CN100389642C - Controller for working machine to ground - Google Patents
Controller for working machine to ground Download PDFInfo
- Publication number
- CN100389642C CN100389642C CNB2004100818613A CN200410081861A CN100389642C CN 100389642 C CN100389642 C CN 100389642C CN B2004100818613 A CNB2004100818613 A CN B2004100818613A CN 200410081861 A CN200410081861 A CN 200410081861A CN 100389642 C CN100389642 C CN 100389642C
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- CN
- China
- Prior art keywords
- turning
- transplanting
- controller
- action
- ground
- 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.)
- Expired - Fee Related
Links
- 238000007514 turning Methods 0.000 claims abstract description 95
- 230000033228 biological regulation Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 description 14
- 241000209094 Oryza Species 0.000 description 9
- 235000007164 Oryza sativa Nutrition 0.000 description 9
- 235000009566 rice Nutrition 0.000 description 9
- 230000015572 biosynthetic process Effects 0.000 description 8
- 230000000630 rising effect Effects 0.000 description 7
- 239000003337 fertilizer Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 239000000446 fuel Substances 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004720 fertilization Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Landscapes
- Guiding Agricultural Machines (AREA)
- Transplanting Machines (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
This control unit is used for the ground implement and is equipped with a controller (22) which controls the turning operation of a steering-travelable machine frame and controls the operation of the implement in interlock with the turning operation. The controller (8) is equipped with a switch means having a plurality of turning patterns on the turning of the machine frame and used for selecting and operating a turning pattern among the turning patters.
Description
Technical field
The present invention relates to the controller for working machine over the ground of the operation action of control operation device in the turning action of control body.
Background technology
Carrying out body and travelling rice transplanter and so on that the limit carries out operation over the ground over the ground among the workover rig by being configured in operation device limit on the body, shown in Patent Document 1, adopt the controller for working machine over the ground of controlling the action of operation device with the turning action interlock of body usually.This is the controller for working machine turning process that the body of the round transplanting process of travelling of control and the edge of a field is turned between the round transplanting operational period of the Tanaka before the circular arc transplanting operation that arrives ridge at least over the ground.Among the transplanting process, by the transplanting device being descended and the combination of clutch, along with body to overtake, the rice shoot of the multirow of transplanting simultaneously.In the turning process, when stopping the transplanting action, under the state that upgrades the transplanting device, move to the adjacent position by turning by the clutch separation that makes interpolation device.On this adjacent position, the transplanting device is descended and the clutch combination by control, begin transplanting again from just now interpolation end position.Can carry out the subsidiary control of turning of the control of transplanting device like this when importing turning action automatically, alleviate operator's burden.
Yet, subsidiary Guaranteed in above-mentioned turning, because the transplanting scope depends on the turning action of body, can't be used for that transplanting is stopped scope and be set at the situation that is greater than or less than the turning action zone, therefore, because the transplanting line number is the workover rig specification and the correlation of piece condition on an equal basis variously, often need to be tired of the manual operation of lock, thereby increased the weight of the operation burden.
Patent Document 1 is that the spy opens 2002-335720.
Summary of the invention
Operation over the ground of the present invention has controller with control device, this controller moves with the operation that above-mentioned operation device is controlled in the turning action with body of operation device and steering wheel linkedly, it is characterized in that, has switching device shifter, this switching device shifter is selected operation to the control of above-mentioned controller, makes above-mentioned controller carry out following control: the direction of operating dish make body begin turning distance after the turning action reach regulation apart from the time make the operation device carry out the operation action; Turning distance after stopping with the operation action that in body is advanced, makes the operation device reach regulation apart from the time make the operation device carry out the operation action.
Operation over the ground of the present invention can utilize switching device shifter that operation is selected in the control of above-mentioned controller with control device, makes above-mentioned controller carry out following control: the direction of operating dish make body begin turning distance after the turning action reach regulation apart from the time make the operation device carry out the operation action; Turning distance after stopping with the operation action that in body is advanced, makes the operation device reach regulation apart from the time make the operation device carry out the operation action.Therefore when body is turned, can select desirable turning mode, can control the operation action of operation device linkedly according to the turning action of field condition and job content and body by the simple handover operation of selection mechanism.
