JP2008017724A - Levee-plastering machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a levee-plastering machine whose connection mechanism portion can easily be moved to a position having a desired offset angle in spite of the change of a tractor size and the change of field conditions without requiring the skill of operations. <P>SOLUTION: This levee-plastering machine 1 has a controller which controls the extension or contraction of an offset cylinder 50 and a direction cylinder 31, when the travel direction of a tractor is changed to change the working position and the working direction of a working portion 20, and stops the execution of an automatic straight travel work control mode, when a tractor is turned in a direction separating from a levee U to give a prescribed offset angle θ of a connection mechanism portion 40 to the levee U during the execution of the automatic straight travel work control mode for keeping a straight levee-plastering work. The offset angle θ of the connection mechanism portion 40 to the levee U is calculated on a detection value from a swinging angle sensor for detecting the swinging angle of the connection mechanism portion 40 and on a detection value from a rotation angle sensor for detecting the rotation angle of the working portion 20 to the movement end side of the connection mechanism portion 40. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a scissoring machine that is mounted on a traveling machine body and capable of performing a smearing operation on a side position with respect to a traveling position of the traveling machine body.

  The plastering machine is used to form a paddle over the outer edge of a wide field, and has recently been attracting attention as having achieved mechanization of the plastering work that requires a great amount of time and labor. This coater advances along the old kite along with the traveling of the traveling machine body, and depending on the conditions of the field, etc., the position and direction of the working part need to be adjusted during the coating operation. In view of this, the present applicant has proposed a wrinkle coater that can automatically adjust the position and direction of the working unit (see Patent Document 1).

  One embodiment of this coater includes a mounting portion mounted on the rear portion of the traveling machine body, a transmission frame pivotally supported in the central portion of the mounting portion so as to be swingable in the left-right direction, and left and right with the transmission frame in the center. A pair of parallel link members that are arranged on both sides and whose front side is pivotally supported on both left and right ends of the mounting portion, and a transmission that pivotally pivots the rear end portions of the transmission frame and the pair of parallel link members in a horizontal direction. A parallel link member that detects the position of the main frame with respect to the support frame, the transmission / support frame, and a working part that can be horizontally rotated with respect to the working part and moves the working part to a preset position. And a controller for controlling the left and right swinging and rotation of the working unit. The working unit includes a pre-processing unit that cuts a part of the old iron and deposits the soil, and a trimming unit that applies the piled soil on the old iron that has been cut.

  When the tip of the traveling machine body reaches the end of the field, such a hull coater turns the parallel link member left and right while turning the traveling machine body in a direction away from the new rice cake. The corner is linearly painted by movement and rotation of the working part. However, when the offset angle of the parallel link member exceeds a certain size, the working part is separated from the heel and the corner There arises a problem that it becomes impossible to perform linear work on the unworked part of the work. Therefore, even if the parallel link member swings, the swinging of the parallel link member is temporarily stopped at a position where the working part is far from the heel, and the corners are linearly moved only by swinging only the parallel link member. Can be painted.

JP 2004-254522 A

  However, the operation of moving the parallel link member to the desired offset position requires skill, and if the position at which the parallel link member is temporarily stopped is shifted, it becomes impossible to linearly paint the unworked portion at the corner of the field. Also, depending on the operator, there arises a problem that the linearity of the wrinkles varies.

  In addition, when the size of the traveling machine changes, the position of the traveling machine changes when the traveling machine turns at a predetermined turning angle at the corner of the field, and the offset angle of the parallel link member also changes. It is necessary to operate the traveling aircraft while confirming the direction in which the parallel link member extends so that the parallel link member has a desired offset angle every time the aircraft is changed. There was a problem that it was not versatile.

  Also, in wet fields with poor travelability, if the stop position when the traveling machine body turns even with the same traveling machine body is shifted, the parallel link member will be at the desired offset angle as in the case of the size of the traveling machine body. It is necessary to operate the coater while checking the direction in which the parallel link members extend.

  The present invention has been proposed to cope with such a problem, and the parallel link member has a desired offset angle without requiring skill and even when the size of the traveling machine body and the field conditions are changed. An object of the present invention is to provide a drape coater that can be easily moved to a position.

