JP4866471B2 - Offset work machine and control method - Google Patents

Description

  The present invention relates to a working machine mounted on a traveling machine body, and relates to an offset working machine and a control method capable of working a lateral position with respect to a traveling position of the traveling machine body.

  A work machine that is attached to a traveling machine body such as a tractor and performs various continuous linear operations in the field along the traveling direction of the traveling machine body is a general machine for agriculture or civil engineering, and depends on the type of work There are various working machines. Among such working machines, offset working machines that work at positions offset laterally with respect to the traveling position of the traveling machine body are known as glazing machines, groove forming machines, mowing machines, etc. due to the special nature of the work. (See Patent Documents 1 to 3).

  In particular, the glazing machine has been attracting attention in recent years as it has formed a cocoon over the outer edge of a wide field and has achieved mechanization of a glazing operation that requires a great amount of time and labor. The basic configuration of the glazing machine includes a mounting portion that is attached to the rear portion of the traveling machine body and includes an input shaft that receives power from the traveling machine body, a power transmission mechanism that transmits power from the input shaft, and an offset position. A working part that supports the machine body and a working part that performs the glazing operation with the transmitted power. It is composed of a trimming part that is applied to the old iron that has been cut off (see Patent Document 1).

  Such an offset work machine performs a straight-ahead operation at an offset position along the travel of the traveling machine body, but when performing a straight-ahead work along the side of the field in a rectangular field, the tip part of the traveling machine body There is a common problem that it becomes impossible to perform a subsequent straight-ahead operation when the end of the field reaches the end of the field.

  In particular, in a spreader that performs a straight-line coating operation along the outer edge of a rectangular field, it becomes impossible to perform a subsequent coating process when the tip of the traveling machine body reaches the end of the field. The problem arises that an unworked part always remains at the corner of the rectangular field. In order to solve this problem, the working unit is moved to an offset position on the opposite side to that during normal work, and the front-rear relationship is reversed (reverse reversed) so that the traveling machine body moves backward relative to the unworked portion at the corner. There has been developed a glazing machine equipped with a reversing reverse mechanism that performs the operation while making it work (see Patent Document 1).

JP 2001-28903 A Japanese Utility Model Publication No.57-22557 Utility Model Registration No. 2537586

  However, according to such a solution, it is necessary to equip a complicated mechanism for reversing and reversing the working part, and work by moving the traveling machine body backward with respect to the remaining unworked part. Therefore, skill of work is required, and particularly in wet fields with poor travelability, the reverse work becomes very difficult, and there is a problem in terms of workability.

  Furthermore, in such reverse reversing work, the traveling machine body is stopped, the working part of the offset working machine is reversed and reversed, the working direction is changed by changing the traveling direction of the traveling machine body, and the work is restarted. Therefore, the continuous work must be stopped once, and the problem arises that the work efficiency is remarkably lowered.

  The present invention has been proposed to deal with such a problem, and is an offset working machine that is attached to a traveling machine body and works at an offset position along the traveling machine body. The purpose is to enable continuous forward work up to.

  In order to achieve such an object, the present invention includes at least the configurations of the independent claims described below.

  [Claim 1] An offset working machine that is mounted on a traveling machine body and includes a working unit capable of working on a lateral position with respect to the traveling machine body, and a reference for setting a working direction and a working position reference value of the working part Value setting means, work direction detection means for detecting the work direction of the work part, work position detection means for detecting the work position of the work part, a work direction adjustment mechanism for adjusting the work direction of the work part, and work A work position adjustment mechanism for adjusting the work position of the unit, and a control means for driving and controlling the work position adjustment mechanism and the work direction adjustment mechanism. The control means maintains the work position and the work direction in a predetermined state. The normal working mode for working the working unit along the traveling of the traveling machine body, the preset working direction and working position as a reference value, and the change in the working position and working direction accompanying the change in the traveling direction of the traveling machine body By adjusting the automatic straight-ahead work control mode for maintaining a predetermined straight-line work, the work position at the end of the automatic straight-ahead work control mode is the starting point, and the unworked portion remaining in the corner of the field is linear or arcuate (R Offset work characterized in that the control of the work position adjusting mechanism in the automatic corner work control mode is control by intermittent operation that changes stepwise. Machine.

