JPH0125524B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a pair of left and right contact sensors for a planted stem culm, and maintains the sensors in a non-contact state with respect to the stem culm based on the detection results of both sensors. The present invention relates to a reaping harvester equipped with a control mechanism that automatically operates a machine direction device.

The above-mentioned reaping and harvesting machine is configured so that the machine can work while automatically following the rows of planted stems and culms. Due to the curve, one of the sensors 1a or 1b came into contact with the stem culm a and a turning operation of the aircraft was performed.
If the sensor installation part cuts into the stem culm row because the bending angle of the slip or stem culm row is steeper than the angle at which the aircraft can turn, the uncut stem culm may More and more troubles were occurring.

This is because conventional reaping and harvesting machines, such as the one disclosed in Japanese Utility Model Application Publication No. 55-10177,
Due to the above-mentioned interruption, both the sensors 1a and 1b come into contact with the stem and the culm, and at the time when the state of contact with the stem culm is reached, the aircraft is caused to travel straight in the direction in which the aircraft is facing. Therefore, by driving straight, both sensors 1a and 1
In some cases, both of the b and b penetrating rows were in contact with the stem and culm. As a result, the stem culm rows are shifted one by one as they travel, and immediately after passing through the stem culm row, the sensor comes into contact with the interrupted stalk culm row and moves away from that stalk culm row. There is a high possibility that the vehicle will be steered like this, and the vehicle will not operate by correcting the misalignment of the stem and culm rows in an automatic steering state.
For example, as shown in Figure 5 (c) and (d), even if the sensor installation section happens to cut into the curved row again and the shifted state of the stem culm row is resolved, the original state will be restored from the initial interruption. The stem culm would be left uncut at the point where the cutting begins before returning to running.

The present invention has been made in view of the above-mentioned circumstances, and the object of the first invention is to arrange the arrangement of both sensors in the stem culm row so that both sensors are in contact with the stem culm. The object of the present invention is to minimize the amount of uncut stem culms caused by the interruption by quickly and automatically returning from the interruption state to the normal automatic steering state even if the interruption occurs.
The object of the second invention is to suppress automatic steering in the state where the above-mentioned interruption occurs and the arrangement portions of both sensors penetrate through the interrupted stem culm row, Another object of the present invention is to minimize the number of uncut stems caused by the interruption by quickly and automatically returning to the original normal automatic steering state.

Next, an embodiment of the first invention will be described based on the drawings.

As shown in FIG. 1, a threshing section 3 is provided on a machine base having a crawler-type traveling device 2, and a device 4 and a pulling device 4 for raising the erected stem culms (hereinafter referred to as grain culms) as the machine moves. A pre-processing section having a device 5 for reaping grain culms and a conveying device 7 for supplying the reaped grain culms to the starting end of the threshing feed chain 6 is provided at the front part of the machine, The combine harvester is configured to be able to cut four rows.

As shown in FIG. 2, the planted grain culm is introduced into the introduction path A that is located closest to the uncut land side among the four rows of cut grain culm introduction paths A, B, C, and D in the pretreatment section. and B adjacent to the introduction route A on the most uncut land side.
A pair of left and right bar-type contact sensors 1a, 1b each corresponding to the planted grain culms to be introduced in the plant are separately attached to the weeding tool support frame 8 in a swingable state, and the sensors 1a, 1b are ni, switch 9
a or 9b is interlocked so that it enters the ON state only when the sensor 1a or 1b is in contact with the grain culm. A device is configured to detect the lateral deviation and deviation direction of the aircraft body with respect to the rows, and to electrically take out the detection results. That is, by knowing that both switches 9a and 9b are in the off state, it is determined that the deviation of the machine body with respect to the grain culm rows is within the set range, and either switch 9a or switch 9b is turned off. By knowing whether the machine is in the entering state, it is possible to determine the deviation and direction of deviation of the machine relative to the planted grain culm row beyond the set value.

A pair of left and right steering clutches 10a and 10b as aircraft direction devices provided in the traveling device 2.
Hydraulic cylinder 1 for operating each
As shown in FIG. This controller 12 is controlled so that both control valves Va and 9b are turned off based on information from both switches 9a and 9b.
If you configure Vb to operate automatically,
Based on the detection results of the two sensors 1a, 1b, the steering clutches 10a, 10b are operated so that the sensors 1a, 1b are in a non-contact state with respect to the grain culm.
A control mechanism is configured to automatically operate the.