  In order to achieve the above-mentioned object, the plastering machine according to the present invention includes a mounting portion to be mounted on the traveling machine body, a working unit for working a position offset laterally with respect to the traveling position of the traveling machine body, and a parallel link mechanism. A connecting mechanism portion configured to connect the working portion and the mounting portion and move the offset of the working portion; an offset actuator (for example, the offset cylinder 50 in the embodiment) that swings and moves the connecting mechanism portion; and a connecting mechanism A direction actuator (for example, the direction cylinder 31 in the embodiment) that is connected to a rotation shaft (for example, the transmission shaft 45 in the embodiment) rotatably provided on the moving end side of the unit and adjusts the working direction of the working unit. When the traveling direction of the traveling machine body changes and the working position and working direction of the working unit change, the offset actuator and the direction actuator An operation control unit having an automatic rectilinear operation control mode for controlling the expansion and contraction of the eta and maintaining a linear glazing operation is provided, and the operation control unit linearizes the traveling machine body while executing the automatic rectilinear operation control mode. Turning in a direction away from the formed kite, the execution of the automatic linear operation control mode is stopped when the offset angle of the coupling mechanism portion with respect to the linear kite reaches a predetermined value.

  According to this invention, when the traveling machine body turns in a direction away from the linearly formed kite during execution of the automatic linear operation control mode, the offset angle of the coupling mechanism portion with respect to the linear kite becomes a predetermined value. When the execution of the automatic linear work control mode is stopped by canceling the execution of the automatic straight work control mode, the offset angle of the connecting mechanism portion with respect to the linearly formed ridges is always a predetermined value, and the connecting mechanism The part can be moved to a position having a certain offset angle with respect to the heel. For this reason, a skillful operation for setting the coupling mechanism portion to a desired offset angle is unnecessary, and the coupling mechanism portion can be easily moved to a position having the desired offset angle.

  Further, according to the present invention, the offset angle of the coupling mechanism portion with respect to the linearly formed heel is the swing angle detecting means for detecting the swing angle of the connection mechanism portion with respect to the mounting portion (for example, the swing angle sensor in the embodiment). 52) and the detection value from the rotation angle detecting means (for example, the rotation angle sensor 33 in the embodiment) for detecting the rotation angle of the working unit with respect to the moving end side of the coupling mechanism unit. It is calculated.

  According to this invention, the offset angle of the coupling mechanism portion with respect to the heel is determined by the detected value from the swing angle detecting means for detecting the swing angle of the connection mechanism portion with respect to the mounting portion and the working portion relative to the moving end side of the connection mechanism portion. By calculating based on the detection value from the rotation angle detection means for detecting the rotation angle, it is possible to detect the offset angle of the coupling mechanism portion with respect to the ridge without directly detecting the ridge extending linearly. It is possible to prevent the detection method from becoming complicated and to suppress an increase in cost.

  Further, according to the present invention, when the execution of the automatic linear operation control mode is stopped, the predetermined value of the offset angle of the coupling mechanism unit with respect to the linear fence is used to remove the unworked portion at the corner of the field only by swinging the coupling mechanism unit. It is characterized by an obtuse angle that makes it possible to paint a line in a substantially straight line.

  According to this invention, the predetermined value of the offset angle of the coupling mechanism when the execution of the automatic linear operation control mode is stopped is set so that the unworked portion at the corner of the field is substantially linear only by swinging the coupling mechanism. By setting the obtuse angle to enable the glazing operation, the unworked portion of the corner portion can be reliably laid in a substantially straight line simply by swinging the coupling mechanism portion after the automatic linear operation control mode is completed. .

  In addition, the operation control unit of the present invention is characterized in that when the execution of the automatic linear operation control mode is stopped, the notification means (for example, the buzzer 72 in the embodiment) is operated.

  According to the present invention, when the operation control unit stops the execution of the automatic straight-ahead work control mode, the operator can easily confirm that the offset angle of the coupling mechanism unit has moved to a desired angle by operating the notification unit. I can know.