  In the present invention, the control means is preferably configured so as to be able to perform the following operations. In the normal work mode, the work position adjustment mechanism and the work direction adjustment mechanism are maintained in a predetermined state, and work is performed substantially linearly along the traveling direction of the traveling machine body. In the automatic linear work control mode, both the work position adjustment mechanism and the work direction adjustment mechanism are adjusted and driven, and the work is performed in a substantially straight line following the normal work mode. In the automatic corner work control mode, following the automatic straight work control mode, only the work position adjustment mechanism is adjusted and driven to work in a substantially straight corner, or the work position adjustment mechanism is adjusted and driven and the work direction is adjusted. The adjustment mechanism is also adjusted and driven so that the corners are substantially arcuate (R-shaped).

  [Claim 2] A working position adjusting mechanism for adjusting a working position of the working unit, comprising a working unit mounted on the traveling machine body and capable of working at a lateral position with respect to the traveling machine body; A control method for an offset work machine having a work direction adjustment mechanism for adjusting a direction, and a normal work mode for maintaining the work position adjustment mechanism and the work direction adjustment mechanism in a predetermined state with respect to straight traveling of the traveling machine body; An automatic rectilinear work control mode for adjusting and driving the work position adjusting mechanism and the work direction adjusting mechanism with respect to the turning of the traveling machine body; An automatic corner work control mode for adjusting and driving the work direction adjusting mechanism, and in the automatic straight work control mode, the reference value of the set work direction and the detected work direction Adjusting and driving the work direction adjusting mechanism according to the comparison with the detected value, adjusting and driving the work position adjusting mechanism according to the comparison between the set reference value of the working position and the detected value of the detected work position, A control method for an offset work machine, wherein in the automatic corner work control mode, the work position adjustment mechanism is adjusted and driven by control by an intermittent operation in which the work position adjustment mechanism changes stepwise so that the offset angle changes by a predetermined amount.

  The present invention having such features is a continuous forward operation to the corner of the field that cannot be predicted from a conventionally known offset working machine that performs work only at a predetermined offset position along the traveling direction of the traveling machine body. Can be achieved, and high workability and work efficiency can be improved.

It is explanatory drawing which showed the whole structure of the control apparatus of the coating machine which concerns on the Example of this invention. It is the block diagram which showed the structure of the control apparatus of the coating machine which concerns on the Example of this invention. It is explanatory drawing which showed the control flow at the time of the normal operation mode by the control apparatus of a present Example. It is explanatory drawing which showed the control flow at the time of the automatic linear work control mode by the control apparatus of a present Example. It is explanatory drawing which showed the control flow at the time of the automatic corner work control mode by the control apparatus of a present Example. It is the state figure which showed the control state at the time of the traveling body turning in automatic linear work control mode, and the automatic corner work control state. It is the state figure which showed the control state at the time of the traveling body turning in automatic linear work control mode, and the automatic corner work control state. It is the state figure which showed the control state of the working part in an automatic corner work control state. It is explanatory drawing of the position sensor in the Example of this invention.

    An offset working machine control device according to an embodiment of the present invention includes a working unit that is mounted on a traveling machine body and capable of working on a lateral position or the like with respect to the traveling machine body, and for adjusting a working position of the working part. A work position adjusting mechanism; and a work direction adjusting mechanism for adjusting a working direction of the working unit. In addition, a control unit that drives and controls the work position adjustment mechanism and the work direction adjustment mechanism, a work direction detection unit that detects the work direction of the work unit, and a work position detection unit that detects the work position of the work unit are provided. .

  The control means can adjust and drive the work direction adjustment mechanism according to a comparison between the set reference value of the work direction and the detected value of the work direction detected by the work direction detection means. The work position adjustment mechanism can be adjusted and driven in accordance with a comparison between the set work position reference value and the work position detection value detected by the work position detection means.

