CN101790914A - Working vehicle - Google Patents
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- CN101790914A CN101790914A CN201010107034A CN201010107034A CN101790914A CN 101790914 A CN101790914 A CN 101790914A CN 201010107034 A CN201010107034 A CN 201010107034A CN 201010107034 A CN201010107034 A CN 201010107034A CN 101790914 A CN101790914 A CN 101790914A
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Abstract
The present invention provides a working vehicle capable of appropriately detecting the completion of turning. Based on the revolution rate of the wheels (2), the body (G) and wheels (1) that can be operated to freely turn are used to bias a turning angle (A) from the straight-going position (A1), starting from the turning of operation stroke, the position (Y2) of the body in turning in the body travel direction is detected before the start of the turning.
Description
Technical field
The present invention relates in turning in operation ground, can detect the Operation Van of body position.
Background technology
In riding type rice transplanter as an example of Operation Van, once plant stroke (being equivalent to the operation stroke) body when arriving the limit, field when finishing, the seedling growing device is risen and turn (forming the roughly turning of U word route) from the field face, when turning is finished, make the seedling growing device drop to the field face, enter the stroke of planting next time.
For example in patent documentation 1, when body arrival limit, field front-wheel is diverted operation, judge the beginning (paragraph of patent documentation 1 " 0038 ") of turning, begin to utilize range sensor (27 among Fig. 3 of patent documentation 1) to detect (accumulative total) body operating range, when the body operating range reaches setpoint distance, judge and finish turning (paragraph of patent documentation 1 " 0042 ").
Like this, in patent documentation 1, constitute by detecting to turn and finish, the seedling growing device drops to field face (paragraph of patent documentation 1 " 0044 ") automatically, when finishing turning, can not carry out the step-down operation that the driver utilizes lifting handle that the seedling growing device is carried out.
Patent documentation 1:JP spy opens the 2002-233220 communique;
Patent documentation 2:JP spy opens the 2001-86816 communique.
Maintaining identical steering angle for finishing front-wheel to turning from the beginning of turning, and under the state of turning in the mode of describing a semicircle, because the body operating range directly becomes the carrying out of turning, can derive body position in the turning uniquely according to the body operating range, so as patent documentation 1, judge turning when the body operating range reaches setpoint distance, it is also no problem to finish.
But, in riding type rice transplanter, be not only to finish front-wheel from the beginning of turning to turning to maintain identical steering angle as an example of Operation Van, and the state of turning in the mode of describing a semicircle.For example, patent documentation 2 is disclosed such, in riding type rice transplanter with the big seedling growing device of 8 transverse widths of planting pattern, after often having carried out preceding half way around curved (L1 among patent documentation 2 Fig. 8), keep straight on a little (L2 among patent documentation 2 Fig. 8), carry out later half turning (L3 among Fig. 8 of patent documentation 2) then.
Thus, shown in Figure 8 as patent documentation 2 is before carrying out when curved, craspedodrome of half way around and later half turning, if as patent documentation 1, only detect (accumulative total) body operating range, then preceding half way around bend and later half turning between craspedodrome in also to detect (accumulative total) body operating range.Thus, following situation may take place, current half way around curved with later half turning between craspedodrome when elongated, though do not finish turning as yet, preceding half way around curved with later half turning between craspedodrome in the body operating range reach setpoint distance, and the judgement turning is finished.
Summary of the invention
The object of the present invention is to provide and suitably to detect the Operation Van that turns and finish.
[I]
(structure)
Of the present invention first is characterized as following such fabrication process car.
Operation Van has: the operating range detecting unit, be used to detect the operating range of body, the steering angle detecting unit, be used to detect the steering operation steering angle of wheel offset straight line position freely, the body position detection unit, turn from the operation stroke, utilize operating range detecting unit and steering angle detecting unit to detect the position of body on the body direct of travel of turning before beginning in the turning.
(effect)
In riding type rice transplanter as an example of Operation Van, for example patent documentation 2 is shown in Figure 8, half way around curved (L1 among Fig. 8 of patent documentation 2) before carrying out, under the situation of craspedodrome (L2 among Fig. 8 of patent documentation 2) and later half turning (L3 among Fig. 7 of patent documentation 2), no matter keep straight on elongated or shorten, be that body direct of travel before the beginning of turning is (with reference to Fig. 7 of patent documentation 2 and the K1 among Fig. 8 mostly, K2) the turning completing place on constant (for example in riding type rice transplanter, make turning starting position (front position of arrow K1 among Fig. 8 of patent documentation 2) consistent) with turning completing place (front position of arrow L3 among Fig. 8 of patent documentation 2).
And, in riding type rice transplanter as an example of Operation Van, once plant stroke (being equivalent to the operation stroke) and body when arriving the limit, field when finishing, because form the roughly turning of U word route (with reference to Fig. 7 and Fig. 8 of patent documentation 2), so the turning completing place on the body direct of travel before the beginning of turning is constant as previously mentioned, thus, body direct of travel before the beginning of turning is (with reference to Fig. 7 of patent documentation 2 and the K1 among Fig. 8, K2) on, if can detect the body position in the turning, just can detect the turning completing place on the body direct of travel before the beginning of turning.
In accordance with a first feature of the invention, it or not the body position that only utilizes in the body operating range detection turning, and the steering angle of use body operating range and wheel offset straight line position, by on the basis of body operating range, adding the steering angle of wheel offset straight line position, can detect body and what direction what to have been advanced to.
Like this, what direction what to have advanced if can detect body to, then based on this, can detect body in the turning before the beginning of turning (for example with reference to the L01 among Fig. 7) the body direct of travel (for example with reference among Fig. 7 (+Y) position on (Y)) Y2 of (for example with reference to Fig. 8 (a), Fig. 8 (b)) can suitably detect the turning completing place on the body direct of travel of turning before beginning thus.
(effect of invention)
In accordance with a first feature of the invention, in Operation Van, pass through to detect the position on the body direct of travel of body before the beginning of turning in turning, can suitably detect the turning completing place, thereby the operation of suitably carrying out carrying out based on the detection of turning completing place is (for example in riding type rice transplanter, detection based on the turning completing place, the seedling growing device drops to the field face automatically), thus the transaction capabilities of Operation Van can be improved.
[II]
(structure)
Of the present invention second be characterized as on the basis of the Operation Van of first feature of the present invention, constitute following like that.
The body position detection unit constitutes: the steering angle that utilizes body operating range and wheel offset straight line position, detect the move angle that body radius of turn and body move with respect to the body turning center, based on body radius of turn and move angle, detect position on the body direct of travel of body before the beginning of turning in the turning according to trigonometric function.
(effect)
Such as preceding paragraph [I] record, what direction what to have advanced if can detect body to according to the steering angle of body operating range and wheel offset straight line position, then as (a) of Fig. 8, (b) shown in, can be according to the steering angle A of body operating range G and wheel 1 offset straight line position A1, (for example detect move angle θ that body radius of turn R and body moved with respect to body turning center C, based on wheel 1, the steering angle A of 2 wheelbase W and wheel 1 offset straight line position A1 etc. detects body turning center C and radius of turn R, based on body turning center C, radius of turn R and body operating range G detect move angle θ).
According to second feature of the present invention, by detecting body radius of turn and move angle, can detect position (for example among (b) at Fig. 8) on the body direct of travel of body before the beginning of turning in the turning accurately by trigonometric function by R*SIN (θ) detection Y2.
(effect of invention)
According to second feature of the present invention, can detect position on the body direct of travel of body before the beginning of turning in the turning accurately according to trigonometric function, can detect the turning completing place more accurately, suitably carry out the operation carried out based on the detection of turning completing place, thereby can improve the transaction capabilities of Operation Van.
