FR2500026A1 - METHOD AND APPARATUS FOR AUTOMATICALLY CONTROLLING THE TRACKING OF AN EXTENDED ELEMENT IN THE SOIL - Google Patents

Abstract

THE PRESENT INVENTION CONCERNS A METHOD AND A DEVICE FOR CARRYING OUT THE AUTOMATIC THRESHING OF AN ELONGATED ELEMENT IN THE SOIL. THE DEVICE OF THE PRESENT INVENTION INCLUDES A THRESHING MACHINE 1 OF THE FREE FALL TYPE OF A SHEEP 7, TO BEAT A PILE 2, INCLUDING A LOAD SENSOR 12 EXERCISED BY THE SUSPENSION CABLE 8 ON A PULLEY 6, AND A SENSOR 15 ANGULAR MOVEMENT OF THE WINCH. THESE VARIOUS SENSORS ARE CONNECTED TO AN ELECTRONIC SIGNAL ANALYSIS DEVICE 13 SO AS TO AUTOMATICALLY CONTROL THE CLUTCH, PRE-CLUTCH OR DISENGAGE OF THE WINCH 9 BY AUTOMATIC DETECTION OF THE IMPACT INSTANT OF SHEEP 7 ON THE PILE 2 AND DETECTION OF THE SHEEP'S ASCENT HEIGHT 7, AND OF THE SHEEP IMMOBILIZATION INSTANT ON THE ELEMENT TO BE BEATHED. THE INVENTION IS APPLIED IN PARTICULAR TO THE FIELD OF EARTHWORKING WORKS.

Description

The present invention relates to and essentially relates to

  a method and apparatus for automatically threshing an element such as a pile, a

  sheet pile or the like, for example in the ground.

  We already know threshing devices of a pile or sheet pile, by free fall of a sheep

  suspended on a cable wound on a winch. In these arrangements

  the sheep return control and / or

  triggering the free fall of the sheep was manual.

  Consequently, these devices had great disadvantages, in fact, the machinist had to be very attentive to the movement of the sheep so as to optimize the yield of the fall of the latter, which is a function of the speed and the rise height of said sheep as well as the rate of threshing. Mainly during a high pace of threshing, the attention of the machinist

  quickly became unsustainable, and led to a decrease in

  significant performance of the machine.

  The object of the present invention is to remedy all these drawbacks by proposing a method and a device for automatically controlling the ascent of the sheep as well as the triggering of the free fall of this

  latest. The invention, which suppresses any intervention of the.

  machinist makes it possible to optimize the yield of the fall of the sheep whatever the rate of threshing and l '.

duration of it.

  To this end, the subject of the invention is a method for effecting the threshing of an element, for example in the ground, such as a pile, a sheet pile or the like, by means of a falling type threshing machine. free of a sheep, such as a bell or the like, comprising the following steps: - drop, in free fall, the sheep on the element to beat; - To reassemble the sheep to a predetermined av-uteur and adjustable by rapi Lt to the element to beat; - repeat these operations. The process

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  the invention is characterized in that the triggering of the free fall of the sheep and the ascent of said sheep are automatically controlled by respectively detecting the predetermined height of said sheep and the instant of impact of the sheep on the element. tear down. According to another characteristic of the invention, the detection of the instant of impact of the sheep on the element to be controlled controls the winding of the suspension cable with a winding force of the cable at most substantially equal to the weight of said sheep. , the triggering of the ascent of the sheep being controlled by the detection of

  the instant of immobilization of the sheep on the element to beat.

  Thus, according to this characteristic, the suspension cable is maintained substantially in the tensioned position after the sheep has come into contact with the element to be beating, without for that exerting a force on said sheep tending to raise it. As a result, substantially all of the kinetic energy possessed by the sheep at the moment of impact on the element to be beaten is transmitted.

to this element.

  The present invention also relates to a device for carrying out the method described above, this device being of the type cor7.,: Ranting a threshing machine or bell with a frame, a threshing mast, a sheep suspended from a cable winding on a winch, said winch being connected via clutching and disengaging means to drive means such as, for example, electric, thermal, hydraulic, pneumatic or similar motors, characterized in that it comprises means for detecting the instant of impact of said sheep on the element to be struck, and means for detecting the height of remontie said sheep, these detecçion means being respectively connected respectively

  auxdivs means for clutching and disengaging said winch.