  According to such a control device for an offset working machine, the working unit can perform a linear work regardless of the traveling state of the traveling machine body by adjusting and driving the working direction adjusting mechanism and the working position adjusting mechanism. . At this time, the control means for adjusting and driving the work direction adjusting mechanism and the work position adjusting mechanism, with regard to the work direction adjusting mechanism, detects the set work direction reference value and the work direction detected by the work direction detecting means. Control according to the comparison with the value, and regarding the work position adjustment mechanism, control according to the comparison between the set reference value of the work position and the detected value of the work position detected by the work position detection means Thus, it is possible to perform control for maintaining the straight operation of the working unit.

  Further, as another feature of the control device for the offset work machine in the embodiment of the present invention, the control means includes a normal work mode for maintaining the work position adjusting mechanism and the work direction adjusting mechanism in a predetermined state, and a work position adjusting mechanism. And an automatic rectilinear work control mode for adjusting and driving the work position adjusting mechanism and an automatic corner work control mode for adjusting only the work position adjusting mechanism or the work position adjusting mechanism and the work direction adjusting mechanism. It is characterized by.

  According to this, in the normal work mode, the work position and the work direction of the work unit can be maintained in a predetermined state, and the work unit can be operated along the traveling of the traveling machine body. By performing control to match the work position and work direction to the set reference value, it becomes possible to work the work part linearly regardless of the traveling state of the traveling aircraft, in the automatic corner work control mode, It is possible to work the corner work end in a straight line or arcuate shape (R-shape) by adjusting the posture of the work position adjustment mechanism alone or the work position adjustment mechanism and the work machine with the traveling machine stopped. become. In addition, the normal work mode, automatic straight work control mode, and automatic corner work control mode can be selected in a timely manner by automatic switching according to the will of the operator or the driving status of the traveling machine, so the manual work position and work direction It is possible to switch the setting, automatic straight running control, and the like as necessary.

  Another feature of the embodiment of the present invention is that the reference values of the work direction and the work position in the automatic straight work control mode are detected values detected by the work direction detection means and the work position detection means in the normal work mode. It is set based on this.

  According to this, since the reference value of the automatic straight work control mode is set from the work direction and work position of the actual work section in the normal work mode, the initial setting in the automatic straight work control mode becomes unnecessary, and the normal work mode When shifting from the automatic linear movement work control mode to the work direction, the continuity of the work direction and the work position can be ensured.

  Further, another feature of the embodiment of the present invention is that the control means includes notification means such as a buzzer, and the notification signal such as the tone of the buzzer in the notification means is changed according to the control mode. To do.

  According to this, if a buzzer sound or the like for notifying the work state is set according to each control mode, the operator can work with the buzzer sound or the like, and the work can be performed reliably and with less burden.

  Further, according to another feature of the embodiment of the present invention, in the control means, the transition from the normal work mode to the automatic straight work control mode, or the transition from the automatic straight work control mode to the automatic corner work control mode is an operation. It is characterized by switching by a selection switch.

  According to this, after setting the traveling machine body to the posture that can run straight at the predetermined offset position along the next saddle, manually turn on the automatic corner work control switch and work in the automatic corner work mode. It is also possible to do.

  Another feature of the embodiment of the present invention is that the operation selection switch is automatically switched.

  According to this, since the operation selection switch is automatically switched, it is possible to smoothly shift to each work mode and perform continuous trimming work.

  An offset working machine control method according to an embodiment of the present invention includes a working unit that is mounted on a traveling machine body and capable of working at a lateral position with respect to the traveling machine body, and for adjusting the working position of the working part. An offset work machine control method having a work position adjustment mechanism and a work direction adjustment mechanism for adjusting the work direction of a work unit, the work position adjustment mechanism and the work direction adjustment mechanism for straight traveling of a traveling machine body A normal work mode for maintaining the vehicle in a predetermined state, an automatic straight-ahead work control mode for adjusting and driving the work position adjusting mechanism and the work direction adjusting mechanism with respect to turning of the traveling machine body, and a work position adjusting mechanism for stopping the running machine body And an automatic corner work control mode for adjusting the work direction adjusting mechanism as well as adjusting and driving the work position adjusting mechanism. In the automatic straight work control mode, the work direction adjusting mechanism is adjusted and driven according to a comparison between the set work direction reference value and the detected work direction detection value, and the set work position reference value and According to the comparison with the detected value of the detected work position, the work position adjustment mechanism is adjusted and driven. In the automatic corner work control mode, the work position adjustment mechanism is adjusted and driven so that the offset angle changes by a predetermined amount. Features.

