Control process and device for the movements of a part, and their use in a hay gathering machine

• US 4,602,560 A
• Filed: 02/02/1984
• Issued: 07/29/1986
• Est. Priority Date: 02/03/1983
• Status: Expired due to Fees

• Current Assignee: Electromeca SA ZA
• Original Assignee: Electromeca SA
• Inventors: Jacky, Herbert
• Primary Examiner(s): Wilhite, Billy J.
• Application Number:
  US06/576,505
• Time in Patent Office: 908 Days
• Field of Search: 100/5, 100/2, 100/4, 100/13, 100/88, 100/99, 100/3, 56/341, 56/343, 82/14 R, 82/14 A, 82/14 B, 82/14 C, 364/194, 364/400, 83/71, 72/7
• US Class Current: 100/3
• CPC Class Codes: A01F 15/141 for round balers wrapping devices A01F15/071
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector

Abstract

The invention relates to a hay baling device comprising means (13) for defining a training phase working mode and an automatic flow working mode of a previously recorded reproducible program. Means (14) are also provided, operative in the training phase for controlling the movements of the part manually by selecting parameters of successive steps comprising at least, for each step, the duration of the step and the direction of movement, selected from among a forward position, a reverse position and a stationary position. In addition, included are means (10) for then recording the parameters of the successive steps in the form of a reproducible program.

Claims

1. In a process for gathering hay into bales, with automatic tying of the bales, the process comprising sucking in hay in a tangentially direction to and into a cylindrical bale formation chamber and driving the hay in rotation about the axis of the chamber, feeding the end of a twine through a twine guide to feed the end of the twine at the circumference of a bale in the chamber, and moving said guide, by guide moving means, relative to a hay inlet of the chamber according to successive steps of movement, wherein the improvement comprises initially controlling manually the successive steps of movements of said twine guide in a training phase for tying a first bale, recording of parameters corresponding to said successive steps comprising at least, for each step, the duration of the step and the direction of movement of said twine guide, thereby generating a reproducible tying program, and controlling automatically the movement of the twine guide according to said tying program for tying each of a plurality of subsequent bales.

2. A process as in claim 1, wherein the direction of movement of the twine guide is selected from among a forward position, a reverse position and a stationary position.

3. A process for controlling the movement of a twine guide in a machine for gathering hay into bales, to feed the end of a twine at the circumference of a bale, comprising initially controlling manually in a training phase the movements of said twine guide for tying a first bale, and recording a reproducible control program comprising automatically recording of parameters corresponding to successive steps of movement of said twine guide for tying of said first bale to thereby generate a reproducible control program, and reproducing automatically said reproducible control program for tying each of a plurality of subsequent bales.

4. A process as in claim 3, further comprising recording at least, for each step, the duration of movement of said twine guide and the direction of movement of said twine guide.

5. A process as in claim 4, wherein the direction of movement of the twine guide is selected from among a forward position, a reverse position and a stationary position.

6. In a machine for gathering hay into bales, with automatic tying of the bales, comprising a cylindrical bale formation chamber into which hay is sucked tangentially and driven in rotation about the axis of the chamber, a twine guide for feeding the end of a twine at the circumference of a bale after its formation inside the chamber, and guide moving means for moving said guide relative to the hay inlet in the chamber, wherein the improvement comprises a guide control device for controlling the movements of said twine guide for tying the successive bales, said guide control device comprising defining means for defining a training phase working mode and an automatic flow working mode of a previously recorded reproducible tying program, control means operative in a training phase for manually controlling the movements of said guide for tying a first bale by selecting parameters corresponding to successive tying steps and comprising, at least for each step, the duration of the step and the direction of movement of said twine guide, selected from the group consisting of a forward position, a reverse position and a stationary position, and recording means for then recording the parameters of the successive steps in the form of reproducible program for tying subsequent bales for being reproduced by putting the guide control device into the automatic flow working mode.

7. A machine as in claim 6, further comprising means for controlling at will the performing of the recording of the parameters of each of the successive steps in the training phase working mode and the tripping of the steps, step by step, in the automatic program flow working mode.

8. A machine as in claim 6, wherein said means for defining a working mode is adapted for operation in a working mode wherein the movements of the part are controlled manually without the parameters of the corresponding steps being recorded.