[III]
(structure)
The of the present invention the 3rd is characterized as on the basis of the Operation Van of the present invention's second feature and is constructed as follows like that.
Set a plurality of zones of angular range with regulation for the steering angle of wheel offset straight line position, set a body radius of turn respectively in a plurality of zones, the body position detection unit constitutes: when the steering angle of wheel offset straight line position enters in a plurality of zones one, the body radius of turn in the zone that enters based on the steering angle of wheel offset straight line position detects the position on the body direct of travel of body before the beginning of turning in the turning.
(effect)
Such as preceding paragraph [II] record, detect under the situation of body turning center and radius of turn at the steering angle that utilizes body operating range and wheel offset straight line position, if the steering angle of wheel offset straight line position changes, then the body radius of turn also changes, and the steering angle of corresponding wheel offset straight line position has the body radius of turn of a plurality of (countless).Thus, the variation of the steering angle of each wheel offset straight line position all detects the body radius of turn, becomes burden for the body position detection unit.When particularly the steering angle of wheel offset straight line position changed continually, it is big that aforesaid burden becomes.
According to the 3rd feature of the present invention, the steering angle variation that is not each wheel offset straight line position all detects the body radius of turn, but for the steering angle of wheel offset straight line position set have a plurality of zones of fixed angular range, (for example set a body radius of turn respectively in a plurality of zones, 90 degree are divided into 9 zones (angular range of regulation is 10 degree), set a body radius of turn in a plurality of zones respectively.In 0 degree～10 degree zones, set the body radius of turn of the body radius of turn corresponding) as 0 degree～10 degree zones with the steering angle (for example 5 degree) of wheel offset straight line position.
According to the 3rd feature of the present invention, when entering steering angle with wheel offset straight line position regional, even the steering angle of wheel offset straight line position changes, as long as be in this zone, the position of using body radius of turn in this zone to detect on the body direct of travel of body before the beginning of turning in turning gets final product, do not need the steering angle variation of each wheel offset straight line position (for example all to detect the body radius of turn, as long as the steering angle of wheel offset straight line position is in 0 degree～10 degree zones, even the steering angle of wheel offset straight line position becomes 3 degree or 8 degree, use a body radius of turn in 0 degree～10 degree zones to get final product.Then, if the steering angle of wheel offset straight line position enters 10～20 degree zones, then use a body radius of turn in 10 degree～20 degree zones to get final product).
Thus, the number of times that detects the body radius of turn can be reduced, thereby the burden of body position detection unit can be alleviated.
(effect of invention)
According to the 3rd feature of the present invention, do not need the steering angle variation of each wheel offset straight line position all to detect the body radius of turn, can alleviate the burden of body position detection unit, help the simplification and the cost degradation of body position detection unit.
[IV]
(structure)
According to the 4th feature of the present invention, in first～the 3rd feature of the present invention, be constructed as follows on the basis of any Operation Van like that.
The body position detection unit constitutes: turn from the operation stroke, steering angle at wheel offset straight line position is under the steering angle and the state between the set angle of operation stroke, detects the body operating range as the position on the body direct of travel of the body in turning before the beginning of turning.
(effect)
Such as preceding paragraph [I] record, detecting body according to the steering angle of body operating range and wheel offset straight line position under what situation is what direction advanced, after from the operation stroke, just having begun turning, steering angle at wheel offset straight line position is under the steering angle and the state between the set angle of operation stroke, because the variation of body direct of travel is little, so the body direct of travel that can be considered as turning after beginning preceding body direct of travel and just having begun to turn is roughly the same.
According to the 4th feature of the present invention, turn from the operation stroke, under the steering angle of wheel offset straight line position is in steering angle and the state between the set angle on the operation stroke, as previously mentioned, body direct of travel owing to can be considered as turning before the beginning with just begun to turn after the body direct of travel roughly the same, so detect the body operating range as the position on the body direct of travel of the body in turning before the beginning of turning.
Thus, detect the situation of the position of body on the body direct of travel of turning before beginning in turning with the steering angle that utilizes body operating range and wheel offset straight line position and compare, can alleviate the burden of body position detection unit.
(effect of invention)
According to the 4th feature of the present invention, turn from the operation stroke, under the steering angle of wheel offset straight line position is in steering angle and the state between the set angle on the operation stroke, can alleviate the burden of body position detection unit, help the simplification and the cost degradation of body position detection unit.
[V]
The 5th feature of the present invention is constructed as follows on the basis of the Operation Van of the 4th feature of the present invention like that.
Operation Van has: right side side clutch (right side clutch), its can freedom wheel transferring power and can freely cut off wheel transferring power to the right to the right; The left side side clutch, its can freedom wheel transferring power and can freely cut off wheel transferring power to the left to the left; When the steering angle of wheel offset straight line position reached set angle, the limit clutch of turning center side was manipulated into released state.
(effect)
In Operation Van, have: the right side side clutch, its can freedom wheel transferring power and can freely cut off wheel transferring power to the right to the right; The left side side clutch, its can freedom wheel transferring power and can freely cut off wheel transferring power to the left to the left; Along with the beginning of turning, the limit clutch in the outside of turning maintains drive state, and the limit clutch of turning center side is manipulated into released state (with reference to patent documentation 1).Thus, when turning, not to the wheel transferring power of turning center side, the wheel of turning center side becomes free rotation state, in turning, according to the state that the wheel of the situation turning center side on operation ground is rotated, the wheel that reduces the turning center side to operation damage, body can be turned swimmingly.
According to the 5th feature of the present invention, turn from the operation stroke, under the steering angle of wheel offset straight line position is in steering angle and the state between the set angle on the operation stroke, right side and left side side clutch are manipulated into drive state, transmitted power and become the not labile state of body direct of travel owing to right side and left side wheel, detected the body operating range as the position on the body direct of travel of the body in turning before the beginning of turning.
In this case, by the not labile state of body direct of travel (state that body is easy to keep straight on), body direct of travel after the preceding body direct of travel of the beginning of turning has just begun with turning is more near (roughly the same), turning as the body in turning in the structure of the position on the body direct of travel before the beginning detecting the body operating range, can high accuracy detecting the position of body on the body direct of travel of turning before beginning in turning.
According to the 5th feature of the present invention, when the steering angle of wheel offset straight line position reaches set angle, the limit clutch of turning center side is manipulated into released state, because the wheel of turning center side rotates freely, so become the state that the body direct of travel changes easily, utilize the steering angle of body operating range and wheel offset straight line position to detect position on the body direct of travel of body before the beginning of turning in turning.
In this case, by the easy state (state that body can be turned swimmingly) that changes of body direct of travel, be difficult to produce the chaotic affected state that the structure of the position on the body direct of travel of body before the beginning of turning that is used for detecting turning is turned because of body, can detect the position of body on the body direct of travel of turning before beginning in the turning accurately.
(effect of invention)
According to the 5th feature of the present invention, by effectively utilizing the structure that has existed is right side and left side side clutch, can detect the position on the body direct of travel of body before the beginning of turning in the turning accurately, make it possible to detect accurately the turning completing place, suitably carry out the operation carried out based on the detection of turning completing place, can improve the transaction capabilities of Operation Van.
Description of drawings
Fig. 1 is the unitary side view of riding type rice transplanter.
Fig. 2 is the vertical view of the transmission system of the turning operation system of expression right side and left side front-wheel and right side and left side front-wheel, right side and left side trailing wheel.
Fig. 3 laterally cuts vertical view open near first case portion in left side of back axle case.