  According to this, in the normal work mode, it is possible to cause the work part to perform a straight work while the traveling machine body is traveling straight ahead, and in the automatic straight work control mode, the work part is operated to be linear while turning the traveling machine body. In the automatic corner work control mode, the work part can be made to perform a substantially linear or arcuate (R-shaped) work while the traveling machine body is stopped. Therefore, it is possible to continue continuous work without reversing the traveling machine body to the further corner of the field.

  Another feature of the offset work machine control method according to the embodiment of the present invention is that in the normal work mode, the work direction of the work unit is detected, and the reference value of the work direction is set based on the detected value of the work direction. In addition to the setting, the working position of the working unit is detected, and the reference value of the working position is set based on the detected value of the working position.

  According to this, while setting the reference value of the work direction and work position while moving the traveling machine straight in the normal work mode, and turning the traveling machine in the subsequent automatic straight work control mode, the set work direction and work position are set. The working unit can be operated linearly along the reference value. Thereby, the straight work of the working part can be continued while the traveling machine body is turned by switching from the normal work mode to the automatic straight work control mode at the corner of the field. In addition, since the work section can be moved straight to the corner of the field in the subsequent automatic linear work control mode while maintaining the work direction and work position in the normal work mode, the normal work mode is changed to the automatic straight work control mode. It is possible to ensure the continuity of the work state when shifting.

  An embodiment of the present invention will be described by taking an example of a wrinkle coater which is one of offset working machines. FIG. 1 is an explanatory diagram showing the overall configuration of a glazing machine according to an embodiment of the present invention. The plastering machine 100 connects the mounting unit 110 that is mounted on a three-point link mechanism of a tractor (not shown) that is a traveling machine, the working unit 120 that performs the smearing operation, and the mounting unit 110 and the working unit 120 described above. The connection part 130 is provided as a basic configuration.

  The mounting portion 110 includes lower link connecting portions 111A and 111B and a top link connecting portion 112, and also includes a support member 113 on which the connecting portion 130 is mounted. In addition, it includes an input shaft of the illustrated path that is connected to the PTO shaft of the tractor via a transmission joint such as a universal joint, and the power transmitted to the input shaft is transmitted to the transmission mechanism of the connecting portion 130. A transmission mechanism is provided in the support member 113.

  The connecting portion 130 is supported at one end side by the support member 113 of the mounting portion 110, and the working portion 120 is attached to the other end side so that the working portion 120 is operated at an offset position on the side of the traveling machine body shown in the figure. A link member 131 having one end pivotally supported on the mounting portion 110 side and the other end pivotally supported on the working portion 120 side, and a transmission case 132 having winding transmission means for transmitting power to the working portion 120 side. It has.

  The transmission case 132 has transmission shafts 132A and 132B installed vertically, the transmission case 132 is pivotally supported around the transmission shaft 132A, and the working unit 120 is pivotally supported around the transmission shaft 132B. Has been. The transmission case 132 and the link member 131 are arranged in parallel, and the support member 123 forms a parallel link mechanism so that the direction of the working unit 120 does not change with respect to the swing of the connecting unit 130 in the offset angle θ direction. It is a mechanism. In this embodiment, a parallel link mechanism is employed to facilitate control of an offset cylinder 140 and a direction cylinder 141 described later. However, as an embodiment of the present invention, the offset cylinder 140 and the direction cylinder 141 are independent. In the case of an embodiment in which such a parallel link mechanism is not formed, the same control as described below is possible.

  The working unit 120 arranges a new paddle by applying a pre-processing unit 121 that cuts a part of the old paddle to perform a cave work and the soil piled forward by the pre-processing unit 121 on the cut out old paddle. And a power transmission mechanism that distributes the power transmitted to the power transmission shaft 132B to the pre-processing unit 121 and the power control unit 122.

  Here, the pretreatment unit 121 can adopt a rotary tillage type pretreatment mechanism with a rotary claw attached to the drive shaft, and if necessary, a heaven field treatment mechanism for scraping off the old straw's heaven field (upper surface) is added. It may be what you did. Further, the trimming unit 122 may employ a trimming drum including a cylindrical drum 122A that molds the upper surface of the rod and a conical umbrella-shaped drum 122B that molds the side surface of the rod.