  Thus, this device makes it possible on the one hand to control the clutch of the winch with the drive means as soon as the sheep is in contact with the element to be struck,

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  and secondly to control the disengagement of said winch to dec out the free fall of the sheep, as soon as it has been raised by a predetermined height relative to the element to beat. As a result, threshing is controlled automatically without the intervention of a machinist. According to another characteristic of the invention, the aforementioned means for detecting the instant of impact of said sheep on the element to be beaten comprise a load sensor measuring the load exerted by the suspension cable of the sheep on a guide pulley. said cable, attached to the upper end of the threshing mast, and a signal variation analysis device provided by said sensor. This signal variation analysis device is composed of a signal analysis member and a control member of the aforementioned clutch means.

winch.

  According to yet another feature of the invention

  the means for detecting the aforementioned moment of impact comprise sensors for position, speed or acceleration of the sheep during its free fall, and a device for analyzing the value of the signal emitted by these sensors. sensors, said device comprising a device for analyzing said signal and a means for controlling the means

aforementioned clutch of the winch.

  According to a new characteristic of the invention, these means for detecting the instant of impact of the sheep with the element to be beaten comprise a sound sensor and a device for analyzing the signal emitted by the sensor, said device for analysis being analogous to the device

aforementioned analysis.

  According to yet another feature of the invention

  The aforementioned detecting means of the raising height of the sheep comprise a sensor for the angular displacement of the winch, and a device for analyzing and comparing the signal set by said sensor with a predetermined and adjustable value corresponding to a predetermined height of return of the sheep, said analysis and comparison device comprising a device for analyzing and comparing the signal, and a control member of the aforementioned means for disengaging the winch 4. Advantageously, this angular displacement sensor of the winch comprises marks fixed on said winch substantially regularly in a circle, a detector emitting a signal for each passage of one of the aforementioned marks in front of at least one fixed reference, and

  a counter totalizing these signals.

  According to yet another characteristic of the invention, the aforementioned devices for analyzing

  signals emitted by the different sensors are

  an electronic circuit assembly.

  According to an important feature of the invention, the device comprises a means for detecting the instant of immobilization of the sheep in contact with the element to be struck, said means being connected via said power control member to said means for clutch and clutch, said clutch means comprising

  a first "pre-clutch" position for transmitting

  to put a driving force other than the weight of the sheep and a second so-called "clutch" position to transmit a driving force.

  with the winch for raising said sheep.

  Furthermore, the means for detecting the instant of impact of the sheep on the element to be fired transmits a signal corresponding to this instant of impact, applied to the aforementioned power control element to control the passage of -30 clutch means from their disengaged position in their first pre-clutch position, the aforementioned detecting means of the instant of immobilization of the sheep

  mentioned above on the element to be beaten emitting a corresponding signal

  this immobilization, applied to said power control member to control the passage of said clutch means from their first position of

  pre-clutch at their second clutch position.

  Advantageously, the means for detecting the instant of immobilization of the sheep is constituted by the means for detecting the height of the ascent of the sheep, the signal

  emitted by these means being analyzed by a device.

  for analyzing the signal to determine the moment of zero speed of rotation of the winch and to emit the aforementioned signal

  applied to the aforementioned power control member.

  The invention will be better understood and other purposes, features, details and advantages thereof

  will become clearer during the description

  explanatory text which will follow with reference to the accompanying schematic drawings given solely by way of example illustrating two embodiments of the invention and in which: - Figure 1 is a schematic view illustrating a threshing machine comprising the automatic control device said threshing according to the invention; FIG. 2 is a diagram showing the load e erced by the cable on the pulley as a function of time, during threshing; and FIG. 3 is a diagram showing the unwinding and winding speed of the cable on the

  winch as a function of time during threshing.

  With reference to FIG. 1, a threshing machine 1 of an elongated element 2 such as a pile, a sheet pile or the like in the ground 3 conventionally comprises a chassis 4, a threshing mast 5 at the end

  upper of which is mounted a guide pulley 6.

  In addition, this threshing machine comprises a sheep 7 suspended from a cable 8 guided by the pulley 6 and winding on a winch 9 threshing. This winch 9 is fixed on the frame 4 of the threshing machine 1 and comprises drive means (not shown), for example hydraulic or pneumatic drive means. According to the invention, the connection between the lever 9 and these drive means is controlled by the clutching or disengaging means 11 shown schematically and being

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  constituted according to a preferred embodiment of the invention, by a system of hydraulic cylinders. In addition, according to the invention, these clutching or disengaging means 11 are controlled and actuated by a hydraulic power control system 10 known per se and comprising schematically a distributor 10a, a pump 10b and a hydraulic fluid reservoir. 10c. The different connecting lines, represented in strong lines, between the elements 11, 10a, 10b, 10c represent

hydraulic connections.