Fig. 4 is near the vertical cutaway side sectional view of first case portion in left side of back axle case.
Fig. 5 is the figure of the control system of expression control device, body position detection unit, automatic lifting control module.
Fig. 6 is illustrated in the flow chart of controlling when turn in the limit, field.
Fig. 7 is the vertical view of the state when being illustrated in the turning of limit, field.
(a) of Fig. 8 is the vertical view of state of steering angle, body turning center, the body radius of turn of expression inspection vehicle wheel base, wheel offset straight line position.(b) of Fig. 8 is that expression utilizes body radius of turn and move angle to detect the vertical view of the state of Y2.
Fig. 9 laterally cuts vertical view open near first case portion in left side of the 3rd other mode back axle casees that are used for carrying out an invention.
Figure 10 is near the vertical cutaway side sectional view first case portion in left side of the 3rd other mode back axle casees that are used for carrying out an invention.
Embodiment
[1]
As shown in Figure 1, rear portion at the body that supports by right side and left side front-wheel 1 (being equivalent to wheel), right side and left side trailing wheel 2 (being equivalent to wheel), being supported with linkage 3 and linkage 3 can free lifting, and single-acting type oil cylinder 4 with 3 liftings of drive link mechanism, back support at linkage 3 has seedling growing device 5, thereby constitutes the riding type rice transplanter as an example of Operation Van.The paddy field usually below be formed with mud and water layer on the hard tillage pan G1, the top of mud and water layer forms field face G2, the right side contacts with tillage pan G1 with left side front-wheel 1, right side and left side trailing wheel 2 and travels.
As shown in Figure 1, seedling growing device 5 constitutes 8 structures of planting type, have 4 a pair of arm 8, a plurality of hull 9 and seedling carrying bases 10 etc. of planting of planting transmission case 6, rotary box 7, being in rotary box 7 two ends, wherein said rotary box 7 is supported on the right side, rear portion and the left side of planting transmission case 6, and is driven and can rotates freely.The rear side of driving seat 13 have the hopper 14 that is used to stockpile fertilizer and with two be 4 unloading parts 15 of unit, have fan blower 16 at the downside of sailing seat 13.On hull 9, has the ditch of work device 17, at unloading part 15 with make to be connected with between the ditch device 17 flexible pipe 18.
As Fig. 1 and shown in Figure 5, the right side of seedling growing device 5 and left side sidepiece have right side and left side line (marker) member 19, and this right side and left side line member 19 constitute and can freely change between work posture (with reference to Fig. 1) that contacts the formation sign with field face G2 and the inoperative posture of lifting upward from field face G2 (with reference to Fig. 5).Right side and left side line member 19 has: arm 19a is supported on the seedling growing device 5 and can the easy on and off swing; Rotary body 19b is supported on the leading section of arm 19a and can rotates freely.And, having the electro-motor 21 that right side and left side line member 19 is operating as work posture and inoperative posture, electro-motor 21 is by control device 23 operations.
[2]
Next, the transmission system to right side and left side front-wheel 1, right side and left side trailing wheel 2 describes.
As shown in Figure 2, the power of engine 31 is passed to static oil pressure endless gearing device 33 and gearbox 34 via driving-belt 32, and this power is passed to right side and left side front-wheel 1 from the secondary speed-changing device (not shown) of gearbox 34 inside via the power transmission shaft (not shown) of front wheel differential gear mechanism (not shown) and front truck axle box 35.As Fig. 1 and shown in Figure 5, static oil pressure endless gearing device 33 constitutes can march forward side from the neutral position and retreat side does not have the free speed change in polar region, utilizes to be in the laterally gear change hand lever 45 operation static oil pressure endless gearing devices 33 in left side of steering dish 20.
As shown in Figures 2 and 3, the power of secondary speed-changing device is via power transmission shaft 36, the power shaft 38 of back axle case 37, be fixed on the bevel gear 38a on the power shaft 38, with bevel gear 38a meshed bevel gears 39a, be fixed with the power transmission shaft 39 of bevel gear 39a, right side and left side side clutch 40, be embedded in outward on the power transmission shaft 39 and can with the power transmission shaft 39 relative travelling gears that rotate freely 60, the travelling gear 62 in big footpath, power transmission shaft 63, the travelling gear 63a of power transmission shaft 63, the travelling gear 64 in big footpath, and be passed to right side and left side trailing wheel 2 via the axletree 65 of right side and left side trailing wheel 2.
As shown in Figure 2, the steering component 41 that is down trapezoidal shape is supported in the mode that can freely swing around the vertical axis P2 of gearbox 34 bottoms overlooking, by 41 swings of steering dish 20 operation steering components, between steering component 41 and right side and left side front-wheel 1, be connected with pull bar (tie rod) 42.Thus, by manipulation steering wheel 20, can from in-line position A1 to the right side and the left side turn to steering operation right side and left side front-wheel 1 (steering component 41) in the scope of limit A3.
As shown in Figure 3, right side and left side side clutch 40 have clutch box 40a, control member 40b, a plurality of friction plate 40c and spring 40d etc., wherein, described clutch box 40a is can the one free rotation mode being fixed on the travelling gear 60, described control member 40b by spline structure with can one rotation and the mode that is free to slide be embedded in outward on the power transmission shaft 39, described a plurality of friction plate 40c is configured between clutch box 40a and the control member 40b, described spring 40d pushes side (drive state side) load operation member 40b to friction plate 40c's, by spring 40d, the right side is loaded into drive state with limit, left side clutch 40.
As shown in Figures 2 and 3, the right side and the left-hand operation axle 43 that are used for the control member 40b of slide right side and left side side clutch 40 are supported on back axle case 37 down, and the mode with the downside that passes front truck axle box 35 between steering component 41 and right side and left-hand operation axle 43 is being connected right side and left-hand operation bar 44.On right side and left-hand operation bar 44, have as the slotted hole 44a that complies with countermeasure in coupling part with right side and left-hand operation axle 43.
As shown in Figures 2 and 3, when right side and left side front-wheel 1 (steering component 41) are diverted operation in the scope of in-line position A1, right side and left side set angle A2, utilize the compliance of the slotted hole 44a of right side and left-hand operation bar 44, right side and left side side clutch 40 are manipulated into drive state.Thus, be passed under the state of right side and left side front-wheel 1, right side and left side trailing wheel 2 (right side and left side side clutch 40 are drive state) body advance (retreating) at power.
As shown in Figures 2 and 3, when right side and left side front-wheel 1 (steering component 41) surpass right side set angle A2 and when being turned to limit A3 side steering operation to the right, surpass the slotted hole 44a scope of east side operation bar 44 and east side operation bar 44 is pulled operation, by the control member 40b of east side operation axle 43 slide right side side clutches 40, right edge clutch 40 is manipulated into released state.Thus, at right side and left side front-wheel 1, left side trailing wheel 2 (outside of turning) (left side side clutch 40 is a drive state) by transferring power, under the state that right side rear wheel 2 (turning center side) (right side side clutch 40 is released state) rotates freely, body is turned to the right.
As shown in Figures 2 and 3, when right side and left side front-wheel 1 (steering component 41) surpass left side set angle A2 and are turned to limit A3 side steering operation to the left, surpass the slotted hole 44a scope of left-hand operation bar 44 and left-hand operation bar 44 is pulled operation, by the control member 40b of side clutch 40 on the left of the left slide of left-hand operation axle 43 paper in Fig. 3, left side side clutch 40 is manipulated into released state.Thus, in right side and left side front-wheel 1, right side rear wheel 2 (outside of turning) (right side side clutch 40 is a drive state) by transferring power, under the state that left side trailing wheel 2 (turning center side) (left side side clutch 40 is released state) rotates freely, body is turned to the left.