  In order to adjust the working direction of the working unit 120, the offset cylinder 140 as a working position adjusting mechanism for adjusting the working position of the working unit 120 is used as the control device of the coater 100 having such a basic configuration. A direction cylinder 141 is provided as a working direction adjusting mechanism.

  In addition, at least an angle sensor 150 is provided as a work direction detection unit that detects the work direction of the work unit 120. The angle sensor 150 does not detect a change in the direction of the working unit 120 relative to the connecting unit 130, but can detect a change in the working direction of the working unit 120 with respect to the field scene. A gyro sensor or the like can be employed. In the present embodiment, the angle sensor 150 is provided around the transmission shaft 132 </ b> B in the transmission case 132.

  Further, a position sensor 151 is provided as a work position detecting means for detecting the work position of the work unit 120. The position sensor 151 is disposed behind the trimming drum via a mounting arm 152 from a support case in the illustrated path.

  In addition, the control device for the glazing machine according to the embodiment of the present invention is a control unit that drives and controls the offset cylinder 140 and the direction cylinder 141 based on the detection signal from the angle sensor 150 and the detection signal from the position sensor 151. 160.

  FIG. 2 is a block diagram showing the configuration of the control device for the glazing machine according to the embodiment of the present invention. In this embodiment, the control means 160 includes a storage unit 161, a comparison operation unit 163, and a signal output unit 162 as main parts. The storage unit 161 stores a work position reference value Xo (161a), a work direction reference value Ao (161b), and a control program 164. The comparison operation unit 163 includes comparison means 163A and 163B. Yes. In addition, a setting signal switching unit 165 is provided between the storage unit 161 and the comparison calculation unit 163, and a signal input from the storage unit 161 to the comparison calculation unit 163 is provided in the control device according to a control mode described later. The automatic straight work control switch 166 and the automatic corner work control switch 167 can be switched according to the operation. The signal output unit 162 includes a work position adjustment output unit 162A and a work direction adjustment output unit 162B.

  The work position reference value Xo and the work direction reference value Ao are set in advance and stored in the storage unit 161 prior to the control unit 160 executing automatic straight work control. Then, the detection signal of the angle sensor 150 and the work direction reference value Ao are compared by the comparison unit 163A, and a control signal for driving and controlling the direction cylinder 141 is output from the work direction adjustment output unit 162B so as to eliminate the difference. Further, the detection signal of the position sensor 151 and the work position reference value Xo are compared by the comparison unit 163B, and a control signal for driving and controlling the offset cylinder 140 is output from the work position adjustment output unit 162A so as to eliminate the difference.

  In such a control means 160, when the automatic linear operation control mode is set by turning ON the automatic linear operation control switch 166, the reference operation position of the reference operation direction Ao, the heel formation position, and the operation unit 120 in FIG. Adjustment driving of the offset cylinder 140 and the direction cylinder 141 is performed so as to maintain Xo. At this time, for the control of the direction cylinder 141, the angle sensor 150 detects a deviation from the set reference work direction Ao, and a control signal is output from the work direction adjustment output unit 162B so as to eliminate the deviation. Further, the offset cylinder 140 is controlled by detecting a position shift of the working unit 120 from the reference work position Xo by the position sensor 151, and outputting a control signal for keeping the work position constant by eliminating this shift. The data is output from the unit 162A.

  Further, when the automatic corner work control mode is set by the ON operation of the automatic corner work control switch 167, the control means 160 causes the output signal of the control program 164 to be sent to the comparison calculation unit 163 by the setting signal switch 165. The operation position adjustment mechanism and the work direction adjustment mechanism are driven and controlled according to the control program 164. Here, the control program 164 stores a plurality of programs such as a control program for working the corners in a straight line or a control program for working the corners in an arc shape, which can be appropriately selected and set. Is possible.