As shown in FIG. 3, based on information from both switches 9a and 9b of the detection device, both sensors 1
While the detection device 13 detects that both the sensors 1a and 1b are in contact with the grain culm, the detection device 13 detects the operating state and order of operation of the sensors 1a and 1b. Sensor 1 in contact state
Control valve on the side corresponding to a or 1b
The control mechanism is provided with an operating device 14 that outputs a signal for operating the controller 12 so that only Va or Vb is maintained at the clutch disengaged position, and as a result, the control mechanism A mechanism 15 is configured to change the control operation by the control mechanism so that the machine direction is maintained while both sensors 1a and 1b are in contact with the grain culm. Further, the control mechanism is provided with an operating device 16 that can be manually operated to switch the operating device 14 between the operating state and the non-operating state so as to switch the control operation changing mechanism 15 between the operating state and the non-operating state.

In short, the machine is configured so that it can work while being automatically steered so as to follow between the rows of grain culms to be introduced into both grain culm introduction routes A and B, and
In normal times, when the field is relatively hard and slips are difficult to occur when turning, or when the rows of planted grain culms are relatively straight, the control operation changing mechanism 15 is kept inactive, and the field is relatively hard. In the event of an abnormality in which the grain is soft and slips easily when turning, or the row of planted grain culms is curved at a steeper angle than the angle at which the aircraft can turn, the control operation change mechanism 1 is activated.
By keeping 5 in operation, even if both sensors 1a and 1b cut into the planted grain culm row and both sensors 1a and 1b penetrate that grain culm row, the side shifted by one position with respect to the grain culm row Even if the aircraft is about to shift, during the interrupt state where both sensors 1a and 1b are in contact with the grain culm, a steering operation is performed on the sensor 1a or 1b that came into contact first before interrupting. Therefore, it is possible to automatically return to the normal running state from the interrupt state, and when both sensors 1a and 1b come into contact with the grain culm, as in the conventional case, the contact state is reached. Even if the aircraft is in a state where it is moving straight in the direction it was facing at the time,
It is configured to be shortened by the amount equivalent to the straight flight of the aircraft.

In the second invention, a control action changing mechanism 17 configured as follows is provided in place of the control action changing mechanism 15 of the first invention.

That is, a detection device 18 similar to the detection device 13 of the first invention and this detection device 18 are connected to both sensors 1.
Between the time when both sensors 1a and 1b detect that they are in a state of contact with the grain culm and the time when both sensors 1a and 1b detect that they are both in a state of non-contact with the grain culm, contact with the grain culm first occurs. an operating device 19 that outputs a signal to operate the controller 12 so that only the control valve Va or Vb on the side corresponding to the sensor 1a or 1b which is in the clutch disengaged position is maintained in the operated state; The control mechanism is provided with both sensors 1 and 1 according to the orientation of the aircraft.
The control operation by the control mechanism is changed so that the machine orientation state is maintained from when both sensors 1a and 1b come into contact with the grain culm until both sensors 1a and 1b come into non-contact state with the grain culm. It's like this.

Further, an operating device 20 that switches the operating device 19 between the operating state and the non-operating state so as to switch the control operation changing mechanism 17 between the operating state and the non-operating state,
The control mechanism is equipped for manual operation.

In short, by keeping the control operation changing mechanism 17 inactive during normal times as described above, and keeping the control operation changing mechanism 17 in an active state during abnormal times as described above, both sensors 1
The installation parts of both sensors 1a and 1b cut into the grain culm row so that both a and 1b come into contact with the grain culm and pass through the row, thereby changing the state from the original running state along the grain row. Even if the rows are in a deviated running state, both the sensors 1a and 1b can control the machine direction based on the sensor 1a or 1b that came into contact with the grain culm first when the interruption occurs. This state is maintained until the state of no contact with the stems and culms is reached, so it is possible to avoid automatic steering in which the rows are running in a state that is shifted by one position, and to maintain the state in which the rows are not in contact with the grain culms. The configuration is such that the return to the running state along the row can be performed automatically and quickly. In addition to combine harvesters, the present invention can also be applied to various types of stem and culm reaping harvesters that handle different objects to be harvested, such as binders, and different processing methods for harvested materials.

The steering clutches 10a, 10b can be changed to steering brakes, etc., and these can be used as steering devices 10.
They are collectively referred to as a and 10b.

