JPH095A - Levee-forming machine - Google Patents

Levee-forming machine

Info

Publication number
JPH095A
JPH095A JP17659295A JP17659295A JPH095A JP H095 A JPH095 A JP H095A JP 17659295 A JP17659295 A JP 17659295A JP 17659295 A JP17659295 A JP 17659295A JP H095 A JPH095 A JP H095A
Authority
JP
Japan
Prior art keywords
ridge
levee
machine
vehicle body
traveling vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP17659295A
Other languages
Japanese (ja)
Inventor
Hiroyoshi Ono
弘喜 小野
Isao Takechi
伊佐夫 武智
Tomoyuki Ishida
智之 石田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
Original Assignee
Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iseki and Co Ltd, Iseki Agricultural Machinery Mfg Co Ltd filed Critical Iseki and Co Ltd
Priority to JP17659295A priority Critical patent/JPH095A/en
Publication of JPH095A publication Critical patent/JPH095A/en
Pending legal-status Critical Current

Links

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  • Soil Working Implements (AREA)

Abstract

PURPOSE: To provide a levee-forming machine prevented from abnormal vibrations and always operable in a stable conditions, so designed that the traveling vehicle body side is mounted with a control unit to control the height of a levee-forming working machine based on the results from a sensor to detect the vertical acceleration of the subject machine. CONSTITUTION: A levee-forming working machine for levee compaction through driving a levee-forming body itself is mounted on a traveling vehicle body in a vertically movable way, the traveling vehicle body side is equipped with a sensor 20 to detect the vertical acceleration of this levee-forming, machine, and there is equipped a control unit 15 to control the height of the levee-forming working machine relatively to the traveling vehicle body based on the results from the sensor 20. It is preferable that the traveling vehicle body side be equipped with a control lever 16 vertically control the working machine, a lift arm sensor 17 to detect the angle of a lift arm, and a target value setting device 18 to set control target values.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、畦の成形、修復に使用
する畦成形機に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ridge molding machine used for molding and repairing ridges.

【0002】[0002]

【従来の技術】トラクタに装着して使用する畦成形用作
業機(通称、畦塗機)としては、クランク機構を用いて
畦成形体自体を駆動して畦を叩き締める形式のものと、
バイブレータ等を用いて畦成形体を振動させてる畦を締
める形式のものとが従来より知られている。
2. Description of the Related Art As a ridge forming working machine (commonly called a ridge coating machine) mounted on a tractor, a type in which a ridge molded body is driven by a crank mechanism to beat the ridge,
2. Description of the Related Art A type in which a ridge is tightened by vibrating a ridge molded body using a vibrator or the like has been conventionally known.

【0003】[0003]

【発明が解決しようとする課題】両形式の畦成形用作業
機にはそれぞれ一長一短があるが、前者ついては、畦成
形体の駆動に伴う衝撃が大きく、元の畦に対する畦成形
体の位置が不適正であると、トラクタ側に大きな上下振
動が伝わり、操縦に支障が生じたり、場合によっては操
縦不能になるという問題があった。
Although both types of working machines for ridge molding have advantages and disadvantages, the former has a large impact due to the drive of the ridge molding, and the position of the ridge molding with respect to the original ridge is not correct. If it is proper, there is a problem that a large vertical vibration is transmitted to the tractor side, which hinders maneuvering, or in some cases makes the maneuver impossible.

【0004】本発明は、畦成形体自体を駆動して畦を叩
き締める形式の畦成形用作業機を装着した畦成形機の上
記問題点を解決することを課題とするものであり、これ
を達成するために畦成形機を次のように構成した。
An object of the present invention is to solve the above-mentioned problems of a ridge molding machine equipped with a ridge molding working machine which drives the ridge molding itself to beat and tighten the ridges. In order to achieve it, the ridge molding machine was configured as follows.

【0005】[0005]

【課題を解決するための手段】すなわち、本発明にかか
る畦成形機は、畦成形体自体を駆動して畦を叩き締める
畦成形用作業機を走行車体に昇降可能に装着してなる畦
成形機において、走行車体側に上下方向の加速度を検出
するセンサを設け、このセンサの検出結果に基づいて畦
成形用作業機の走行車体に対する高さを制御する制御装
置を設けたことを特徴としている。
Means for Solving the Problems That is, a ridge molding machine according to the present invention is a ridge molding machine in which a ridge molding working machine for driving a ridge molded body itself to beat and tighten a ridge is mounted on a traveling vehicle body so as to be vertically movable. In the machine, a sensor for detecting vertical acceleration is provided on the traveling vehicle body side, and a control device for controlling the height of the ridge forming work machine with respect to the traveling vehicle body is provided based on the detection result of the sensor. .