  3, 4, and 5 are explanatory diagrams showing a control flow in the control device of the present embodiment, in which FIG. 3 is a control flow in the normal work mode, FIG. 4 is a control flow in the automatic linear work control mode, and FIG. Reference numeral 5 denotes a control flow in the automatic corner work control mode. As shown in FIG. 3, first, when the work is started (S10) and the power supply of the control device is turned on (S11), the angle sensor 150 and the position sensor 151 are activated to start detection (S12A, S12B). ). Here, the offset cylinder 140 and the direction cylinder 141 are maintained in a predetermined state, and a linear coating operation is advanced by the working unit 120 while the traveling machine body travels straight.

  In this normal work mode, the detection values of the angle sensor 150 and the position sensor 151 are sent to the storage unit 161 of the control means 160 as needed, and the work position reference value Xo (161a) and the work direction reference value Ao (161b) are set. (S13). The work position reference value Xo and the work direction reference value Ao may be set by calculating an average value from the detection values sent at any time and calculating the reference value, or stored as the sent detection values. The reference value may be replaced and updated as needed.

  This reference value setting (S13) is continued until the end of work in the normal work mode (S14, S16), and during that time, when the automatic straight work control switch 166 is turned on (S15), the automatic straight work control shown in FIG. The mode is changed (S21).

  When the automatic straight work control switch 166 is turned on (S21), as shown in FIG. 4, the work position reference value Xo and work direction reference value Ao set at that time are set as reference values for the automatic straight work control mode. (S22). At this time, the automatic straight work control switch 166 can be a manual switch, and is activated when the detected value of the automatic switch or the angle sensor 150 linked with the steering operation of the traveling machine body exceeds the allowable value. An automatic switch or the like can also be used.

  When the automatic straight-ahead work control mode is entered and the turning operation of the traveling machine body is performed (S23), the direction detection by the angle sensor 150 and the position detection by the position sensor 151 are performed (S24A, S24B). Then, as described above, the control means 160 compares the detection value At of the angle sensor 150 with the set work direction reference value Ao, and the control means 163A obtains the control deviation | At-Ao | (S25A). The control signal is sent from the working direction adjustment output unit 162B to the direction cylinder 141 until it becomes zero, and the direction control is performed (S26A). Further, the detection value Xt of the position sensor 151 and the set work position reference value Xo are compared, and the control means 163B obtains the control deviation | Xt−Xo | (S25B), and offsets until it becomes zero. A control signal is sent from the work direction adjustment output unit 162A to the cylinder 140 to perform work position control (S26B). Then, when the automatic straight work control switch 166 is turned OFF, the automatic straight work control mode is terminated (S27), and thereafter the automatic straight work is terminated (S28).

  FIG. 6A is a control state diagram showing the behavior of the offset angle θ in the above-described automatic rectilinear work control mode. FIGS. 7 and 8 show the control during turning of the traveling vehicle body in the automatic rectilinear work control mode. It is the state figure which showed the state and the automatic corner work control state.

  For example, as shown in FIGS. 7 (a), 7 (b), and 7 (c), a traveling machine body (tractor) Tr in which the coater 100 is mounted on a three-point link mechanism does not move at the corner of the field. When turning around the turning center Cr, the control state shown by the curve A in FIG. 6A is obtained. In FIG. 6A, the horizontal axis indicates the control time t (s), and the vertical axis indicates the offset angle θ (deg).

  Here, as shown in FIG. 7 (a), the traveling machine body Tr is caused to travel straight along the side L1 of the field in the normal work mode to perform a linear smearing operation, with the tip of the traveling machine body Tr at the corner. The automatic straight-ahead work control mode is started immediately before the traveling body Tr starts turning after the steering operation is performed (t = 0 (s)).

  In the example of the behavior of the offset angle θ shown in FIG. 6A, the offset angle θ reaches the control time t1 as the traveling body Tr turns with the offset angle θ at the control time t = 0 set to the maximum value θmax. (See FIG. 7B), the offset angle θ gradually decreases along the curve A and reaches the minimum value θmin at the control time t1. Further, as the traveling machine body Tr further turns, the offset angle θ gradually increases until the predetermined control time t2 (see FIG. 7C), and automatically at the offset angle θ1st at the control time t2. The straight work control mode ends.