[3]
Below, the transmission system of seedling growing device 5 and unloading part 15 is described.
As Fig. 1 and shown in Figure 5, in gearbox 34, have and to plant and the clutch 26,27 that applies fertilizer is operating as the electro-motor 28 of transmission and released state, via planting clutch 26 and PTO axle 25 is passed to seedling growing device 5, be passed to unloading part 15 via fertilising clutch 27 and driving rod 30 from the power of the front branch of secondary speed-changing device from the power of the front branch of secondary speed-changing device.
As Fig. 1 and shown in Figure 5, when planting clutch 26 when being manipulated into drive state, seedling carrying base 10 is driven and back and forth laterally transport on a right left side, is driven and paper in Fig. 1 counterclockwise rotates thereupon rotary box 7, plants arm 8 and alternately takes out seedling growing to field face G2 from the bottom of seedling carrying base 10.When planting clutch 26 when being manipulated into released state, drive to the driving of back and forth laterally transporting of seedling carrying base 10 with to the rotation of rotary box 7 and to stop.
As Fig. 1 and shown in Figure 5, when fertilising clutch 27 when being manipulated into drive state, send the fertilizer of ormal weight from hopper 14 by unloading part 15, by the air-supply of fan blower 16 at every turn, fertilizer is supplied to by flexible pipe 18 and makes ditch device 17, and fertilizer is supplied to field face G2 via making ditch device 17.When fertilising clutch 27 was driven into released state, unloading part 15 stopped, thereby stopped to supply with fertilizer to field face G2.
[4]
Below, the automatic lifting control module 52 of seedling growing device 5 is described.
As shown in Figure 5, automatic lifting control module 52 is on the control device 23.The rear portion of central authorities' hull 9 is with can be around the mode of the transverse axis heart P1 easy on and off of seedling growing device 5 swing supported, and, potentiometer 22 with the height that is used to detect central hull 9 relative seedling growing devices 5, the detected value input control device 23 of potentiometer 22.Be accompanied by advancing of body, central hull 9 contacts with field face G2 thereupon, detects the height of central hull 9 relative seedling growing devices 5 by the detected value that utilizes potentiometer 22, can detect the height from field face G2 (central hull 9) to seedling growing device 5.
As shown in Figure 5, riding type rice transplanter has the control valve 24 that carries out with respect to oil cylinder 4 is supplied with or discharge work oil is operated, and control valve 24 is by control device 23 operations.When passing through control valve 24 when oil cylinder 4 supply work are oily, oil cylinder 4 carries out contractive action and 5 risings of seedling growing device, and when passing through control valve 24 from oil cylinder 4 discharge work oil, oil cylinder 4 stretches out and moves and 5 declines of seedling growing device.
As shown in Figure 5, for seedling growing device 5 maintains setting height (for the detected value of potentiometer 22 (potentiometer 22 and central hull 9 between the upper and lower every) maintains setting value) apart from field face G2, height (height) based on central hull 9 relative seedling growing devices 5 from field face G2 (central hull 9) to seedling growing device 5, operation control valve 24, make oil cylinder 4 carry out expanding-contracting action, thus seedling growing device 5 automatic lifting (above is the operating state of automatic lifting control module 52).
[5]
Below, lifting handle 11 is described.
As Fig. 1 and shown in Figure 5, the horizontal right side of driving seat 13 has lifting handle 11, lifting handle 11 constitute can free operant to automated location, lifting position, neutral position, down position with plant the position, the operating position input control device 23 of lifting handle 11.Riding type rice transplanter has the potentiometer 29 of detection linkage 3 with respect to the last lower angle of body, the detected value input control device 23 of potentiometer 29.
As shown in Figure 5, lifting handle 11 is being operated to lifting position, neutral position, down position and is planting under the state (lifting handle 11 not being operated to the state of automated location) of position, as described below, by control device 23 operation control valves 24 and electro-motor 21,28.In this case, the lifting position U of the operating grip 12 of record and the function of down position D do not play a role in [6] narrated later, and only the function of the right side of operating grip 12 and left side line member position R, L plays a role.
As shown in Figure 5, when lifting handle 11 is operated to lifting position, automatic lifting control module 52 stops, plant and the clutch 26,27 that applies fertilizer is manipulated into released state, right side and left side line member 19 are manipulated into the inoperative posture, control valve 24 is operated to supplies with the position, and oil cylinder 4 carries out contractive action and 5 risings of seedling growing device.Lifting handle 11 is being operated under the state of lifting position, when detecting seedling growing device 5 arrival upper limit positions by potentiometer 29, control valve 24 is operated to the neutral position, and oil cylinder 4 stops automatically.
As shown in Figure 5, when lifting handle 11 is operated to down position, automatic lifting control module 52 stops, the clutch 26 of planting and apply fertilizer, 27 are manipulated into released state, right side and left side line member 19 are manipulated into the inoperative posture, under this state, control valve 24 is operated to drain position, oil cylinder 4 stretches out action and 5 declines of seedling growing device, when central hull 9 contacts with field face G2, must become automatic lifting control module 52 moves, the state that seedling growing device 5 is contacted with field face G2 and stop (for seedling growing device 5 maintains setting height (for the detected value of potentiometer 22 (potentiometer 22 and central hull 9 between the upper and lower every) maintains setting value), the state of seedling growing device 5 automatic lifting apart from field face G2).
As shown in Figure 5, when lifting handle 11 is operated to the neutral position, automatic lifting control module 52 stops, plant and the clutch 26,27 that applies fertilizer is manipulated into released state, right side and left side line member 19 are manipulated into the inoperative posture, under this state, control valve 24 is operated to the neutral position, and oil cylinder 4 stops.
Like this, by lifting handle 11 is operated to lifting position, neutral position and down position, can makes seedling growing device 5 rise and drop to arbitrarily and highly stop.
As shown in Figure 5, when lifting handle 11 being operated to when planting the position, be manipulated under the state of inoperative posture on right side and left side line member 19, automatic lifting control module 52 moves, and plants and the clutch 26,27 that applies fertilizer is manipulated into drive state.Like this, along with seedling carrying base 10 is driven and back and forth laterally transport on a right left side, rotary box 7 is driven and rotates, plant arm 8 and alternately take out seedling growing to field face G2 from the bottom of seedling carrying base 10, send the fertilizer of ormal weight from hopper 14 by unloading part 15 at every turn, by the air-supply of fan blower 16, fertilizer is supplied to by flexible pipe 18 and makes ditch device 17, is supplied to field face G2 via making ditch device 17.
[6]
Below, operating grip 12 is described.
As Fig. 1 and shown in Figure 5, have operating grip 12 on the horizontal right side of steering dish 20 downsides, operating grip 12 extends to the horizontal right outside.Operating grip 12 constitutes can be from neutral position N free operant to the cross direction, promptly, the left side line member position L in the right side line member position R at the lifting position U of top, the down position D of below, rear and the place ahead, operating grip 12 is by to the neutral position N application of force, the operating position input control device 23 of operating grip 12.
Lifting handle 11 is being operated under the state of automated location, the function of following performance operating grip 12, and by control device 23 operation control valves 24 and electro-motor 21,28.
As shown in Figure 5, when operating grip 12 is operated to lifting position U (when after being operated to lifting position U, being operated to neutral position N), plant and the clutch 26,27 that applies fertilizer is manipulated into released state, automatic lifting control module 52 stops, right side and left side line member 19 are manipulated into the inoperative posture, control valve 24 is operated to supplies with the position, and oil cylinder 4 carries out contractive action and 5 risings of seedling growing device.When potentiometer 29 detected seedling growing device 5 arrival upper limit positions, control valve 24 was operated to the neutral position, and oil cylinder 4 stops automatically.