  According to a preferred embodiment of the invention, the threshing machine 1 is equipped with a

  automatic piling control of pile 2 in the ground 3.

  This automatic control device comprises a load sensor 12 exerted by the cable 8 on the pulley 6. This load sensor 12 is connected to an analysis device 13

the signal emitted by the sensor 12.

  In addition, according to the invention, several marks 14 are fixed on the winch, substantially regularly in a circle. During the rotation of the winch 9, these marks pass in front of two fixed marks 15a, 15b constituting a detection unit 15 of the direction and the angular displacement of the winch. Indeed, each passage of a mark 14 in front of the markers 15a, 15b is detected and totalized by a pulse counter, the signal thus

  transmitted is transmitted to the analysis device 13 mentioned above.

  The analysis device 13 processing the signals emitted by the sensors 12 and 15, emits a control signal actuating the power control member 10 of the clutching or disengaging means 11 of the winch 9. For greater clarity, the fine lines representing the links

  between the sensors 12, 15b, 15a, the analysis device 13.

  and the power control system 10 illustrates the signal transmission links between these different elements. According to the embodiment, these links are

electrical connections.

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  We will now indicate by referring to the figures

  1 and 2 the operation of the automatic control device

  threshing tick according to a first embodiment

preferred embodiment of the invention.

  Referring more particularly to FIG. 2, which schematically shows the value of the load exerted by the cable 8 on the pulley 6, detected by the load sensor 12 during two threshing cycles, this signal will be analyzed to detect the impact moment of the sheep 7 on the pile 2. This analysis corresponds to that performed by the analysis device 13 according to the invention. Indeed, by following the curve according to the diagram represented by the letters, a, b, c, d, e. f, g, b 'it is noted that during the period a-b the signal is substantially constant and corresponds to a high value of the load exerted on the pulley 6, this period corresponds to the ascent of the sheep, therefore the winch 9 and

  the drive means of said winch are engaged.

  At this moment b, there is a rapid drop in the load, period b-c corresponding to the triggering of the free fall of the sheep, then a sensible stabilization of

  charge during the period c-d, and a new decrease

  point d of this load. This new decrease corresponds to the instant of impact of the sheep 7 on the pile 2, in fact, at this moment, the cable 8, by its inertia, continues to unfold and therefore has a large slack, reducing the load on the pile. the pulley 6. The analysis device 13, constituted according to a preferred embodiment of the invention by electronic circuits, comprises a device for analyzing the signal emitted by the load sensor and represented in FIG. control device for triggering the power control system 10 of the clutch means 11. The above-mentioned analysis device detects the decrease in the load occurring at the point d and at this moment excites the control member to trigger the Thus, the portion of the curve ef substantially corresponds to the winding of the slack of the cable 8, then the load increases abruptly from f to g, corresponding to the beginning of the ascent of the sheep. 7, the p artie g-b 'corresponding to the rise of the sheep. 7 at a predetermined height. In addition, according to the invention, the release of the free fall of the sheep 7, corresponding substantially to point b or b 'of the curve of FIG. 2, is controlled as a function of the signal emitted by the detection means 15 and received by the analysis device 13. In fact, the number of pulses totalized by the detection means b corresponds to the number of passages of the marks 14 in front of the detectors 15a, 15b and thus to the length of cable 8 wound around the winch 9, therefore at a rising height of the sheep 7 relative to the pile 2. This number of pulses is then analyzed and compared in an analysis and comparison device of the analysis device 13, to a predetermined and adjustable value corresponding to a predetermined height of rise of the sheep 7. It is clear to understand that when the number of pulses reaches this predetermined value, the analysis and comparison member excites a control member to actuate the system 10 of p power of the clutch release means 11 of the winch 9 and drive means, which results in

  automatically free fall of the sheep 7.

  Thus, the device of the invention automatically controls the raising of the sheep 7 to a predetermined height and its free fall, by a dual detection of the moment of impact of the sheep 7 on the pile 2 and its ascent height . Thus, the method and the device of the invention make it possible to use a threshing machine with optimum efficiency of the fall.

  mutton, whatever the rate of threshing, inde-

  during the qualification, the attention of a machinist, because any manual control due to

sheep is removed.

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  According to another preferred embodiment of the invention, the clutch means 11 comprise a disengaged position and two engaged positions: a first so-called "pre-clutch" position transmitting a driving force of the winch 9 which is more substantially equal to the weight of the sheep 7; and a second so-called "clutch" position in which this clutch means 11 transmits a driving force

  with the winch 9 to raise the sheep 7.

