JPS6236102A - Plowing depth controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to a plowing depth control device that automatically maintains a ground work machine at a plowing depth specified by an operator, and is mainly applicable to tractors and the like. It is.

[Conventional technology]

Conventional tillage depth control device! t, the plowing depth setting value specified by the plowing depth setting device operated by the operator, and the ground work machine (
The deviation value, which is the difference between the plowing depth detection value detected by the installed plowing depth sensor, is constantly calculated by one tick of control, and the ground work machine is automatically raised and lowered so that this deviation value disappears. Since the irregularities of the lichen always affect the detected plowing depth, the control unit constantly outputs lifting commands based on the moment-to-moment fluctuations in the detected plowing depth, causing the hydraulic lifting and lowering of the tractor. The mechanism will move up and down all the time.

[Problem that the invention seeks to solve]

However, the hydraulic lifting mechanism requires time to operate, and even if commands are constantly given from the control unit, it cannot follow the commands instantly. For example, the lowering command is output immediately. However, there is a problem in that the hydraulic lifting mechanism finally begins to rise, but due to the delay in operation, the lifting and lowering operations are constantly repeated and the plowing depth cannot be stabilized.

[Friendly means of solving problems]

This invention provides a work equipment connecting link mechanism (5) I: A ground work equipment (2) which is connected to a tractor (1) by means of a hydraulic lift mechanism (6) so that it can be raised and lowered, and plowing depth can be set. The tilling depth sensor (
SL) is a tractor having a control unit a3 that controls the hydraulic lifting mechanism (6) so that n plowing depth detection values match, and a plurality of samples are detected as the plowing depth detection values. This plowing depth control device is provided with a sampling section α11, which averages and uses the plowing depth.

[Effect]

Based on the plowing depth detection value detected by the plowing depth sensor (Sl),
A plurality of values are averaged in the sampling section α seconds, and the difference between the average and the plowing depth value is calculated in the control section α3, and a lifting command is given based on this average deviation value. Therefore, local irregularities on the ground surface are detected and determined as being in a leveled state, and a stable plowing depth without repeated rapid fluctuations is maintained.

[Embodiment] An embodiment of the following invention will be explained based on the drawings.0 As shown in the side view in Fig. ,
The lift piston (8) of the lift cylinder (7) of the hydraulic lifting mechanism (6) is connected by a work equipment connecting link mechanism (5) consisting of a top link (4) at the upper center and a top link (4)
The right lift arm (
9).

(9) to the left and right lift rods 01. Connected to lower links +31 and +31 via αυ,
The plowing depth sensor (Sl) of ground work @ (2) detects the plowing depth setting value set by the operator using the plowing depth setting device I11, which is a volume-like device, for automatic plowing depth control. Until the plowing depth detection values match, the on/off operation of the ascending plowing valve αυ and the descending solenoid valve az is continued.
1. such as a-order-b=, microcomputer J). It is amplified and outputted from the control unit α3, which is composed of two parts, via the ascending drive unit 04 or the descending drive unit αS,
Ascent solenoid valve αD and descending solenoid valve Gz ni,
A proportional solenoid valve is used to control opening and closing of the pressure oil flow opening area in proportion to t*t+2 applied to the solenoid section, and the control current is controlled in proportion to the difference between the plowing depth detection value and the plowing depth set value. Since the configuration is such that a pulse current (with a pulse width proportional to this control current value) is applied to the solenoid section (2), a flow rate of pressure oil proportional to the above difference is applied to the lift cylinder (7). supplied or discharged,
The lifting and lowering speed of the lift arm (9) is also proportional to this difference. ) is used for detection.

A sampling section α is provided, which samples a plurality of plowing depth detection values detected by the plowing depth sensor (Sl), averages the plurality of plowing depth detection values, and calculates the average plowing depth detection value. f'L72: Control is performed based on the bias value of the plowing depth detection value with respect to the plowing depth setting value, and as an example of sampling, the distance sensor (S
2) is calculated by averaging a plurality of plowing depth detection values detected during a certain travel distance, and the pulse voltage R'k output from the control unit a3, the sampling time The relationship between the vehicle speed and vehicle speed is shown in Fig. 3 1-1, +ol as an example. The sampling period (T,) is also long, and the sampling period (T1) or [(T,) every period in which the sampled values are averaged to calculate the bias value. A nine-width pulse current is output in proportion to the deviation value.

Another example of setting the sampling interval is to shorten the sampling interval (D,) as shown in Fig.
After t, the sampling interval is lengthened.

As a third embodiment for setting the sampling interval, the sampling interval may be set using a sensitivity setting device (old 111 FiL) such as a volume, or a sensitivity setting device (n
When it is operated at the low-sensitivity position C2, the sampling period (T) becomes longer, for example, as shown in Figure 3 in Figure 9, and when it is moved to the high-sensitivity position, the sampling period (T) becomes longer as shown in Figure 3 [ol]. The period (T2) is set to be short, so that the process is completed. The plowing depth control device f according to the present invention is configured so that the descending command continues while the descending position [+21)C is being operated. It is a friend and is detected by the plowing depth sensor (Sl)C n7
A plurality of values are averaged by the sampling unit αB in the H plowing output value, and the difference between the average and the plowing depth set value is calculated in the control unit, and a lifting command is given based on this average deviation value. As a result, local irregularities on the ground surface are detected and judged as being in a leveled state, and a stable plowing depth without repeated rapid fluctuations is maintained. , with a structure that changes the sensitivity in control operation,
Since small irregularities on the ground surface are ignored and controlled by large irregularities, etc., when small irregularities continue, the tillage depth is controlled as it is biased to the set value, but with this invention, Even if the unevenness is small, if the unevenness continues, it will be detected on an average basis and the set value will be controlled correctly without bias.

[Brief explanation of the drawing]

The figures show an embodiment of the present invention, in which Fig. 1 is a side view of the tractor, Fig. 2 is a control circuit diagram, and Fig. 3 A1.101, No.41
2 is a control characteristic diagram. Code explanation

Claims (1)

[Claims] The ground work equipment, which is connected to the tractor by the work equipment connection link mechanism, is provided so that it can be raised and lowered by a hydraulic lifting mechanism, and the tilling depth set value specified by the tilling depth setting device and the tilling depth sensor are set. The tractor has a control unit that controls a hydraulic lifting mechanism so that detected plowing depth values coincide with each other, and the tractor is configured to average a plurality of sampled values as the plowing depth detection value. , a plowing depth control device comprising a sampling section.