In summary, in the reaping and harvesting machine according to the first aspect of the present invention, in the above-mentioned reaping and harvesting machine, the control mechanism detects the operating states and operating orders of both the sensors 1a and 1b, and A control operation change mechanism that outputs a control signal to maintain the machine orientation state based on the sensor 1a or 1b that first came into contact with the stem and culm while the sensors 1a and 1b are both in the state of contact with the stem and culm. 15 is a characteristic configuration.

In other words, even if one sensor 1a or 1b comes into contact with the stem culm and both sensors 1a and 1b come into contact with the stem culm, the aircraft turning operation is performed by the sensor 1a or 1b that contacted the stem culm first. Since this is done continuously, both sensors 1
Compared to the conventional model, in which when both a and 1b come into contact with the stem culm, the aircraft moves straight in the direction in which it is facing at the time when the contact state is reached. When the stem culm is cut through the row, it automatically steers in a state that is shifted by one position relative to that row, and manual steering is required to return it to its original state. Although this will result in a large amount of residue remaining, in the first invention, the steering for return is automatically performed from the time when both sensors 1a and 1b come into contact with the stem and culm. Therefore, the distance traveled until the return is completed can be shortened, and the amount of uncut stem culms can be reduced by an amount corresponding to the shortening.

Further, in the reaping and harvesting machine according to the second invention, in the reaping and harvesting machine described above, the control mechanism includes:
The operating state and operating order of both the sensors 1a and 1b are detected, and both the sensors 1a and 1b are detected.
From the time when both a and 1b come into contact with the stem culm until they both come into the state where they do not come into contact with the stem culm, the sensor 1a or 1b that came into contact with the stem culm first
The characteristic configuration is that a control operation changing mechanism 17 is provided that outputs a control signal so as to maintain the aircraft orientation state based on .

In other words, after one sensor 1a or 1b comes into contact with the stem culm, both sensors 1a and 1b come into contact with the stem culm, and then only sensor 1b or 1a, which came into contact later, is in contact. Even if this happens, the sensor 1a or 1 that came into contact with the stem culm first will be
Since the machine orientation state based on b is maintained, even if the machine moves through the stem culm row, as long as sensor 1a or 1b is in contact with the stem culm, the stem at that time Since the culm detection is ignored and the original state of running along the culm row is automatically and quickly returned to, the distance traveled until the return is completed can be shortened, and the remaining culm can be removed. This has resulted in the effect of reducing the amount of

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the reaping harvester according to the present invention, in which Fig. 1 is a side view of the front part of the combine, Fig. 2 is a plan view of the sensor mounting part, and Figs. 3 and 4 are block diagrams of the control mechanism. , FIGS. 5A to 5D are explanatory diagrams of the running state. 1a, 1b...sensor, 10a, 10b...
Steering device, 15, 17... Control operation change mechanism, 1
6,20...operating device.

Claims (1)

[Claims] 1. A pair of left and right contact sensors 1 for a planted stem culm.
a, 1b, and both the sensors 1a, 1b are provided.
Based on the detection result of 1b, both sensors 1
The reaping/harvesting machine is provided with a control mechanism that automatically operates the machine direction devices 10a, 10b so that the two sensors 10a, 1b are maintained in a non-contact state with respect to the stem culm, and the control mechanism includes both sensors. 1a and 1b, and while both sensors 1a and 1b are in contact with the stem and culm, the sensor 1a or 1b that came into contact with the stem first is detected. A reaping/harvesting machine characterized in that it is equipped with a control operation changing mechanism 15 that outputs a control signal so as to maintain a basic machine orientation state. 2 Pair of left and right contact sensors 1 for planted stem culms
a, 1b, and both the sensors 1a, 1b are provided.
Based on the detection result of 1b, both sensors 1
The reaping/harvesting machine is provided with a control mechanism that automatically operates the machine direction devices 10a, 10b so that the two sensors 10a, 1b are maintained in a non-contact state with respect to the stem culm, and the control mechanism includes both sensors. Detecting the respective operating states and operating orders of sensors 1a and 1b, and from the time when both of the sensors 1a and 1b are in contact with the stem and culm until both of them are in the state where they are not in contact with the stem and culm,
Sensor 1a of the tagawa that came into contact with the stem and culm first
or 1b. A reaping/harvesting machine characterized in that it is equipped with a control operation changing mechanism 17 that outputs a control signal so as to maintain the machine orientation state based on 1b.