  Next, when the automatic corner work control switch 167 is turned on at the position shown in FIG. 7 (c), the work unit 120 further proceeds to the corner of the field by a predetermined operation corresponding to the control program selected and set in advance. To do. Here, for example, if the offset angle θ is increased as shown by a curve B in FIG. 6A, the working unit 120 is made substantially linear to the corner of the field as shown in FIG. 8D. Can proceed to. For example, if a control program for changing the direction of the working unit 120 (drum angle α) corresponding to the amount of change in the offset angle θ as shown in FIG. As shown to e), the work part 120 can be made to advance in a substantially circular arc shape, and the trimming work which connects the edge | side L1 and the edge | side L2 can be performed in the corner part of a farm field. Then, when the working unit 120 reaches the corner end of the field, the automatic corner work control mode is ended by turning off the automatic corner work control switch 167.

  As shown in FIG. 6 (a), a buzzer sound for notifying the working state is set according to each control mode, the lamp is turned on or blinked, and the lamp is lit simultaneously with the buzzer sound. If set, the operator can work with a buzzer sound and a lamp display, and the work can be done reliably and with less burden.

  Here, the shift from the automatic straight work control mode to the automatic corner work control mode is such that, for example, as shown in FIG. 8 (f), the traveling machine body Tr can travel straight along the side L2 at a predetermined offset position. It is also possible to manually turn on the automatic corner work control switch 167 and to work in the automatic corner work mode after reattaching to a correct posture. Thus, the method of performing work after reattaching the traveling machine body Tr has an advantage that, for example, when the corner is formed in an arc shape, the transition to the normal work mode for the side L2 is smooth.

  In the above embodiment, the curve A shown in FIG. 6 differs depending on the type of the traveling body Tr (turning radius, etc.), the vehicle speed, the value of the offset angle θmax at the start of turning, and the like. Further, the control indicated by the curves A and B in FIG. 6 is continuous control, but the control in the present invention is not limited to continuous control, but rather is control by intermittent operation that changes stepwise. Is preferably adopted. In other words, in the case of continuous control, if the balance of the forces acting during trimming work is lost, the operation may become unstable and good trimming work may not be continued. The balance can be restored and stable operation can be continued.

  According to the control device of the coating machine according to such an embodiment, as shown in FIG. 7, in the field having the side L1 and the side L2, when performing the coating operation along the side L1, it is close to the side L2. Alternatively, the work can be continuously performed by causing the traveling body Tr to move forward and turn without reverse turning up to the corner reaching the side L2.

  That is, in a situation where the traveling machine body Tr can travel along the side L1 of the field, the operation in the normal operation mode (FIG. 3) described above is performed, and the offset cylinder 140 and the direction cylinder 141 are maintained in a predetermined state. The traveling machine body Tr is caused to travel along L1, and a linear smearing operation is performed. Then, when the leading end of the traveling machine body Tr approaches the side L2, the automatic straight-ahead operation control mode (FIG. 4) is selected and set, and then the operation is performed while turning the traveling machine body Tr.

  In the automatic rectilinear work control mode, the work direction of the working unit 120 is set as a reference value in a state in which the traveling body Tr turns as shown in FIGS. 7A, 7B, and 7C. It is always held in the reference direction by Ao, and the working position of the working unit 120 is also held at the set reference value Xo. Then, after finishing the automatic straight work control mode, the automatic corner work control mode (FIG. 5) is selected and set.

  In the automatic corner work control mode, as shown in FIG. 8D, FIG. 8E, and FIG. 8F, the offset angle is changed by a predetermined amount while the traveling body Tr is stopped, and the corner portion is further changed. Work up to.

  Therefore, it is possible to continuously advance the smearing operation by the working unit 120 along the side L1 even at the corner of the farm field, and after the work unit is reversed and reversed as in the prior art, the work of the corner is performed by the reverse operation. Compared with the case where it carries out, it becomes possible to shorten working time significantly. In addition, since the operator only has to turn the traveling machine body Tr at the corner, there is no complicated operation that requires special skill, and it is possible to easily perform the smearing operation on the corner of the field.

  In actual turning, it is conceivable that the turning center moves during turning depending on the traveling conditions of the field, the manner of steering operation, and the like. The displacement of the work position accompanying such movement of the turning center is detected by the position sensor 151, and the control amount is corrected by adding the control deviation | Xt−Xo |. According to this, even when the turning center moves due to slipping of the traveling wheels, the work position (reference value Xo) set at the time of shifting to the automatic straight-ahead work control mode is always maintained even during turning. It is possible to continue the straight operation of the working unit 120 while turning the machine body Tr.