Description of drawings
Fig. 1 has been to use the end view of the rice transplanter of controller for working machine over the ground of the present invention.
Fig. 2 is the turning selector switch.
Fig. 3 is automatic turning (a), retreats turning (b), rests the head on ground adjusting turning various turning pie graphs such as (c).
Fig. 4 is the input/output system figure of controller for working machine over the ground.
Fig. 5 is the flow chart that control is handled.
Fig. 6 is the detail flowchart of turning and controlling.
Fig. 7 is a flow chart of selecting the turning mode by teaching.
Fig. 8 is the flow chart that other control of clutch is handled after changing.
The number in the figure explanation
1, rice transplanter (workover rig over the ground), 2, deflecting roller, 3, trailing wheel, 4, steering wheel,
7, transplanting device (operation device), 7a, oil hydraulic cylinder, 7b, electromagnetic fuel pressure control valve valve,
11, lifter, 14, fertilizer applicator, 15, the scraper plate that floats,
21, turning change-over switch (switching device shifter),
22, controller (controller for working machine over the ground), 23, automatic transfer switch,
23a, finger lever switch, 24, transplanting device rising mode switch,
25, handle position sensor,
26, steering wheel rotation angle sensor,
27, timing degree scale dish,
28, brake pedal sensor,
31, transplanting clutch start solenoid,
32, fertilising clutch start solenoid,
33, HST motor
Embodiment
With reference to the accompanying drawings, describe the specific embodiment of the present invention in detail.
At first introduce the situation when controller for working machine over the ground of the present invention is used in rice transplanter shown in the end view of Fig. 1.Rice transplanter 1 is being supported body by deflecting roller 2,2 and trailing wheel 3,3 in the four wheel drive mode, except that having disposed steering wheel 4, driver's seat 5, engine 6, transplanting device 7, has also disposed the controller for working machine over the ground described later of controlling various machines.
Controller for working machine (controller) adopts the turning change-over switch (switching device shifter) 21 by handover operation Fig. 2 over the ground, implements the formation of the turning processing of the mode that adapts with selected mode among " retreating turnings ", " turning automatically ", " pillow ground is regulated and turned "." turn automatically " as shown in Fig. 3 (a), corresponding with the operation of the steering wheel that is used for turning, stop transplanting, it is turning along with body, restart the turning mode of transplanting with the order of regulation, " retreat turning " as shown in Fig. 3 (b), it is the position that all the way moves forward near ridge, stopping transplanting when stopping turns and restarts the mode of transplanting along with thereafter the body body after retreating, " pillow ground is regulated and turned " is as shown in Fig. 3 (c), the position that is about to turn from body stops transplanting, moves on then, restarts the mode of transplanting along with the turning action of thing followed body.
The output input of carrying out the controller 22 that signal handles in operation over the ground among with control device constitutes as shown in the system diagram of Fig. 4, except that the input signal of the change-over switch 21 that is used for selecting the mode of turning, also receive travel driving member with the various machines of operation action usefulness of the signal of various switches, sensor and control.Particularly, connecting on the input finger lever switch 23a that is used for the transplanting action command, be used to select automatic transfer switch 23 that the transplanting of transplanting auto-action begins, the transplanting device that is used to select the transplanting device to rise automatically rises motor switch 24 automatically, be used to survey variable speed operation HST handle position sensor 25, be used to survey driver behavior steering wheel rotation angle sensor 26, be used to the time of regulating timing degree scale dish 27, be used to survey the brake pedal sensor 28 of brake operating etc.; Connecting electromagnetic fuel pressure control valve valve 11b on the output by oil hydraulic cylinder 11a lifting transplanting device 7, be used for the transplanting action transplanting clutch start solenoid 31, be used for the fertilizer applicator action fertilising clutch start solenoid 32, be used for HST motor 33 that the HST handle fascinates etc.