As shown in Figure 5, when operating grip 12 is operated to down position D (when after being operated to down position D, being operated to neutral position N), automatic lifting control module 52 stops, the clutch 26 of planting and apply fertilizer, 27 are manipulated into released state, right side and left side line member 19 are manipulated into the inoperative posture, under this state, control valve 24 is operated to drain position, oil cylinder 4 stretches out action and 5 declines of seedling growing device, when central hull 9 contacts with field face G2, become automatic lifting control module 52 and move the state that seedling growing device 5 contacted with field face G2 and stop (for seedling growing device 5 maintains setting height (for the detected value of potentiometer 22 (potentiometer 22 and central hull 9 between the upper and lower every) maintains setting value), the state of seedling growing device 5 automatic lifting apart from field face G2).
As mentioned above, after operating grip 12 being operated to down position D (being operated to neutral position N after being operated to down position D), if once more operating grip 12 is operated to down position D, then under the state that automatic lifting control module 52 has moved, plant and the clutch 26,27 that applies fertilizer is manipulated into drive state.
As shown in Figure 5, (be operated to neutral position N after being operated to right side line member position R) when operating grip 12 being operated to right side line member position R, right side line member 19 is manipulated into work posture.(be operated to neutral position N after being operated to left side line member position L) when operating grip 12 being operated to left side line member position L, left side line member 19 is manipulated into work posture.
[7]
Below, the structure relevant to the control when turning on the limit, field describes.
As shown in Figure 5, the operating position input control device 23 of gear change hand lever 45.As shown in Figure 2, transverse side on gearbox 34 right sides is fixed with carriage 46, on carriage 46, be fixed with potentiometer 47 (being equivalent to the steering angle detecting unit), between steering component 41 and potentiometer 47, be connected with connecting rod 48 in mode by front truck axle box 35 downsides.By the position of potentiometer 47 detection steering components 41, the detected value input control device 23 of potentiometer 47 is by the detected value detection right side of potentiometer 47 and the steering angle A of left side front-wheel 1 (steering component 41) offset straight line position A1.
As shown in Figure 3 and Figure 4, on travelling gear 60, be formed with a plurality of little concavo-convex ring elements 49 being fixed with at peripheral part with travelling gear 60 one free rotation mode, on the top in back axle case 37 right sides and left side to be fixed with the right side and the left side speed probe 50 (being equivalent to the operating range detecting unit) of noncontacting proximity sensor pattern, the detected value input control device 23 of right side and left side speed probe 50 with ring element 49 mode in opposite directions.Thus, producing pulses from right side and left side speed probe 50 with each concavo-convex corresponding mode of ring element 49, thus can be by the pulse detection right side of right side and left side speed probe 50 and the rotating speed of left side trailing wheel 2.
As shown in Figure 3 and Figure 4, back axle case 37 constitutes and has the central portion 37a, the bolt that are connecting power transmission shaft 36 and be connected right side on the central portion 37a and first case 37b of portion in left side and bolt and be connected right side on right side and first case 37b of portion in left side and second case 37c of portion in left side etc.First case portion 37b top in right side and left side at back axle case 37 is formed with a 37d of portion and perforate 37e, is formed with two screwed hole 37f on the present 37d of portion, and first case 37b of portion in the right side of back axle case 37 and left side forms identical structure and can a right left side shared.Second case 37c in the right side of back axle case 37 and left side also forms identical structure and can a right left side shared.
As shown in Figure 3 and Figure 4, right side and left side speed probe 50 have fixedly the carriage 50a of usefulness and the connecting portion 50b of wirning harness (not shown).Perforate 37e with right side and left side speed probe 50 insertion back axle casees 37 (first case 37b of portion in right side and left side), carriage 50a from right side and left side speed probe 50 inserts the screwed hole 37f of back axle case 37 (first case 37b of portion in right side and left side) with bolt 61, thereby right side and left side speed probe 50 are fixed on the back axle case 37 (first case 37b of portion in right side and left side).
As shown in Figure 3 and Figure 4, (right side and left side speed probe 50 are set at setting with the interval of ring element 49, make the right side can not contact with ring element 49 with left side speed probe 50 and breakage by the position of the 37d of seat portion of back axle case 37 (first case 37b of portion in right side and left side) decision right side and left side speed probe 50 relative back axle casees 37 (first case 37b of portion in right side and left side).)。By using a screwed hole 37f of back axle case 37 (first case 37b of portion in right side and left side), a right left side is shared even first case 37b of portion in the right side of back axle case 37 and left side constitutes same structure, also can make the carriage 50a of right side and left side speed probe 50 be positioned at upside, the connecting portion 50b of right side and left side speed probe 50 is positioned at downside.
As shown in Figure 3 and Figure 4, because utilize right side and left side speed probe 50 via the clutch box 40a of right side and left side side clutch 40 and the rotating speed of ring element 49 detection right sides and left side trailing wheel 2, so no matter right side and limit, left side clutch 40 are manipulated into drive state and still are manipulated into released state, can both utilize right side and left side speed probe 50 to detect the rotating speed of right sides and left side trailing wheel 2.
As shown in Figure 5, body position detection unit 51 is on the control device 23.As shown in Figure 7, body position detection unit 51 detects the body direct of travel of bodies in planting stroke L01, L02 (+Y) (the position Y1 Y) (position on the body direct of travel of the body in being equivalent to turn before the beginning of turning) (in other words, body position detection unit 51 detects turning coordinate on the body direct of travel before beginning of body in turning).Such as following [8]～[12] record, utilize body position detection unit 51 to detect the body direct of travel of bodies in planting stroke L01, L02 (+Y) (the position Y1 Y).
In riding type rice transplanter with 8 seedling growing devices 5 of planting pattern, produce following situation at Tian Bianhui, promptly, as shown in Figure 7, carry out backward travel L1, preceding half forward stroke L2, preceding half way around curved stroke L3, craspedodrome process L4, later half turning stroke L5, later half forward stroke L6, from once plant stroke L01 (being equivalent to the operation stroke) enter next time plant stroke L02 (being equivalent to the operation stroke).
In [8] below～[12] backward travel L1, preceding half forward stroke L2, preceding half way around curved stroke L3, craspedodrome process L4, later half turning stroke L5, later half forward stroke L6 are described.
[8]
Below, describe based on Fig. 6 and Fig. 7 backward travel L1 and preceding half forward stroke L2 when turning on the limit, field.
Finish under the situation of once planting stroke L01, the driver plants (seedling growing device 5 for the decline state, plant and the clutch 26,27 that applies fertilizer is drive state for drive state, right side and left side side clutch 40) on one side, body is advanced to field stalk B, when the front end of body arrives field stalk B (step S1), gear change hand lever 45 is operated to the neutral position, makes body stop (step S2) (planting stroke L01).
The driver makes seedling growing device 5 (plant and the clutch 26,27 of applying fertilizer is propradation for released state, seedling growing device 5) (step S3, the S4) that stop to rise by lifting handle 11 or operating grip 12, the side of drawing back operation gear change hand lever 45 makes body retreat (step S5).When body only retreats the operating range of expectation, gear change hand lever 45 is operated to the neutral position, make body stop (step S6) (backward travel L1).