【0006】[0006]

【作用】センサによって検出される走行車体側の上下方
向の加速度に応じ、走行車体に対して畦成形用作業機を
適正高さに昇降制御することにより、良好な作業状態が
維持できると共に、走行車体側が激しく振動することを
防止できる。
According to the vertical acceleration on the side of the traveling vehicle detected by the sensor, the ridge forming work machine is vertically moved up and down with respect to the traveling vehicle, thereby maintaining a good working state and traveling. It is possible to prevent the vehicle body from vibrating violently.

【0007】[0007]

【実施例】以下、本発明の1実施例を図面に基づき詳述
する。
An embodiment of the present invention will be described in detail below with reference to the drawings.

【0008】この畦成形機1は、走行車体であるトラク
タ2の後方に畦成形用作業機3を昇降可能に装着してな
る。図中の5は左右一対のロワリンク、6は左右中央に
1本のトップリンクで、これらリンク5,5,6の後端
部に作業機3が連結される。また、7はトラクタが具備
する油圧装置で駆動するリフトアームで、該リフトアー
ムの後端部にリフトロッド8,8を介してロワリンク
5,5が吊られており、リフトアーム7,7を上下に回
動させることにより、作業機3が昇降される。
This ridge forming machine 1 is provided with a ridge forming work machine 3 which is vertically movable behind a tractor 2 which is a traveling vehicle body. In the figure, 5 is a pair of left and right lower links, 6 is one top link at the center of the left and right, and the working machine 3 is connected to the rear ends of these links 5, 5, 6. Further, 7 is a lift arm that is driven by a hydraulic device included in the tractor, and lower links 5 and 5 are suspended at the rear end of the lift arm via lift rods 8 and 8 to lift the lift arms 7 and 7 up and down. The work machine 3 is moved up and down by rotating the work machine 3 to the vertical direction.

【0009】畦成形用作業機3は、トラクタ2より伝動
軸9を介して伝動される伝動ケース10を備え、その右
側方に、前後軸回りに回転する土削りローター11と該
土削りローターの上側を覆うローターカバー12が設け
られ、その後側にストロークの下部ほどやや外側に位置
するように略上下方向に往復動する畦成形体13が設け
られ、更にその内側に接地車輪14が設けられている。
作業機3を適当高さに保持しながら畦に沿わせて進行さ
せると、土削りローター11が畦の法面と一部圃場の表
土面を削り取り、その削り取って跳ね上げられた土をロ
ーターカバー12が受け止めて畦の上面に落下させ、そ
の後、畦成形体13が畦の上面と法面を叩き締めて畦を
成形し直す。
The ridge forming working machine 3 is provided with a transmission case 10 which is transmitted from the tractor 2 via a transmission shaft 9, and on the right side thereof, a soil shaving rotor 11 which rotates around a front-rear axis and a soil shaving rotor. A rotor cover 12 that covers the upper side is provided, and a ridge molding 13 that reciprocates in a substantially vertical direction is provided on the rear side of the rotor cover 12 so as to be positioned slightly outward of the lower part of the stroke, and a ground wheel 14 is further provided inside thereof. There is.
When the working machine 3 is moved along the ridges while being held at an appropriate height, the earth shaving rotor 11 scrapes off the slopes of the ridges and the surface soil surface of a part of the field, and the scraped-up soil is covered by the rotor cover. 12 receives and drops it on the upper surface of the ridge, and then the ridge molding 13 re-forms the ridge by striking the upper surface and the slope of the ridge.

【0010】畦成形作業時には、図4に示す昇降制御装
置によって作業機3を昇降制御する。制御コントローラ
15は、マイコンが組み込まれていて制御の中枢をなす
制御装置である。
During the ridge forming work, the working machine 3 is controlled to move up and down by the lifting control device shown in FIG. The controller 15 is a control device that incorporates a microcomputer and forms the center of control.