Handle as shown in the flow chart of Fig. 5 by the control that above-mentioned controller 22 is implemented, reading in the value of each sensor (S1) afterwards, reach transplanting speed (S2) standby before in shift position, confirm turning selection change-over switch 21 (S3), and the corresponding turning processing of mode of carrying out and from " retreating turning ", " turning automatically ", " resting the head on the ground adjusting turns ", selecting, each turning is handled and is carried out individual treated according to the difference of transplanting stop position.
If various turning modes are described in detail, then " retreat turning " and be signal according to HST handle position sensor 25, in HST handle neutrality (S11), main clutch not " from " under (S12) the condition, just " close " standby before at main clutch, assign transplanting device " rising " and transplanting clutch " from " instruction (S13).
In the case, can improve the perceived accuracy of the control of turning by the neutrality that detects the HST handle.In addition, also be provided with the ridge acquisition sensor that utilizes not shown feeler etc. to carry out at the body front end, detectable signal according near the ridge side time, via HST motor 33, make the HST handle recover neutral, make it self-stopping formation, can improve positioning accuracy by employing, prevent to bump, guarantee control accuracy after this with ridge.
Main clutch " from " situation under, comprise the situation that parking has exceeded schedule time that detects, by end to turn handling, can tackle the situations such as exception parking during the transplanting.At this moment, can carry out back operation, return to the processing that retreats turning by the operator.In addition, owing to can before the backward movement of body, carry out because of " rising " of transplanting device, can prevent and implement to retreat under the normal condition that the operation device is risen when promoting the action body and retreating, the transplanting device fails to rise and the state of affairs of insertion table soil fully, thereby the scraper plate 15 that can prevent to float damages.
Then, retreat predetermined distance (S14) in order to relax impact every the stipulated time.When this retreats, can be according to its time leeway, switch by travel direction and to reduce the suffered impact of operator, can prevent also that simultaneously transplanting device 7 is at vertical motion insertion table soil under the situation slowly.In addition, can confound the face of land that transplanting finishes, take time and energy very much, thereby above-mentioned backward movement is limited in the transplanting end position scope before and want not make rice shoot lodging ground to eliminate the wheel seal because the wheel of backward movement prints.
Through after the stipulated time, begin to carry out distance after the wait forward operation (S15) and calculate (S16) by the rotation of driving shaft.Also the formation that can body be advanced by the instruction of fascinating of adopting the HST handle replaces this forward operation and can improve operability.In addition, owing to also can reduce the suffered impact of operator, also can set and desirable advance and retreat the time, thereby can improve operability by degree scale dish 27 is set regularly by the time delay of body before beginning to advance is set.
By a left side described later or right turning control (S18, S18),, begin transplanting again according to the steering wheel that is used for the turning operation (S17) after this beginning of advancing from assigned position along with the turning action of body.The turning control (S18) of regulation is to handle the control of implementing by the identical subprogram in the left and right sides, also capable of being combinedly advances among other turning mode.
Adopt the processing of above-mentioned control processing " retreating turning ", under the situation of using the few rice transplanter of transplanting line number, because in the round transplanting operation of field middle body, transplanting always is to the position near ridge, thereby can reduce the width of the turning transplanting operation of ridge one band, make it consistent with the transplanting width of operation device.And when having adopted the formation of the control of handling according to the signal termination turning of brake pedal sensor 28, can when running into special circumstances, guarantee its safety.
" turning automatically " is same as described above according to the steering wheel operation (S21) that is used for turning, in beginning distance counting (S22, S22), by the turning control (S18, S18) of correspondence with it, the mode that begins transplanting from assigned position again.In addition, " pillow ground regulate turn " then be with transplanting " from " operation (S31) is prerequisite, same as described above, beginning distance counting (S32), after moving on, according to the steering wheel that is used for turning operation (S33) control (S18, S18) of turning, the mode that begins transplanting from assigned position again.