  In this embodiment, the device 15 for detecting the angular displacement of the winch 9 advantageously makes it possible, on the one hand, to detect the ascent height of the sheep 7 and, on the other hand, to detect the moment

  immobilizing the sheep 7 on the element to be beaten 2.

  With particular reference to FIG. 3, the operation of the automatic threshing control device according to this second preferred embodiment is as follows: The curve in solid lines represents the variation of the winding speeds Ve and unwinding Vd of the cable on the winch 9 as a function of time during a threshing cycle, the corresponding discontinuous line curve

  variations in unwinding velocities Vd and winding

  Ve 5 of the cable 8 during the following cycle of threshing which is substantially identical to the curve in lines.

full.

  The threshing cycle according to this embodiment is as follows: at the point where the sheep is raised to a height corresponding to the predetermined height, the winch is

  disengaged to cause the free fall of the corresponding sheep

  in Zone I, the speed of the cable

  being represented by the curve segment a-b.

  At the moment of impact of the lamb 7 on the element to be beaten 2 detected by the load sensor 12, according to the invention, the clutch means 11 are moved into their first so-called "pre-clutch" position to drive the winch 9 according to a driving force at most substantially equal to the weight of the sheep.

  Figure 2, this part of the cycle corresponds to zone II.

  Therefore, the cable is wound around the winch 9 as long as it is not in the extended position which corresponds to the curve portion bc. As this winding force exerted on the cable 8 is not sufficient to raise the sheep 7, when the cable is in the extended position, it will be unwound again to follow the movement of the sheep 7 down (cd). When substantially all the kinetic energy acquired by the sheep 7 during its free fall is transmitted to the pile 2, the sheep 7 will be immobilized on the upper end of the pile 2 which corresponds to the

  point d of the curve. According to the invention, this immobilisa-

  tion is detected by the angular displacement sensor 15 of the winch 9 because the cable 8 is always held in extended position since the clutch means

  11 are in their first pre-clutch position.

  At this moment, the signal emitted by the angular displacement sensor 15a analyzed by the analysis device 13 transmits a control signal to the power control member of the clutch means 11 for

  pass these from their first position of pre-

  clutch in their second clutch position in which the driving force transmitted to the winch 9 can raise the sheep 7. This part III of the cycle

  threshing corresponds to the curve segment d-e-f.

  The sheep is raised to a height determined by the angular displacement sensor 15 of the winch 9 corresponding to the predetermined height, the winch 9

  is disengaged to start a new round of threshing.

  Thus, in this embodiment, the force e: cercée by the cable 8 on the sheep 7 after its moment of impact with the element 2 to beat is relatively low to simply maintain the cable 8 in the teinuue position and this fact, substantially all of the kinetic energy acquired by the sheep 7 during

  its fall is transmitted to the element 2 to beat.

  The methods of the invention therefore make it possible to automatically control the threshing of an element with

  beat while increasing the efficiency of threshing.

  In addition, it is of course obvious that the invention comprises any device for automatically detecting the moment of impact of the sheep 7 on the pile 2, to automatically control the ascent of said sheep. By way of non-limiting example, there can be mentioned as detection device of the moment of impact, detectors of position, speed or acceleration of the sheep 7 during its free fall, or a sound sensor, all these sensors emitting a signal having a variation in their intensity as a function of the instant of impact of the lamb 7 on the pile 2, this variation being analyzed in an analysis device 13 for controlling a clutch power control system winch. On the other hand, the means 15 for detecting the angular displacement of the winch are given only

non-limiting example.

  Of course, the invention is not limited to the embodiments described and shown which have been given by way of example. Thus, the drive means, the clutch or disengagement means, the power control member of said clutch or disengagement means can be arbitrary.

  without departing from the scope of the invention.

  250002e] 2 R E V: D i C A Y i S

__ _____._____._____________

  1 - Process for carrying out the acne durum.

  allcngé, by an exe ...- 'dians the soil ,. el! a stake. a sheet pile 5; ua vg'_e, au :: Loyen d.- diipo: -itif beater of the free fall type of cmouton, such as a bell or the like, comprising the following steps - la-sser tomer, in chiute li7re, the mcuto.i on the element to beat; raise the sheep to a predetermined height and adjustable in relation to the element to beat; - Repeat these operations :: characterized in that the triggering of the free fall of the sheep, and the remnontée of said sheep are automatically controlled by respectively detecting the predetermined height of recovery of said sheep and

  its moment of impact on said element to be beaten.