  FIG. 9 is an explanatory diagram showing an example of the position sensor 151 described above. This position sensor 151 has a built-in potentiometer that detects the rotational displacement of the rotating shaft, and one end of a sensor rod 151A is fixed to the rotating shaft. The sensor rod 151A is a rod-shaped member whose sensitivity can be adjusted by adjusting the length, and a contact portion 151B is formed at the tip of the sensor rod 151A, and the contact portion 151B is formed by a new rod Sn (cylindrical drum 122A and conical umbrella drum 122B). It is urged so as to be in contact with the side surface of a new ridge formed by the sizing drum. When the sensor rod 151A swings to the a side in the figure with respect to the reference position, it is detected that the working unit 120 has moved to the left in the traveling direction with respect to the reference, and the sensor rod 151A swings to the b side in the figure. Then, it is detected that the working unit 151 has moved to the right in the traveling direction with respect to the reference.

  In addition, although the above-mentioned Example demonstrated the plastering machine, this invention is applicable not only to this but another offset working machine (for example, a ditching machine etc.). In this case, the sensors are not limited to those described above, and sensors having shapes, structures, and functions suitable for the form of each offset work machine may be employed.

100 Peeling machine (offset working machine)
120 Working part 140 Offset cylinder (working position adjustment mechanism)
141 direction cylinder (working direction adjustment mechanism)
150 Angle sensor (working direction detection means)
151 Position sensor (working position detecting means)
160 Control Unit 161 Storage Unit (Reference Value Setting Unit)
166 Automatic straight work control switch (motion selection switch)
167 Automatic corner work control switch (motion selection switch)
Tr traveling aircraft

Claims (2)

An offset working machine that is mounted on a traveling machine body and includes a working unit capable of working a lateral position with respect to the traveling machine body,
A reference value setting means for setting a reference value of the working direction and the working position of the working unit;
Work direction detecting means for detecting the work direction of the working unit;
Working position detecting means for detecting the working position of the working unit;
A working direction adjusting mechanism for adjusting a working direction of the working unit; a working position adjusting mechanism for adjusting a working position of the working unit;
Control means for driving and controlling the work position adjustment mechanism and the work direction adjustment mechanism,
The control means is
Maintaining the work position and the work direction in a predetermined state, the normal work mode in which the working unit works along the travel of the traveling machine body, using the preset work direction and work position as reference values, By adjusting the work position and the change in the work direction accompanying the change in the traveling direction, the automatic straight work control mode for maintaining a predetermined linear work, the work position at the end of the automatic straight work control mode as the starting point, Automatic corner work control mode to work the unworked part remaining in the part in a straight line or arc shape,
Have
An offset working machine characterized in that the control of the work position adjusting mechanism in the automatic corner work control mode is a control by an intermittent operation that changes in stages. A working unit mounted on the traveling machine body and capable of working on a lateral position with respect to the traveling machine body, a working position adjusting mechanism for adjusting a working position of the working part, and a working direction of the working part are adjusted. An offset working machine control method having a working direction adjusting mechanism for
A normal work mode for maintaining the work position adjusting mechanism and the work direction adjusting mechanism in a predetermined state with respect to straight traveling of the traveling machine body; and the work position adjusting mechanism and the work direction adjusting mechanism with respect to turning of the traveling machine body. An automatic straight work control mode for adjusting and driving, and an automatic corner for adjusting and driving only the work position adjusting mechanism or adjusting and driving the work position adjusting mechanism with respect to stoppage of travel of the traveling machine body. Part work control mode,
In the automatic straight work control mode, the work direction adjusting mechanism is adjusted and driven according to a comparison between the set work direction reference value and the detected work direction detection value, and the set work position reference value and Adjusting and driving the work position adjusting mechanism in accordance with a comparison with the detected value of the work position,
In the automatic corner work control mode, the work position adjustment mechanism is adjusted and driven by control by an intermittent operation that changes stepwise so that the offset angle changes by a predetermined amount.

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