【0011】作業機3を上げ下げ操作するコントロール
レバー16と、リフトアーム7,7の角度を検出するリ
フトアームセンサ17と、制御目標値を設定する目標値
設定器18とはトラクタ自体に設けられているものであ
る。トラクタには作業機として耕耘機が装着されること
が多いので、目標値設定器18は一般的に耕深の目標値
を設定する耕深設定器と呼ばれる。畦成形用作業機を装
着する場合は、この目標値設定器18で後記加速度の制
御目標値を設定する。
A control lever 16 for raising and lowering the working machine 3, a lift arm sensor 17 for detecting the angles of the lift arms 7, 7, and a target value setting device 18 for setting a control target value are provided on the tractor itself. There is something. Since the tractor is often equipped with a cultivator as a working machine, the target value setting device 18 is generally called a cultivating depth setting device for setting a target value of the cultivating depth. When the ridge forming working machine is mounted, the target value setting device 18 sets a control target value for acceleration, which will be described later.

【0012】デプスセンサ19は、耕耘機に設けられて
実際の耕深を検出するセンサで、作業機として耕耘機を
装着する場合に制御コントローラ15に接続される。
The depth sensor 19 is a sensor provided on the tiller to detect the actual tilling depth, and is connected to the controller 15 when the tiller is mounted as a working machine.

【0013】加速度センサ20は、トラクタを畦成形機
として使用する場合にトラクタの特に運転座席付近の振
動を調べるためのセンサで、運転座席2a近傍の平坦な
部分(図示例では運転座席の下側)に設置される。この
加速度センサ20は上下方向の加速度を検出する。
The acceleration sensor 20 is a sensor for examining the vibration of the tractor, especially near the driver's seat when the tractor is used as a ridge molding machine, and is a flat portion near the driver's seat 2a (lower side of the driver's seat in the illustrated example). ) Is installed. The acceleration sensor 20 detects vertical acceleration.

【0014】加速度センサ20の検出信号は、制御コン
トローラ15に送信するに先立ち、反転回路21とピー
クホールド回路22により下記の波形処理をする。図5
は波形処理の1例を示す図で、(a)振動波形をした未
処理の検出信号を、(b)0G(加速度が0)を基準に
して−(マイナス)側を反転処理し、(c)更に所定の
ディレータイムを設けてピーク値をホールドする。ここ
では、基準値の電圧を2.5Vとしている。このように
波形処理することにより、振動の大きさを表す加速度ピ
ークの絶対値だけを抽出することができ、後の制御コン
トローラ15での演算が簡略化される。ピークホールド
処理の前に反転処理をすることにより、ピークホールド
のホールド時間を短くでき、検出の応答性が向上する。
なお、場合によっては、反転処理はせず、ピークホール
ド処理のみをするようにしてもよい。
The detection signal of the acceleration sensor 20 is subjected to the following waveform processing by the inverting circuit 21 and the peak hold circuit 22 before being transmitted to the controller 15. FIG.
Is a diagram showing an example of waveform processing. (A) Inversion processing of an unprocessed detection signal having a vibration waveform on the negative (-) side with reference to 0G (acceleration is 0), (c) ) Further, a predetermined delay time is provided to hold the peak value. Here, the reference voltage is 2.5V. By performing the waveform processing in this way, it is possible to extract only the absolute value of the acceleration peak representing the magnitude of the vibration, and the subsequent calculation in the controller 15 is simplified. By performing the inversion process before the peak hold process, the hold time of the peak hold can be shortened, and the detection responsiveness improves.
In some cases, only the peak hold process may be performed without the inversion process.

【0015】各センサ、設定器からのデータを制御コン
トローラ15に送信し、該コントローラ内でデータ処理
し、油圧装置を制御する比例ソレノイドバルブ23の上
昇用比例ソレノイド23aと下降用比例ソレノイド23
bに出力信号を出す。この出力信号はパルス信号であ
り、パルスのONタイムに比例してバルブの開閉量が決
定される。
Data from each sensor and setting device is transmitted to the control controller 15, the data is processed in the controller, and the proportional solenoid valve 23a and the proportional solenoid 23 for descending the proportional solenoid valve 23 for controlling the hydraulic system are controlled.
Output signal to b. This output signal is a pulse signal, and the opening / closing amount of the valve is determined in proportion to the ON time of the pulse.

【0016】制御コントローラ15でのデータ処理は、
図6に示す順序で行われる。
The data processing in the controller 15 is
The steps are performed in the order shown in FIG.

