| 摘要 |
PROBLEM TO BE SOLVED: To provide a rotary tiller-having tractor which can automatically control a highly precise tilling depth without depending on noises caused by the changes of PTO revolutions. SOLUTION: A rear cover sensor for detecting tilling depths is disposed in a rotary tiller. A PTO revolution detection mean for detecting the revolution of a PTO shaft or a PTO speed change step detection means for detecting the speed change step of the PTO speed change mechanism are disposed in the travel machine frame. A tilling controller is equipped with a ROM in which a control gain Ga is preliminarily memorized. The tilling controller changes the control gain Ga in response to the detection information of the PTO revolution detection mean or the PTO speed change step detection means. The tilling depth RD of the rotary tiller is calculated from the control gain Ga and the detection valueθof the rear cover sensor. The driving of an elevation control hydraulic cylinder is controlled so that the tilling depth RD becomes a preliminarily set target tilling depth RDO. COPYRIGHT: (C)2007,JPO&INPIT
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