Driver's side operation gear change hand lever 45 that marches forward advances (step S7) body, when body only advances the operating range of expectation, and manipulation steering wheel 20 and to turn direction steering operation right side and left side front-wheel 1.When right side and left side front-wheel 1 (steering component 41) surpass right side (left side) set angle A2 when (left side) turns to limit A3 side steering operation to the right, such as preceding paragraph [2] record, limit clutch 40 in the outside of turning maintains under the state of drive state, the limit clutch 40 of turning center side is manipulated into released state, surpasses right side (left side) set angle A2 and is turned to limit A3 side steering operation (step S8) (preceding half forward stroke L2) by (left side) to the right thereby can detect right side and left side front-wheel 1.
In step S3, when planting and the clutch 26,27 that applies fertilizer when being manipulated into released state, by body position detection unit 51, with the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y) is set at " 0 (initial point) ", " 0 (initial point) " is set at and plants and the separation point position E1 (step S101) of the clutch 26,27 that applies fertilizer, and utilizes body position detection unit 51 to begin to detect (accumulative total) and goes out the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 (step S102) Y).
When body retreats (backward travel L1), detect mean value (negative value) (being equivalent to the body operating range) that (accumulative total) go out right side and left side speed probe 50 pulses (rotating speed of right side and left side trailing wheel 2) as the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y).When body advances (preceding half forward stroke L2), detect the mean value that (accumulative total) go out right side and left side speed probe 50 pulses (rotating speed of right side and left side trailing wheel 2) (on the occasion of) (operating range that is equivalent to body) planting body direct of travel among stroke L01, the L02 (+Y) (the position Y1 (step S102) Y) as body.
Like this, in backward travel L1 and preceding half forward stroke L2, detect the mean value that (accumulative total) go out right side and left side speed probe 50 pulses (rotating speed of right side and left side trailing wheel 2) (on the occasion of and negative value) as body planting body direct of travel among stroke L01, the L02 (+Y) (the position Y1 Y), this state are maintained until and detect right side and left side front-wheel 1 and reach right side (left side) set angle A2 (step S5～S8).
If right side and left side side clutch 40 are drive state, then the rotating speed of right side and left side trailing wheel 2 can not produce speed discrepancy, but it is contemplated that, in backward travel L1 and preceding half forward stroke L2, till right side or left side side clutch 40 are manipulated into released state, possible manipulation steering wheel 20, thereby, detect the mean value that (accumulative total) go out right side and left side speed probe 50 pulses (rotating speed of right side and left side trailing wheel 2) (on the occasion of and negative value) planting stroke L01 as body, body direct of travel among the L02 (+Y) (the position Y1 (step S102) Y).
[9]
Below, describe based on Fig. 6 and Fig. 7 curved stroke L3 of preceding half way around when turning on the limit, field.
When detecting right side and left side front-wheel 1 (steering component 41) and reach right side (left side) set angle A2 (when the limit clutch 40 of turning center side is manipulated into released state) (step S8), the body direct of travel of the body of this moment in planting stroke L01, L02 (+Y) (the position Y1 Y) is set to the separation point position E2 (step S9) of the limit clutch 40 of turning center side.
Like this, among the curved stroke L3 of the preceding half way around that the separation point position E2 from the limit clutch 40 of turning center side begins, calculate (Y2 (on the occasion of) by body position detection unit 51 according to following formula 1), (Y2 (on the occasion of) that detects that (accumulative total) calculated) planting body direct of travel among stroke L01, the L02 (+Y) (the position Y1 (step S103) Y) as body.
Formula 1:Y2=R*SIN (θ)
R: body radius of turn
θ: body move angle
Shown in Fig. 8 (a), when having determined the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1, judge that body turning center C is positioned on the extended line of axletree 65 (with reference to Fig. 3) of right side and left side trailing wheel 2, based on the wheelbase W (interval between the axletree 65 (with reference to Fig. 3) of the axletree of right side and left side front-wheel 1 and right side and left side trailing wheel 2) of front-wheel 1 and trailing wheel 2 and the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1, detect body turning center C.When detecting body turning center C, the distance between the right side of detection body and left side central authorities and the body turning center C is as body radius of turn R.
Shown in the (a) and (b) of Fig. 8, under the state that has detected body turning center C and radius of turn R, the pulse (rotating speed of the trailing wheel 2 of turning center side) of the speed probe 50 by the turning center side detects body operating range G (circular arc portion that is equivalent to relative body radius of turn R), detects body move angle θ based on body turning center C, radius of turn R and body operating range G.
As mentioned above, utilize body radius of turn R and move angle θ, calculate (Y2 (on the occasion of) according to formula 1), (Y2 (on the occasion of) that is calculated) planting body direct of travel among stroke L01, the L02 (+Y) (the position Y1 Y) and detected (accumulative total) (step S103) as body.In this case, the steering angle A of each right side and left side front-wheel 1 (steering component 41) offset straight line position A1 changes, all detect body turning center C and radius of turn R, body operating range G, body move angle θ, calculate (Y2 (on the occasion of)) according to formula 1.
When detecting right side and left side front-wheel 1 (steering component 41) when reaching right side (left side) set angle A2 (when the limit clutch 40 of turning center side is manipulated into released state) (step S8), again detect the pulse (rotating speed of the trailing wheel 2 in the outside of turning) of speed probe 50 that (accumulative total) goes out to turn the outside from the separation point position E2 of the limit clutch 40 of turning center side, based on the steering angle A of this value and right side and left side front-wheel 1 (steering component 41) offset straight line position A1, begin to detect the angle of turn F1 (step S201, S202) of (accumulative total) body from " 0 ".
In this case, based on the pulse (rotating speed of the trailing wheel 2 in the outside of turning) of the speed probe 50 outside turning and the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1, detect current body towards with respect to body the separation point position E2 of the limit of turning center side clutch 40 (planting stroke L01) towards what have changed, detect (accumulative total) and go out the angle of turn F1 of this detected value as body.
If the angle of turn F1 of body is 90 degree, then with respect to body the separation point position E2 of the limit of turning center side clutch 40 (planting stroke L01) towards, being oriented fully of body towards horizontal state, if the angle of turn F1 of body is 180 degree, then with respect to being oriented towards rightabout state (plant stroke L02) towards, body of body at the separation point position E2 of the limit of turning center side clutch 40 (planting stroke L01).
At right side and left side front-wheel 1 (steering component 41) by under the state of turn direction steering operation, when the pulse (rotating speed of the trailing wheel 2 in the outside of turning) of the speed probe 50 in the outside of turning when becoming big (when add up), detect angle of turn F1 that (accumulative total) the go out body recruitment of pulse (rotating speed of the trailing wheel 2 outside the turning) of speed probe 50 in the outside of turning that become big.On the contrary, at right side and left side front-wheel 1 (steering component 41) by under the state of in-line position A1 steering operation, the pulse of the speed probe 50 in the outside even turn (rotating speed of the trailing wheel 2 in the outside of turning) becomes big (by adding up), because body is kept straight on, be the angle of turn F1 no change of body so detect (accumulative total).
[10]
Below, describe based on Fig. 6 and Fig. 7 craspedodrome stroke L4 when turning on the limit, field.
When the curved stroke L3 of the past half way around enters craspedodrome process L4 (when right side and left side front-wheel 1 (steering component 41) surpass set angle A2 quilt in right side (left side) to in-line position A1 side steering operation), right side and left side side clutch 40 become drive state.In craspedodrome process L4, because the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1 is " 0 ", so body radius of turn R becomes infinity, (Y2) that calculate according to the formula 1 of preceding paragraph [9] record becomes " 0 ".
Thus, in craspedodrome process L4, even detect (accumulative total) go out the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y), the value in the time of also can not bending stroke L3 and not enter craspedodrome process L4 with the past half way around changes.Similarly, even detect the angle of turn F1 of (accumulative total) body, the value (90 degree) in the time of also can not entering craspedodrome process L4 with the curved stroke L3 of the past half way around changes.