  According to the scissoring machine according to the present invention, the traveling machine body turns in a direction away from the linearly formed kite during execution of the automatic linear operation control mode, and the offset angle of the connecting mechanism portion with respect to the linear kite When the value reaches a predetermined value, the execution of the automatic linear operation control mode is stopped, so that the connecting mechanism portion can easily have a desired offset angle even if the size of the traveling machine body and the field conditions change without requiring skill. It is possible to provide a wrinkle coater that can be moved to the specified position.

  Hereinafter, the glazing machine according to the present invention will be described with reference to FIGS. For convenience of explanation, the directions shown in FIG. 1 (perspective view) will be described below as the front-rear direction and the left-right direction. As shown in FIGS. 1 and 2 (plan view), the hull coater 1 includes a mounting unit 10 that is mounted on a three-point link mechanism of a tractor (not shown) that is a traveling machine body, and a work unit 20 that performs a hulling operation. The connecting mechanism unit 40 that connects the mounting unit 10 and the working unit 20 is provided as a basic configuration.

  The mounting portion 10 includes a lower link connecting portion 11 and a top link connecting portion 12 and a support member 13 to which the connecting mechanism portion 40 is mounted. In addition, an input shaft (not shown) connected to the PTO shaft of the tractor via a transmission joint such as a universal joint is provided, and the power transmitted to the input shaft is transmitted to the transmission mechanism of the coupling mechanism unit 40. A transmission mechanism is provided in the support member 13.

  The connection mechanism part 40 is supported at the front end side by the support member 13 of the mounting part 10 and the work part 20 is attached to the rear end side so that the work part 20 is operated at an offset position on the side of the traveling machine body not shown. A link member 41 having a front end pivotally supported on the mounting portion side and a rear end pivotally supported on the working portion side, and a transmission case 43 provided with a winding transmission means for transmitting power to the working portion side. Yes.

  The transmission case 43 has transmission shafts 44 and 45 installed vertically, the transmission case 43 is pivotally supported around the transmission shaft 44, and the working unit 20 is pivotally supported around the transmission shaft 45. Has been. The transmission case 43 and the link member 41 are arranged in parallel, and a parallel link mechanism is formed with the support member 13 so that the direction of the working unit 20 does not change with respect to the swinging of the coupling mechanism unit 40. .

  The working unit 20 cuts off a part of the old paddle and performs a pile work, and the soil piled forward by the preprocessing unit 21 is applied on the cut old paddle to arrange a new paddle. These are mounted on the support case 29, and have a transmission mechanism that distributes the power transmitted to the transmission shaft 44 to the pretreatment unit 21 and the adjustment unit 25.

  Here, the pretreatment unit 21 is a rotary tillage type pretreatment mechanism in which a rotary claw is attached to a drive shaft, and a heaven field treatment mechanism 22 for scraping off the heaven field (upper surface) of the old ridge is added. In addition, you may remove the heaven field processing mechanism 22 as needed. The trimming unit 25 may employ a trimming drum including a cylindrical drum 25a that molds the upper surface of the rod and a conical umbrella-shaped drum 25b that molds the side surface of the rod.

  The linkage mechanism 40 of the coater 1 configured as described above is equipped with an offset cylinder 50 for adjusting the working position of the working unit 20, and the working unit 20 adjusts the working direction of the working unit 20. A directional cylinder 31 is provided.

  A swing angle sensor 52 that detects the swing angle of the connection mechanism 40 is attached to the front end of the link member 41 of the connection mechanism 40. The swing angle sensor 52 detects the angle of the link member 41 relative to the support member 13, and for example, a potentiometer can be used. A rotation angle sensor 33 is provided outside a case (not shown) that covers the transmission shaft 45 as means for detecting the working direction of the working unit 20. The rotation angle sensor 33 detects a change in the direction of the working unit 20 relative to the moving end side of the coupling mechanism unit 40, and for example, a potentiometer can be used.

  An angle sensor 35 that detects the working direction of the working unit 20 is provided around the transmission shaft 45. The angle sensor 35 does not detect a change in the direction of the working unit 20 relative to the connection mechanism unit 40, but detects a change in the working direction with respect to the field scene of the working unit alone, for example, a gyro sensor or the like. Can be used.