【0017】まず、デプスセンサ19用の端子に加速度
センサ20が接続されていることをチェックし、更にコ
ントロールレバー16が操作されておらず、且つリフト
アーム7,7が作動していないことを確認した上で、不
感帯を含む加速度目標値と加速度センサ値を比較処理
し、加速度目標値が加速度センサ値よりも大きい時はソ
レイド23a,23bに下出力をし、加速度目標値より
も加速度センサ値が大きい時はソレイド23a,23b
に上出力する。その際、次の点を出力決定の条件とす
る。
First, it was checked that the acceleration sensor 20 was connected to the terminal for the depth sensor 19, and it was further confirmed that the control lever 16 was not operated and the lift arms 7, 7 were not operating. In the above, the acceleration target value including the dead zone and the acceleration sensor value are compared, and when the acceleration target value is larger than the acceleration sensor value, the solenoids 23a and 23b output lower, and the acceleration sensor value is larger than the acceleration target value. Time is Solade 23a, 23b
Output to. At that time, the following points are used as conditions for determining the output.

【0018】第一に、昇降制御の最大動作量を決め、作
業機が必要以上昇降しないようにする。具体的には、作
業機3が作業位置に下降している時の基準となるリフト
アームセンサ値を基に昇降制御の動作範囲を決め
(A)、リフトアームセンサ値がその動作範囲を上もし
くは下に超えている場合は加速度目標値と加速度センサ
値との間に差があっても出力しないようにしている
(B)。これにより、作業機が畦から浮き上がり過ぎて
畦成形体13が畦を叩かなくなったり、或は作業機が畦
に接近しすぎて過剰な負荷がかかることを防止し、常に
畦成形体13が適正な状態で畦を叩き締めるように維持
する。
First, the maximum operation amount of the lifting control is determined so that the working machine does not lift more than necessary. Specifically, the operation range of the lifting control is determined based on the lift arm sensor value that serves as a reference when the work implement 3 is descending to the work position (A), and the lift arm sensor value is above or below the operation range. If it is below the lower limit, even if there is a difference between the acceleration target value and the acceleration sensor value, no output is made (B). This prevents the working machine from rising too much from the ridge and the ridge molded body 13 from hitting the ridge, or prevents the working machine from coming too close to the ridge and exerting an excessive load, so that the ridge molded body 13 is always appropriate. Keeping the ridges tightened in this condition.

【0019】第二に、昇降出力は規定時間(パルスON
タイム)づつ一定間隔をあけて出す(C)。これも第一
条件と同様に、作業機の急激な動作を防ぎ、作業機が必
要以上昇降しないようするためである。
Second, the elevating output is output for a specified time (pulse ON
Each time), put out at regular intervals (C). This is also to prevent the working machine from abruptly moving and prevent the working machine from moving up and down more than necessary, as in the first condition.

【0020】第三に、上記出力規定時間は加速度目標値
と加速度センサ値の差に応じて変更し、差が大きい時は
出力規定時間を長くし、差が小さい時は出力規定時間を
短くする(D)。これにより、作業機を昇降させ過ぎる
ことなく、昇降の追従性を向上させる。
Thirdly, the specified output time is changed according to the difference between the acceleration target value and the acceleration sensor value. When the difference is large, the specified output time is lengthened, and when the difference is small, the specified output time is shortened. (D). This improves the up-and-down followability without raising and lowering the working machine too much.

【0021】この昇降制御は以上の制御を行うものであ
り、畦成形用作業機の高さが不適正であるとトラクタ側
に大きな上下振動が伝わりやすい畦成形体自体を駆動し
て畦を叩き締める形式の畦成形機において、トラクタ側
に設けた加速度センサ20の検出結果に基づいて畦成形
用作業機のトラクタに対する高さを制御することで、ト
ラクタ側の上下振動が一定の大きさを超えないようにし
ている。これにより、常に安定状態で操縦を行える。ま
た、加速度センサ20がトラクタ側に設けられているの
で、トラクタ側と作業機側をつなぐ配線が不要であると
共に、畦成形機として使用する以外の時にもトラクタの
振動を抑えるための昇降制御をすることができる。
This elevating control is for performing the above control, and when the height of the ridge molding working machine is not appropriate, the ridge molded body itself is apt to be driven by a large vertical vibration being transmitted to the tractor side to strike the ridge. In the tightening type ridge molding machine, by controlling the height of the ridge molding working machine with respect to the tractor based on the detection result of the acceleration sensor 20 provided on the tractor side, the vertical vibration on the tractor side exceeds a certain level. I try not to. As a result, the maneuver can always be performed in a stable state. Further, since the acceleration sensor 20 is provided on the tractor side, wiring that connects the tractor side and the working machine side is not necessary, and lifting control for suppressing vibration of the tractor even when not used as a ridge molding machine is performed. can do.

