JPH095A - Levee-forming machine - Google Patents

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

Detailed Description of the Invention

[0001]

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]

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]

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.

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]

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]

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]

An embodiment of the present invention will be described in detail below with reference to the drawings.

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.

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.

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.

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.

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.

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.

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.

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.

The data processing in the controller 15 is
The steps are performed in the order shown in FIG.

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.

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.

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.

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.

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]

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.

[Brief description of drawings]

FIG. 1 is a side view of a ridge molding machine.

FIG. 2 is a plan view of a ridge molding machine.

FIG. 3 is a rear view of the ridge forming working machine.

FIG. 4 is a block diagram of a lifting control device.

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.

FIG. 6 is a flowchart of lifting control.

[Explanation of symbols]

 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)

[Claims] 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.