  Further, a position sensor 27 that detects the position of the working unit 20 is provided at the rear of the trimming unit 25. The position sensor 27 is disposed behind the trimming drum from the support case 29 through the mounting arm 26.

  Then, as shown in FIG. 3 (block diagram), the controller 60 that controls the operation of the coater 1 according to the embodiment of the present invention detects the detection signal from the angle sensor 35, the detection signal from the position sensor 27, and the fluctuation. Based on the detection signal from the dynamic angle sensor 52, the detection signal from the rotation angle sensor 33, and the ON signal from the automatic linear operation control switch 70 provided in the driver seat of the tractor, the offset control valve 65 and the direction control valve 66 are used. 2 is controlled to expand and contract the offset cylinder 50 and the direction cylinder 31 and sound the buzzer 72, and the reference work direction Ao and the reference work position Xo of the work unit 20 shown in FIG. The memory unit 63 stores a preset predetermined value θo of the offset angle θ of the coupling mechanism unit 40 with respect to the flange U.

  The automatic rectilinear work control switch 70 is a switch that is operated when it is desired to maintain the linear smearing operation by adjusting the position of the working unit 20 and the change in the work direction accompanying the change in the traveling direction of the tractor.

  When the automatic linear operation control switch 70 is turned ON, the operation control unit 61 of the controller 60 is set in an automatic linear operation control mode, and operates according to a program corresponding to this mode setting. When the automatic rectilinear work control mode is set, the operation control unit 61 maintains the reference work direction Ao in FIG. 2 and the reference work position Xo between the wrinkle formation position and the work part 20 so as to maintain the offset control valve 65. And the supply and discharge of the hydraulic oil of the direction control valve 66 is controlled, and the expansion and contraction of the offset cylinder 50 and the direction cylinder 31 is controlled. At this time, in the expansion / contraction control of the direction cylinder 31, the angle sensor 35 detects a deviation from the set reference work direction Ao, and controls the supply and discharge of the hydraulic oil of the direction control valve 66 so as to eliminate the deviation. Further, the expansion / contraction control of the offset cylinder 50 is performed by operating the offset control valve 65 so that the position sensor 27 detects a shift in the position of the working unit 20 from the reference work position Xo, and the work position is kept constant by eliminating this shift. Controls oil supply and discharge.

  Further, as shown in FIGS. 3 and 4A (plan view), the operation control unit 61 of the controller 60 has the automatic straight-ahead operation control switch 70 turned on when the tip of the tractor T reaches the end of the field H. When operated, the automatic straight work control mode is executed, and as shown in FIGS. 3 and 4B (plan view), the tractor T turns in a direction away from the linearly formed rod U. When the offset angle θ of the coupling mechanism 40 with respect to the rod U reaches a predetermined value θo, the execution of the automatic straight work control mode is stopped. Note that the predetermined value θo is an obtuse angle at which the unworked portion at the corner of the field can be smeared in a substantially straight line simply by swinging the coupling mechanism 40.

Here, as shown in FIG. 5 (plan view), the offset angle θ of the coupling mechanism 40 with respect to the flange U is expressed by the following equation.
θ = 270 ° -α-β

  That is, the offset angle θ of the coupling mechanism 40 with respect to the flange U is the swing angle α from the swing angle sensor 52 that detects the swing angle of the coupling mechanism 40 with respect to the mounting portion 10 and the movement of the coupling mechanism 40. The rotation angle β is calculated according to the above equation based on the rotation angle β from the rotation angle sensor 33 that detects the rotation angle of the working unit 20 with respect to the end side.

  As described above, the operation controller 61 of the controller 60 executes the automatic linear operation control mode when the automatic linear operation control switch 70 is turned on as shown in FIGS. 3, 4 (a), and 4 (b). Then, the tractor T turns in a direction away from the linearly formed rod U, and the tractor T is turned on the basis of the swing angle α from the swing angle sensor 52 and the rotation angle β from the rotation angle sensor 33. When the offset angle θ of the coupling mechanism unit 40 calculated from the above formula reaches a predetermined value θo, the execution of the automatic linear operation control mode is stopped. For this reason, when the execution of the automatic rectilinear work control mode is stopped, the offset angle θ with respect to the linearly formed ridge U of the coupling mechanism portion 40 is always a predetermined value θo, and the coupling mechanism portion 40 is kept constant with respect to the ridge U. Thus, the coupling mechanism 40 can be moved to a position having the desired offset angle θo without requiring skill. As a result, the unworked portion at the corner of the field can be smeared in a substantially straight line simply by swinging the coupling mechanism 40 after the automatic linear operation control mode is completed.