The details that the left or right turning of adopting subprogram to handle enforcement is controlled is shown in the flow chart of Fig. 6, confirm transplanting device rising mode switch 24 (S41) of transplanting device 7, under the situation that is not the rising mode, till confirming that drive shaft speed (S42) is waited for when arriving the turning of stipulating apart from n1 always, in order to judge the operation of turning, when the steering wheel angle of rotation reaches setting (for example 90 °) when above, assign " decline " instruction (S44).In contrast, under the situation that is the rising mode, assign the instruction (S41a) of transplanting device " rising ".When the steering wheel angle of rotation does not reach setting α when above, send alarm signal (S43a) back end process.
Then, by confirming drive shaft speed (S45) standby before the turning that arrives regulation is apart from n2 ', in order to judge abnormal operation, under the steering wheel angle of rotation does not reach prerequisite more than the setting b (for example 180 °), assign the instruction (S47) that the fertilising clutch " closes ".If the steering wheel angle of rotation is then same as described above more than setting b, send alarm signal (S43a) back end process.
Then begin automatic transfer switch 23 under the prerequisite of " closing " in transplanting, by confirming drive shaft speed (S49) standby before the turning that reaches regulation is apart from n2, when assigning the instruction (S50) that transplanting " closes ", by drive shaft speed counting zero clearing (S51) end process.
In addition, begin end process under the situation that automatic transfer switch 23 is not " closing " when transplanting.In the case, by adopting manual operation described later can guarantee its flexibility.
Owing to the transplanting device is moved with the turning action of body by an above-mentioned left side or right turning control processing, thereby can begin transplanting again from assigned position, in addition, also can be by making fertilizer applicator i.e. action before transplanting, regulate because of what very long transfer path caused and shoot out delay, consistent with fertilization time.
In addition, handle the simple various turning modes that constitute owing to can pass through the combination subprogram, so handle formation by change-over switch and simple control, the turning that promptly can be used under the various conditions is handled.
Select the method for turning mode below by the teaching explanation.Fig. 7 is a flow chart of selecting the turning mode by teaching.Initial process by the operator carry out transplanting device 7 " from " with " closing ", the turn condition when storage arrives pillow ground is selected the turning form that is fit to automatically by the 1st time teaching.
Specifically, behind teaching method (S61), " close " (S62) standby to not meeting,, then be set at automatic turning mode (S63a) if steering wheel operation (S63) is arranged by confirming the transplanting clutch in standby.As if (body advances) that under the situation of inoperation steering wheel, meet the HST motor (S64), then be set at pillow ground and regulate turning mode (S64a).In a word,, then set (S65) standby,, then be set at the turning mode (S66a) that retreats if HST motor " body advances " (S66) in this scope by timer if do not meet.
Owing to adopt the controller of this kind formation, in teaching method, carry out initial process by the operator, even inoperation turning selector switch 21 also can be selected the turning mode automatically, thereby simple to operate, can improve its operability.
The following describes other processing of the transplanting clutch after the turning.Fig. 8 is the flow chart that other control of the transplanting clutch after turning is handled.Turning after 180 °, read in turning sensor (S71) afterwards, the selector switch of confirming the automatic processing of transplanting clutch is in " ON " (S72) position, if meet, then standby reaches (S73) more than the setting to the turning count value, assigns the instruction (S75) that the transplanting clutch " closes " then.In addition, when selecting switch not meet " ON ", then standby is assigned the instruction (S75) that the transplanting clutch " closes " afterwards again to carrying out finger lever step-down operation (S72a).
By the controller that employing has this kind formation, promptly available transplanting begins automatic transfer switch 23 and selects to handle automatically and manual handle.Under the situation that adopts manual handle, because the operator can begin according to the adjusted transplanting of finger lever switch 23a, thereby operability that can be when using automatic processing and manual handle to improve turning respectively according to the operation field situation.