  2. A method according to claim 1, characterized in that said triggering of the sheep return is controlled by the detection of the moment of immobilization of the sheep on the element to beat, 1adite detection of the moment of impact on said element to bat-re ce-M1andar the winding of the cable suspension said: .outon with a force of e. winding of said cable to the most sensibler

equal to the weight of the soft eye-on.-

  3.- Device for the implementation of the srcca 'according to claim 1 or 2, of the type co: iprenanrit' -eur threshing device or bell carrying a chsis,

  a threshing mast, a sheep suspended from a cable

  on a winch, the said link is connected

  the mediators of the French and the French. means of electrical, thermal, hydrologic, and thermal control. At'-es or

- aloe guscaractrs-- en -: - -.

detection of 1 'in. - 'd .... di :,

  535 to -battre, and the following:

  raising said sheep, said detection means being connected respectively via a power control system to said clutch means and

disengaging said winch.

  4.- Device according to claim 3, characterized in that it comprises means for detecting the moment of immobilization of the sheep (7) on the element to be beaten (2), said detecting means emitting a corresponding signal at said immobilization time, for controlling, via said power control device (10), the actuation of said clutching and disengaging means (11), said clutching and disengaging means (11) comprising a first so-called "pre-clutch" position for transmitting a driving force to the winch at most substantially equal to the weight of the sheep, and a second so-called "clutch" position for transmitting a driving force to the winch for raising said sheep. 5.- Device according to claim 4, characterized in that the aforementioned detecting means (12) of the instant of impact of said sheep on the element to be fired emits a signal corresponding to this moment of impact which is applied to the above-mentioned power control member (10) for controlling the passage of said clutching and disengaging means (11) from their disengaged position to their aforementioned first pre-clutching position, said detecting means of the instant of immobilization of the sheep (7) on the element to be beaten (2) emitting a signal corresponding to this immobilization moment, applied to said power control member to control the passage of the clutch and disengagement means (11); ) from said clutch position to their second position

mentioned above.

  6. Device according to claim 3, 4 or 5, characterized in that the means for detecting the immobilization of said sheep is constituted by the detection means.

  above mentioned height of said sheep (7).

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  7.- Device according to one of claims 3

  at 6, of the type comprising a cable guide pulley fixed to the upper end of the aforementioned threshing mast, characterized in that the aforementioned means of detecting the moment of impact comprise a load sensor exerted by the cable on said pulley, and a signal variation analysis device provided by said sensor, said analysis device being composed of an analysis member of said signal and a control member connected to said clutch means of the winch by via the above-mentioned power control device.

  8.- Device according to one of claims 3

  at 6, characterized in that the aforementioned means of detecting the moment of impact comprise sensors of position, speed or acceleration of the sheep in course. its free fall, and a device for analyzing the value of the signal emitted by these sensors, said analysis device comprising a device for analyzing said signal and a control member connected to the aforementioned means of clutching the winch by means of intermediate of the aforementioned power control member.

  9.- Device according to one of claims 3 to 6

  or 8, characterized in that the aforementioned means of detecting the moment of impact comprise a sound sensor, and a device for analyzing the signal emitted by the sensor, the said analysis device comprisingan analysis element of the signal and a control member connected to the aforementioned clutch means via the organ

aforementioned power control.

  - 10.- Device according to one of claims 3

  at 9, characterized in that the aforementioned detecting means of the raising height of the sheep comprise a sensor for the angular displacement of the winch, and a device for analyzing and comparing the signal emitted by the sensor with a predetermined value that can be adjusted corresponding to a predetermined rise height of the

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  sheep, said neily: se and co .- parison device comprising a udt -ignal anaIyse organ and a control member connected to the means of disengagement of the winch via the aforementioned organ d- colu: ande of power. 11.- Device according to claim 10, characterized in that the aforesaid sensor for angular displacement of the winch comprises marks disposed on said winch, substantially regularly in a circle, a detector emitting a signal for each passage of one of said marks above before at least one fixed reference,

and a sensor of these signals.

  12.- Device according to one of claims 4,

  , 6, 10 or 11, characterized in that the aforementioned detecting means of the instant of immobilization of the sheep (7) on the element to be beaten (2) comprise the sensors (15, 14) mrécités of the angular displacement of the winch, a device> 'analysis of the transmitted signals, emitting in response the aforementioned signal corresponding to the instant of zero speed of rotation of the winch, or said immobilization instanrt

duff.

  13.- Device according to one of claims 3

  at 12, characterized in that the analyzing devices

  aforementioned are an electronic circuit assembly. -