  Further, the above-described formula does not change even if the size of the tractor T or the field conditions are changed. For this reason, even if the coater 1 according to the present embodiment is mounted on tractors having different sizes, the coupling mechanism unit 40 can be moved to a position having a desired offset angle θo. The wrinkle coating machine 1 has versatility. In addition, even when the corner portion of the field with different field conditions is painted with the same tractor, the coupling mechanism 40 can be easily moved to a position having the desired offset angle θo. The coating machine 1 has good workability.

  Further, when the operation control unit 61 of the controller 60 moves the coupling mechanism unit 40 to a position having a desired offset angle θo, the buzzer 72 is sounded. For this reason, the operator can easily know that the offset angle θ of the coupling mechanism portion 40 has moved to the desired offset angle θo. The painting operation can be made substantially linear. In this embodiment, the buzzer 72 is shown as the notification means. However, a display means such as a lamp may be turned on or blinked, or the buzzer 72 and the lamp may be operated together.

The rear side perspective view of the plastering machine concerning one embodiment of the present invention is shown. The top view of the surface coating machine which concerns on one embodiment of this invention is shown. The block diagram including the controller mounted in this glazing machine is shown. The top view of the hulling machine for demonstrating the action | operation content of the operation | work part by automatic linear work control mode is shown. The top view of the scissor coater for demonstrating the calculation method of the offset angle of the connection mechanism part with respect to a scissors is shown.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Spider coater 10 Mounting part 20 Working part 31 Directional cylinder
33 Rotation angle sensor (Rotation angle detection means)
40 Linking mechanism 45 Transmission shaft (rotating shaft)
50 Offset cylinder (offset actuator)
52 Oscillation angle sensor (Oscillation angle detection means)
61 Operation control unit 72 Buzzer (notification means)
T tractor (running vehicle)

Claims (4)

A mounting unit mounted on the traveling machine body; a working unit that operates a position offset laterally with respect to a traveling position of the traveling machine body; and a parallel link mechanism configured to connect the working unit and the mounting part. The work unit is connected to a coupling mechanism unit capable of offset movement of the working unit, an offset actuator that swings and moves the coupling mechanism unit, and a pivot shaft that is rotatably provided on the moving end side of the coupling mechanism unit. In a coater equipped with a direction actuator that adjusts the working direction of the part,
When the traveling direction of the traveling machine changes and the working position and working direction of the working unit change, the automatic straight running work control mode that controls expansion and contraction of the offset actuator and the directional actuator to maintain a linear smearing work. An operation control unit having
The operation control unit turns in a direction in which the traveling machine body separates from the linearly formed kite while the automatic linear operation control mode is being executed, and an offset angle of the coupling mechanism unit with respect to the linear kite is set. When the predetermined value is reached, the execution of the automatic straight work control mode is stopped.   The offset angle of the coupling mechanism portion with respect to the linearly formed hook is a detected value from a swing angle detecting means for detecting a swing angle of the connection mechanism portion with respect to the mounting portion, and a moving end of the connection mechanism portion. 2. The wrinkle coater according to claim 1, wherein the spreader is calculated based on a detection value from a rotation angle detecting means for detecting a rotation angle of the working unit with respect to the side.   The predetermined value of the offset angle of the coupling mechanism portion with respect to the linear ridge when the execution of the automatic linear movement work control mode is stopped is determined only by swinging the coupling mechanism portion in an unworked portion at a corner of the field. 3. The glazing machine according to claim 1, wherein the glazing machine has an obtuse angle that enables the wiping operation to be substantially linear.   4. The wrinkle coater according to claim 1, wherein when the execution of the automatic straight-ahead work control mode is stopped, the operation control unit operates a notification unit. 5.

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