[11]
Below, describe based on Fig. 6 and Fig. 7 later half turning stroke L5 when turning on the limit, field.
When entering later half turning stroke L5 from craspedodrome process L4 (right side and left side front-wheel 1 (steering component 41) surpass right side (left side) set angle A2 when (left side) turns to limit A3 side steering operation to the right), same with the curved stroke L3 of preceding half way around that preceding paragraph [9] is put down in writing, limit clutch 40 in the outside of turning is kept under the state of drive state, and the limit clutch 40 of turning center side is manipulated into released state.
In later half turning stroke L5, curved stroke L3 is same with the preceding half way around of preceding paragraph [9] record, the steering angle A of each right side and left side front-wheel 1 (steering component 41) offset straight line position A1 changes, detect body turning center C, radius of turn R, body operating range G and body move angle θ, calculate (Y2 (negative value)) according to formula 1, detect (accumulative total) (Y2 (negative value)) as the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 (step S103) Y).In this case, because the angle of turn F1 of body surpasses 90 degree, so become (Y2 (negative value)).
[12]
Below, describe based on Fig. 6 and Fig. 7 later half forward stroke L6 when turning on the limit, field.
When entering later half forward stroke L6 from later half turning stroke L5 (right side and left side front-wheel 1 (steering component 41) surpass right side (left side) set angle A2 by to in-line position A1 side steering operation the time), right side and left side side clutch 40 become drive state.
In this case, when the angle of turn F1 of body reaches turning set angle FA1 (for example 150 degree) (step S10), judge and as usually, turn on the limit, field, when detecting right side and the near front wheel 1 (steering component 41) when surpassing right side (left side) set angle A2 and being operated to in-line position A1 side (step S11), with the body of this moment plant the body direct of travel of stroke L01, L02 (+Y) (the position Y1 Y) is set at the terminal position E3 (step S12) of later half turning stroke L6.
Meanwhile, the seedling growing device 5 of propradation is kept the released state of planting and applying fertilizer clutch 26,27,5 declines (step S13) of seedling growing device, when central hull 9 contacts with field face G2, become automatic lifting control module 52 and move the state that seedling growing device 5 contacted with field face G2 and stop (for seedling growing device 5 maintains setting height (for the detected value of potentiometer 22 (between potentiometer 22 and the central hull 9 between the upper and lower every) maintains setting value), the state of seedling growing device 5 automatic lifting apart from field face G2).
Among the later half forward stroke L6 that the terminal position E3 from later half turning stroke L6 begins, when body advances, detect mean value (negative value) that (accumulative total) go out right side and left side speed probe 50 pulses (rotating speed of right side and left side trailing wheel 2) as the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 (step S104) Y).In this case, because the angle of turn F1 of body surpasses 90 degree, so become the mean value (negative value) of the pulse (rotating speed of right side and left side trailing wheel 2) of right side and left side speed probe 50.
In later half forward stroke L6, for example, when for revise body towards and when body is retreated, detect the mean value that (accumulative total) go out right side and left side speed probe 50 pulses (rotating speed of right side and left side trailing wheel 2) (on the occasion of) planting body direct of travel among stroke L01, the L02 (+Y) (the position Y1 (step S104) Y) as body.In this case because the angle of turn F1 of body surpasses 90 degree, so become the pulse (rotating speed of right side and left side trailing wheel 2) of right side and left side speed probe 50 mean value (on the occasion of).
As mentioned above, when body planting body direct of travel among stroke L01, the L02 (+Y) (when the position Y1 Y) arrives " 0 (initial point) " (step S14), body direct of travel in planting stroke L01, L02 (+Y) (Y), judge to arrive and plant and the horizontal position adjacent E4 of separation point position E1 of the clutch 26,27 that applies fertilizer, plant and the clutch 26,27 that applies fertilizer is manipulated into drive state (step S15).Thereby, enter afterwards next time plant stroke L02.
In step S10,, then judge and to carry out the operation of the step S11～S15 of back according to turning on the limit, field like that usually if the angle of turn F1 of body does not reach turning set angle FA1 (for example 150 degree).Thus, afterwards, the driver operates lifting handle 11 or operating grip 12, makes seedling growing device 5 descend, make and plant and the clutch 26,27 that applies fertilizer becomes the operation of drive state.
[first other modes that are used to carry out an invention]
In [9] of aforesaid " embodiment ", [11], the steering angle A of each right side and left side front-wheel 1 (steering component 41) offset straight line position A1 changes, all detect body turning center C, radius of turn R, body operating range G and body move angle θ, calculate (Y2 (on the occasion of) according to formula 1) (Y2 (negative value)), go out the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y), and first other modes replace and followingly constitute like that for it to detect (accumulative total).
In the curved stroke L3 (later half turning stroke L5) of preceding half way around shown in Figure 7, be divided into 9 zones with 10 degree (angular range that is equivalent to stipulate) scopes (0 degree～10 degree zones, 10 degree～20 degree zones, 20 degree～30 degree zones, 30 degree～40 degree zones, 40 degree～50 degree zones, 50 degree～60 degree zones, 60 degree～70 degree zones, 70 degree～80 degree zones, 80 degree～90 degree zones), respectively set a body radius of turn R (the body radius of turn R corresponding) in 9 zones respectively with the central angle in zone.
For example in 0 degree～10 degree zones, be the body radius of turn R that 5 body radius of turn R (with reference to (a) of Fig. 8) when spending are set at 0 degree～10 degree zones with the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1.
If the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1 is in 0 degree～10 degree zones, even then the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1 changes, also have no truck with, use a body radius of turn R in 0 degree～10 degree zones, detect body operating range G, body move angle θ, calculate (Y2 (on the occasion of) according to formula 1) (Y2 (negative value)), and detect (accumulative total) and go out the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y).
At 10 degree～20 degree ... in, with above-mentioned the same, use 10 degree～20 degree ... a body radius of turn R in zone, detect body operating range G, body move angle θ, calculate (Y2 (on the occasion of) according to formula 1) (Y2 (negative value)), detect (accumulative total) and go out the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y).
[second other modes that are used to carry out an invention]
Can as following, replace aforesaid " embodiment ", " first other modes that are used to carry out an invention ".
In the curved stroke L3 (later half turning stroke L5) of preceding half way around shown in Figure 7, be divided into 9 zones with 10 degree (angular range that is equivalent to stipulate) scopes (0 degree～10 degree zones, 10 degree～20 degree zones, 20 degree～30 degree zones, 30 degree～40 degree zones, 40 degree～50 degree zones, 50 degree～60 degree zones, 60 degree～70 degree zones, 70 degree～80 degree zones, 80 degree～90 degree zones), respectively set a body radius of turn R (the body radius of turn R corresponding) in 9 zones respectively with the maximum angle in zone.
For example in 0 degree～10 degree zones, be the body radius of turn R that 10 body radius of turn R (with reference to the (a) and (b) of Fig. 8) when spending are set at 0 degree～10 degree zones with the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1.
Even the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1 enters 0 degree～10 degree zones from 0 degree (in-line position A1), do not detect the body direct of travel of (accumulative total) body in planting stroke L01, L02 (+Y) (the position Y1 Y) yet.When the steering angle A of right side and left side front-wheel 1 (steering component 41) offset straight line position A1 reaches 10 when spending, utilize the body radius of turn R and 10 degree in 0 degree～10 degree zones, according to formula 1 detect (accumulative total) go out the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y), with this value as spending～10 aggregate-values (aggregate value) of spending 0.