In addition, by adopting with body turning action interlock the transplanting clutch is placed " from " time, by the up-down mode side of selection switch the up-down mode of transplanting device 7 is set at the formation of automatic or manual, the interlock of transplanting device 7 that can be during turning rises and still keeps the height between operational period to turn after stopping.Because by the unsteady scraper plate 15 that adopts this method to turn to utilize configuration on the transplanting device 7 surface, field of raking, thereby be enough to stay under the situation of running vehicle wheel seal when Tanaka's hardness, can remove this wheel seal fully, make the field more smooth attractive in appearance on the face of land.Turn after also the transplanting device can being raise on the other hand, in order to avoid run into high ridge.So, except that can carrying out the processing of clutch and turning interlock, also can enlarge user's range of choice, improve its adaptability by only lifting being made as the switch of manual dual mode for transplanting device 7.
Claims (1)
1. operation control device over the ground, has controller (22), this controller (22) moves with the operation that above-mentioned operation device (7) is controlled in the turning action with body of operation device (7) and steering wheel (4) linkedly, it is characterized in that, has switching device shifter (21), this switching device shifter (21) is selected operation to the control of above-mentioned controller (22), makes above-mentioned controller (22) carry out following control:
Direction of operating dish (4) makes body begin to make operation device (7) carry out the operation action when turning distance after the turning action reaches the distance (n2) of regulation; With
Turning distance after the operation action of operation device (7) is stopped makes operation device (7) carry out the operation action when reaching the distance (n2) of regulation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003428561A JP4543247B2 (en) | 2003-12-25 | 2003-12-25 | Rice transplanter |
| JP2003428561 | 2003-12-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1636428A CN1636428A (en) | 2005-07-13 |
| CN100389642C true CN100389642C (en) | 2008-05-28 |
Family
ID=34787484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100818613A Expired - Fee Related CN100389642C (en) | 2003-12-25 | 2004-12-24 | Controller for working machine to ground |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP4543247B2 (en) |
| CN (1) | CN100389642C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5888352B2 (en) | 2014-02-10 | 2016-03-22 | 井関農機株式会社 | Seedling transplanter |
| JP6339427B2 (en) * | 2014-03-31 | 2018-06-06 | ヤンマー株式会社 | Parallel work system |
| CN105723838B (en) * | 2016-02-22 | 2017-11-14 | 湖南省金峰机械科技有限公司 | A kind of intelligent fertilizer machinery |
| CN109074081A (en) * | 2016-05-10 | 2018-12-21 | 洋马株式会社 | Autonomous driving path generates system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07132850A (en) * | 1993-11-08 | 1995-05-23 | Iseki & Co Ltd | Turning device for combine |
| JP2002335720A (en) * | 2001-05-16 | 2002-11-26 | Mitsubishi Agricult Mach Co Ltd | Transplanter |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07274631A (en) * | 1994-04-08 | 1995-10-24 | Kubota Corp | Controlling device for rice planter |
| JP3635877B2 (en) * | 1997-07-14 | 2005-04-06 | 井関農機株式会社 | Ride type seedling planting machine |
| JP4465063B2 (en) * | 1999-09-21 | 2010-05-19 | 株式会社クボタ | Working device lifting structure of paddy field work machine |
| JP4570285B2 (en) * | 2001-06-20 | 2010-10-27 | ヤンマー株式会社 | Tractor |
| JP2003261059A (en) * | 2002-03-11 | 2003-09-16 | Mitsubishi Agricult Mach Co Ltd | Turning control device for working vehicle |
-
2003
- 2003-12-25 JP JP2003428561A patent/JP4543247B2/en not_active Expired - Fee Related
-
2004
- 2004-12-24 CN CNB2004100818613A patent/CN100389642C/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07132850A (en) * | 1993-11-08 | 1995-05-23 | Iseki & Co Ltd | Turning device for combine |
| JP2002335720A (en) * | 2001-05-16 | 2002-11-26 | Mitsubishi Agricult Mach Co Ltd | Transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| JP4543247B2 (en) | 2010-09-15 |
| CN1636428A (en) | 2005-07-13 |
| JP2005185130A (en) | 2005-07-14 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080528 Termination date: 20201224 |
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| CF01 | Termination of patent right due to non-payment of annual fee |