【0022】[0022]

【発明の効果】以上に説明した如く、本発明にかかる畦
成形機は、走行車体側に設けた加速度センサによって走
行車体の上下振動を検出し、その検出結果に基づいて、
走行車体側の上下振動が一定の大きさを超えないように
畦成形用作業機の高さを制御するので、常に安定した状
態で操縦することができるようになった。
As described above, the ridge molding machine according to the present invention detects the vertical vibration of the traveling vehicle body by the acceleration sensor provided on the traveling vehicle body side, and based on the detection result,
Since the height of the ridge forming work machine is controlled so that the vertical vibration on the side of the traveling vehicle does not exceed a certain level, it is now possible to operate in a stable state at all times.

【図面の簡単な説明】[Brief description of drawings]

【図1】畦成形機の側面図である。FIG. 1 is a side view of a ridge molding machine.

【図2】畦成形機の平面図である。FIG. 2 is a plan view of a ridge molding machine.

【図3】畦成形用作業機の背面図である。FIG. 3 is a rear view of the ridge forming working machine.

【図4】昇降制御装置のブロック図である。FIG. 4 is a block diagram of a lifting control device.

【図5】加速度センサ値の波形処理の1例を示す図で、
(a)は処理前の波形、(b)反転処理後の波形、
(c)更にピークホールド処理後の波形をそれぞれ表し
ている。
FIG. 5 is a diagram showing an example of waveform processing of an acceleration sensor value,
(A) is a waveform before processing, (b) is a waveform after inversion processing,
(C) Further, each waveform after the peak hold processing is shown.

【図6】昇降制御のフローチャートである。FIG. 6 is a flowchart of lifting control.

【符号の説明】[Explanation of symbols]

1 畦成形機 2 トラクタ(走行車体) 3 畦成形用作業機 11 土削りローター 12 ローターカバー 13 畦成形体 15 制御コントローラ(制御装置) 18 目標値設定器 20 加速度センサ 23 比例ソレノイドバルブ DESCRIPTION OF SYMBOLS 1 Ridge forming machine 2 Tractor (running vehicle body) 3 Ridge forming work machine 11 Soil cutting rotor 12 Rotor cover 13 Ridge forming body 15 Control controller (control device) 18 Target value setting device 20 Acceleration sensor 23 Proportional solenoid valve

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 畦成形体自体を駆動して畦を叩き締める
畦成形用作業機を走行車体に昇降可能に装着してなる畦
成形機において、走行車体側に上下方向の加速度を検出
するセンサを設け、このセンサの検出結果に基づいて畦
成形用作業機の走行車体に対する高さを制御する制御装
置を設けたことを特徴とする畦成形機。
1. A ridge forming machine in which a ridge forming working machine for driving a ridge forming body itself and striking a ridge is mounted on a traveling vehicle body so as to be able to move up and down. A sensor for detecting vertical acceleration on the traveling vehicle body side. And a control device for controlling the height of the working machine for ridge molding with respect to the traveling vehicle body based on the detection result of the sensor.
JP17659295A 1995-06-19 1995-06-19 Levee-forming machine Pending JPH095A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP17659295A JPH095A (en) 1995-06-19 1995-06-19 Levee-forming machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17659295A JPH095A (en) 1995-06-19 1995-06-19 Levee-forming machine

Publications (1)

Publication Number Publication Date
JPH095A true JPH095A (en) 1997-01-07

Family

ID=16016270

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17659295A Pending JPH095A (en) 1995-06-19 1995-06-19 Levee-forming machine

Country Status (1)

Country Link
JP (1) JPH095A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017184758A (en) * 2017-06-22 2017-10-12 小橋工業株式会社 Remote controller of agricultural working machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017184758A (en) * 2017-06-22 2017-10-12 小橋工業株式会社 Remote controller of agricultural working machine

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