At 10 degree～20 degree ... in, with similarly above-mentioned, use 10 degree～20 degree ... the body radius of turn R in zone, at 20 degree, 30 degree ... the time, utilize 10 degree～20 degree ... a body radius of turn in zone ... according to formula 1 detect (accumulative total) go out the body direct of travel of body in planting stroke L01, L02 (+Y) (the position Y1 Y), with this value as spending～20 aggregate-values (aggregate value) of spending 10.
[the 3rd other modes that are used to carry out an invention]
In aforesaid " embodiment ", " first other modes that are used to carry out an invention ", " second other modes that are used to carry out an invention ", can followingly constitute.
As Fig. 9 and shown in Figure 10, on the axletree 65 of right side and left side trailing wheel 2, be fixed with external diameter and travelling gear 64 gear ring 66 about equally.In the right side and left first case 37b of portion of back axle case 37, top at the pars intermedia of body fore-and-aft direction, supporting back shaft 68 by supporting member 67, small-diameter gear 58 and large diameter gear 59 are can the one free rotation mode be supported on the back shaft 68 small-diameter gear 58 and gear ring 66 engagements.On the right side and first case 37b of portion in left side of back axle case 37, top at the pars intermedia of the fore-and-aft direction of body is formed with a 37d of portion and perforate 37e, on the 37d of seat portion of the right side of back axle case 37 and first case 37b of portion in left side and perforate 37e to be fixed with the right side and the left side speed probe 50 of noncontacting proximity sensor pattern with large diameter gear 59 mode in opposite directions.
Thus, produce pulse in the mode corresponding from right side and left side speed probe 50 with the gear teeth of large diameter gear 59, the rotating speed of right side and left side trailing wheel 2 is exaggerated via gear ring 66, small-diameter gear 58 and large diameter gear 59, and the pulse detection by right side and left side speed probe 50 goes out.Thus, can improve the capacity of decomposition of right side and 50 pairs of body operating ranges of left side speed probe G.
The present invention can also be applicable to the tractor that is connected with upset tillage device (being equivalent to apparatus for work) at the rear portion of body and can drives this upset tillage device free lifting and have reaping part (being equivalent to apparatus for work) also can drive the Operation Vans such as combine of this reaping part free lifting in the front support of body.Detection as the body operating range not only can also utilize GPS to detect the body operating range by the rotary speed tester body operating range of wheel.
Claims (5)
1. Operation Van is characterized in that having:
The operating range detecting unit is used to detect the operating range of body,
The steering angle detecting unit is used to detect the steering operation steering angle of wheel offset straight line position freely,
The body position detection unit is turned from the operation stroke, utilizes the position on the body direct of travel of body before the beginning of turning in described operating range detecting unit and the steering angle detecting unit detection turning.
2. Operation Van as claimed in claim 1 is characterized in that,
Described body position detection unit constitutes: the steering angle that utilizes described body operating range and wheel offset straight line position, detect the move angle that body radius of turn and body move with respect to the body turning center, based on described body radius of turn and move angle, detect position on the body direct of travel of body before the beginning of turning in the turning according to trigonometric function.
3. Operation Van as claimed in claim 2 is characterized in that,
Set a plurality of zones of angular range for the steering angle of described wheel offset straight line position, set a body radius of turn respectively in described a plurality of zones with regulation,
Described body position detection unit constitutes: when the steering angle of described wheel offset straight line position enters in a plurality of zones one, the body radius of turn in the zone that enters based on the steering angle of described wheel offset straight line position detects the position on the body direct of travel of body before the beginning of turning in the turning.
4. as each described Operation Van in the claim 1～3, it is characterized in that,
Described body position detection unit constitutes: turn from the operation stroke, under the steering angle of described wheel offset straight line position is in steering angle and the state between the set angle on the operation stroke, detect described body operating range as the position on the body direct of travel of the body in turning before the beginning of turning.
5. Operation Van as claimed in claim 4 is characterized in that,
Have: the right side side clutch, can freedom wheel transferring power and can freely cut off wheel transferring power to the right to the right; The left side side clutch, can freedom wheel transferring power and can freely cut off wheel transferring power to the left to the left;
When the steering angle of described wheel offset straight line position reached described set angle, the limit clutch of described turning center side was manipulated into released state.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2009018564A JP4801745B2 (en) | 2009-01-29 | 2009-01-29 | Ride type rice transplanter |
| JP2009-018564 | 2009-01-29 |
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| CN101790914A true CN101790914A (en) | 2010-08-04 |
| CN101790914B CN101790914B (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010107034.2A Active CN101790914B (en) | 2009-01-29 | 2010-01-29 | Working vehicle |
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| JP (1) | JP4801745B2 (en) |
| CN (1) | CN101790914B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109716903A (en) * | 2017-10-27 | 2019-05-07 | 井关农机株式会社 | Working truck |
| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN111373894A (en) * | 2018-12-27 | 2020-07-07 | 井关农机株式会社 | Working vehicle |
| CN111447826A (en) * | 2018-01-23 | 2020-07-24 | 株式会社久保田 | Working vehicle |
| CN113826460A (en) * | 2016-03-09 | 2021-12-24 | 洋马动力科技有限公司 | Working vehicle |
| CN114600581A (en) * | 2022-03-29 | 2022-06-10 | 舒城西河农业有限公司 | Soil turning device for vegetable planting and soil turning method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104515520B (en) * | 2014-12-25 | 2017-06-16 | 中联重科股份有限公司 | A kind of turning method for early warning of farm machinery, device and farm machinery |
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| CN1647605A (en) * | 2004-01-27 | 2005-08-03 | 井关农机株式会社 | Manned rice transplanter |
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| JP4886561B2 (en) * | 2007-03-16 | 2012-02-29 | 株式会社クボタ | Work vehicle |
| JP5173277B2 (en) * | 2007-06-25 | 2013-04-03 | 株式会社クボタ | Paddy field machine |
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| US6212821B1 (en) * | 1999-05-10 | 2001-04-10 | Kieran L. Adam | Automatic plant selector |
| CN1572132A (en) * | 2003-05-20 | 2005-02-02 | 井关农机株式会社 | Riding type machine |
| CN1647605A (en) * | 2004-01-27 | 2005-08-03 | 井关农机株式会社 | Manned rice transplanter |
| JP2006273116A (en) * | 2005-03-29 | 2006-10-12 | Iseki & Co Ltd | Traveling vehicle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113826460A (en) * | 2016-03-09 | 2021-12-24 | 洋马动力科技有限公司 | Working vehicle |
| CN113826460B (en) * | 2016-03-09 | 2023-09-29 | 洋马动力科技有限公司 | work vehicle |
| CN109716903A (en) * | 2017-10-27 | 2019-05-07 | 井关农机株式会社 | Working truck |
| CN111447826A (en) * | 2018-01-23 | 2020-07-24 | 株式会社久保田 | Working vehicle |
| CN111373894A (en) * | 2018-12-27 | 2020-07-07 | 井关农机株式会社 | Working vehicle |
| CN111373894B (en) * | 2018-12-27 | 2023-04-21 | 井关农机株式会社 | Work vehicle |
| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN111149490B (en) * | 2020-02-25 | 2024-04-16 | 安徽农业大学 | Automatic control system and control method for unmanned rice transplanter |
| CN114600581A (en) * | 2022-03-29 | 2022-06-10 | 舒城西河农业有限公司 | Soil turning device for vegetable planting and soil turning method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2010172264A (en) | 2010-08-12 |
| JP4801745B2 (en) | 2011-10-26 |
| CN101790914B (en) | 2014-09-03 |
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