depth control is started. When the cultivation depth is appropriate, the work is continued in the same posture, and when the depth is deeper than a predetermined value, the work implement ( 2) is lifted, and when the depth is shallower than a predetermined value, the work machine (2) is lowered by the descending operation, and the tilling operation is performed while performing the tilling depth control for maintaining the tilling depth substantially constant. .

Further, as shown in FIG. 5 and the like, a lift rod connecting the lower link (11) and the lift arm (14) is constituted by a horizontal control hydraulic cylinder (36), and tilling is performed by controlling the expansion and contraction of the cylinder (36). The average height of the left ultrasonic sensor (30) and the average height of the right ultrasonic sensor (30) are obtained by changing the left-right inclination of the work machine (2). Value and
When each calculated value is calculated so as to be equal, the horizontal inclination of the work machine (2) is changed by horizontal control of the cylinder (36) based on the difference between the calculated values, and the rotary shaft is rotated with respect to the field scene. (19) is controlled so as to be substantially parallel to the ground, and the work machine (2) can be supported so that the left and right plowing depths are substantially equal.

As is apparent from the above, the tractor (1)
Via link (11) and lifting hydraulic cylinder (27)
To install the rotary tillage machine (2) up and down freely,
Ultrasonic sensor that detects the ground height of the tillage machine (2)
(30) and tilting of the tiller (2)
A horizontal control hydraulic cylinder (36) for correcting inclination
In the tillage depth detecting device for the tractor (1), the tractor (1)
Behind the rear wheel (7) of the tillage machine (2)
In front of the tally cover (22), the tiller rotary (2
1) Place the ultrasonic sensor (30) within the left and right tillage width.
And the detection position of the ultrasonic sensor (30).
A scanning motor (31) for moving the scanner in the left-right direction;
Left and right direction of ultrasonic sensor (30) by motor (31)
An angle sensor (32) for detecting a movement detection position is provided.
I have. And an ultrasonic sensor (30) having a small detection range
Tilling machine with structure (2) Detects undulations in the field scene across the entire width
Ultrasonic sensor by widening the detection range
(30) without deteriorating the detection accuracy, and how to proceed
Drains formed continuously in the direction
Change in tillage of the tillable rotary (21) without erroneous detection
Can be detected with higher accuracy than before, and the tractor (1)
Eliminates the need to detect the relative position of the tillage machine (2)
Hydraulic cylinder (27)
Tilling detected by the ultrasonic sensor (30)
Horizontal control hydraulic pressure using the left and right ground height of the work machine (2)
Automatic control of the cylinder (36) can be performed.
Improvement of detection accuracy and simplification of horizontal control detection structure
It is configured so that it can be achieved.

Further, as shown in FIG. 8, a single ultrasonic sensor (30) is provided at the center of the left and right widths of the rotary (21), and the sensor (30) is rotated right and left to obtain a plowed field scene. By scanning, similar to the above embodiment,
The tillage control can be performed by calculating the average height of the field scene within the tillage width, and a screw shaft (37) is provided in front of the work machine (2) substantially parallel to the rotary shaft (19) as shown in FIG. By rotating the screw shaft (37) by the scanning motor (31) and sliding the single ultrasonic sensor (30) left and right, and scanning the field scene of the till width by the sensor (30), Similar to the above embodiment, the average height of the field scene can be calculated within the tillage width to control the tillage depth. In the structure in which a single ultrasonic sensor (30) is provided, the structure shown in FIG. Similarly, tillage control based on the average height of the field scene within the tillage width, and the sensor (30) of FIG. 8 or FIG.
And ground level control based on the difference in the height of the field scene between the left end and the right end detected by the above method.

[0013]

As is apparent from the above embodiment, the present invention provides a tractor (1) with a link (11) and a lifting hydraulic system.
Raising the rotary tillage work machine (2) via the cylinder (27)
Install it freely and check the height of the tillage machine (2) above the ground.
Provide an ultrasonic sensor (30) that emits
Horizontal control hydraulic cylinder that corrects left and right inclination of industrial equipment (2)
Tractor (1) provided with (36)
And plow behind the rear wheel (7) of the tractor (1)
In front of the rotary cover (22) of the work machine (2),
Within the left and right tillage width of the tillage rotary (21), the supersonic
A wave sensor (30), and the ultrasonic sensor
(30) Scan motor for moving the detection position in the horizontal direction
(31) and an ultrasonic sensor by the scanning motor (31)
(30) Angle sensor for detecting the left-right movement detection position
(32), an ultrasonic cell with a small detection range.
Tiller with tiller (30) structure (2) Left and right full width field
Since the surface undulation is detected, the ultrasonic sensor (30) is detected.
Drainage and combine without compromising accuracy
Tilling rotary without misdetecting ruts (21)
Can detect changes in tillage depth with higher accuracy than before, and
No need to detect the relative position between the tiller (1) and the tillage machine (2)
And the lifting hydraulic cylinder (27) easily reduces the plowing depth control error.
And can be detected by the ultrasonic sensor (30).
Using the left and right height of the tillage machine (2)
Easy automatic control of horizontal control hydraulic cylinder (36)
It is possible to improve tillage depth detection accuracy and water
The flat control detection structure can be easily simplified .

[Brief description of the drawings]

FIG. 1 is an explanatory view of mounting an ultrasonic sensor.

FIG. 2 is an overall side view of the tractor.

FIG. 3 is a partial side view.

FIG. 4 is a partial plan view.

FIG. 5 is an elevation hydraulic circuit diagram.

FIG. 6 is a circuit diagram of a tillage depth control circuit.

FIG. 7 is a flowchart of the previous figure.

FIG. 8 is an explanatory view of mounting an ultrasonic sensor.

FIG. 9 is an explanatory view of mounting an ultrasonic sensor.

[Description of Signs ] (1) Tractor (2) Tilling machine (7) Rear wheel (11) Link (21) Tilling rotary (22) Rotary cover (27) Lift hydraulic cylinder (30) Ultrasonic sensor (31) Scan Motor (32) Angle sensor (36) Horizontal control hydraulic cylinder

Claims (1)

(57) [Scope of request for utility model registration] A tractor (1) has a link (11) and a lift (1).
Rotary plowing machine via lower hydraulic cylinder (27)
(2) is installed to be able to move up and down freely, and a pair of tillage work machine (2)
When an ultrasonic sensor (30) for detecting the ground level is provided,
Horizontal control to correct the left and right inclination of the tillage machine (2)
Tillage depth inspection of tractor (1) provided with hydraulic cylinder (36)
In the exit device, after the rear wheel (7) of the tractor (1)
The rotary cover (22) of the tillage machine (2)
In front of the tiller, within the left and right tillage width of the tillage rotary (21)
And the ultrasonic sensor (30) is disposed
Move the detection position of the ultrasonic sensor (30) in the left and right direction.
Scanning motor (31) and the scanning motor (31)
The position of the ultrasonic sensor (30) is detected when the lateral movement is detected.
A tillage depth detecting device, comprising: an angle sensor (32) for causing the cultivation depth.