JPH0347003A - Steering control device for reaping harvester - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is characterized in that a reaping processing section is provided in the front part of a machine body equipped with a traveling device so that its position in the width direction of the machine body can be freely changed and adjusted.
The reaping processing section is provided with a steering control sensor that detects a positional deviation in the machine width direction with respect to the rows of grain rods lined up in the machine's traveling direction, and the machine is guided based on the detection information of the steering control sensor. The present invention relates to a steering control device for a reaping harvester, which is provided with a steering control means for steering the traveling device so as to automatically travel along grain rows.

[Prior Art] Taking a combine harvester as an example of a reaping/harvesting machine, in order to prevent the traveling device from stepping on uncut grain culms while the machine is running, the reaping processing section is generally placed in the width direction of the machine. It is installed biased to the left side, which is the uncut side.

Therefore, for example, when mowing work is performed at the edge of a ridge, the machine body may protrude from the field toward the ridge, making it difficult to drive.

Therefore, in order to be able to perform reaping work at the edge of a ridge, etc. even when the machine is running in the field, it has been considered to provide a position of the reaping processing section in the width direction of the machine so that it can be freely changed and adjusted. There is.

In addition, in order to avoid leaving uncut crops or trampling over uncut grain culms, the machine should be equipped with means for controlling the steering so that it automatically travels along rows of grain rods lined up in the direction of travel. It is also being considered.

However, conventionally, the position change operation of the reaping processing unit in the width direction of the machine body and the steering operation of the traveling device have been performed separately and unrelated to each other.

[Problem to be Solved by the Invention] By the way, if the position of the reaping processing section in the width direction of the machine body can be changed and adjusted, for example, when the direction of the machine body is parallel to the rows of grain rods lined up in the direction of movement of the machine body, , and if only the position of the reaping processing unit in the width direction of the machine deviates from the appropriate position range, do not perform steering operation of the traveling device,
By simply changing and adjusting the position of the reaping processing section in the width direction of the machine body, it is possible to correct the position of the reaping processing section in the width direction of the machine body relative to the row of grain rods to an appropriate range.

However, if the orientation of the aircraft relative to the row of grain rods is tilted, it is necessary to correct the orientation of the aircraft relative to the row of grain rods by steering the traveling device.

The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to adjust the grain rod rows according to the misalignment of the aircraft in the traveling direction and the positional misalignment in the width direction with respect to the grain rod rows. The purpose of the present invention is to enable accurate and automatic adjustment of the position of a reaping processing unit relative to the position of the reaping unit.

[Means to solve the problem]

In the steering control device for a reaping and harvesting machine according to the present invention, a reaping processing section is provided in the front part of a machine body equipped with a traveling device so that its position in the width direction of the machine can be freely changed and adjusted, and the reaping processing section is provided with A steering control sensor is provided that detects a positional shift in the width direction of the aircraft relative to the row of grain rods lined up in the direction, and the aircraft automatically travels along the row of grain rods based on the detection information of the steering control sensor. A steering control means is provided for steering the traveling device so as to perform the steering operation.The characteristic configuration thereof is as follows.

That is, a pair of the steering control sensors are provided at intervals in the longitudinal direction of the aircraft, and the steering control means controls the steering control for the grain rod row based on information from each of the pair of steering control sensors. If the machine body position deviates in different directions at the front and back, the traveling device is steered, and if the machine body position shifts in the same direction at the front and back, the reaping processing unit is operated in the width direction with respect to the machine body. The point is that it is configured to perform a position change operation.

[Operation] If a pair of steering control sensors are provided at intervals in the longitudinal direction, if the aircraft is tilted with respect to the row of grain rods, it will be detected by the pair of steering control sensors. The machine body position is in different directions at the front and rear, and when the machine direction is parallel to the row of grain rods and only the position in the width direction is shifted, the machine body position is in the same direction at the front and rear.

In other words, by providing a pair of steering control sensors spaced apart in the longitudinal direction, it is possible to determine whether there is a positional shift in the width direction of the aircraft relative to the row of grain rods, and whether there is an inclination in the direction of travel. If the position of the aircraft relative to the row of grain rods deviates in different directions at the front and back, the traveling device is operated to correct the direction of the aircraft, and if the position of the aircraft deviates in the same direction at the front and back, The position of the reaping processing section in the machine width direction is changed so that the position and orientation of the reaping processing section in the machine width direction are maintained in a state in which reaping work can be performed properly. The position change operation in the width direction and the steering operation of the traveling device are used separately.

[Effects of the Invention] Therefore, depending on the state of deviation of the machine body with respect to the row of grain rods, the position change operation of the reaping processing section in the width direction of the machine body and the steering operation of the traveling device are automatically used properly, It has now become possible to accurately correct the position of the reaping processing section.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 5, a combine harvester as an example of a reaping and harvesting machine includes a body (v) equipped with a pair of left and right crawler running devices (1), and a threshing device (2) mounted on the body (V).
), and a driving and boarding section (5) which is located at the front side of the right side of the fuselage (V) and includes a driver's seat (3) and a control section (4).
) and the reaping processing unit (A) attached to the front of the fuselage (V).
It is equipped with

The reaping processing unit (8) includes a reaping unit (6) that raises and reaps grain culms, and a conveyance device (8) that supplies the reaped grain culms to the feed chain (7) of the threshing device (2). . It is connected to the fuselage (V) so that it can be driven up and down, and its position can be changed in the width direction of the fuselage.

The reaping section (6) includes a weeding tool (9) arranged in parallel in the width direction of the machine body, a pair of left and right raising devices (10), and a clipper-type cutting blade (11) that cuts the base of the raised grain culm.
), and an auxiliary conveyance device (12) that locks and conveys the stock base of the reaped grain culm to the rear side.

A cylindrical reaping part support frame (13) connecting the reaping part (6) to the machine body (V) is connected to the machine body (v).
is mounted on a reaping part lifting hydraulic cylinder (15) which is supported by a stand (14) so as to be vertically swingable and which vertically swings the reaping part support frame (13) to raise and lower the reaping part (6).
) is provided.

Further, the reaping section (6) is configured such that its position in the width direction of the machine body can be freely changed and adjusted.

To explain further, as shown in FIG. 4, basically, the reaping section (6) is supported at the tip of the reaping section support frame (13) so as to be slidable in the width direction of the machine body. It is configured so that its position in the width direction of the aircraft can be changed and adjusted.

The reaping section attachment frame (13A) attached to the tip of the reaping section support frame (13) is such that a pair of front and rear elongated frames (18A) and (18B) can slide freely in the width direction of the machine body. Three weeding tool support frames (19a), (19b), and (19c) are attached to these elongated frames (18A) and (18B). In other words, the weeding tool (9) supports the three weeding tool support frames (19a) and (19b).
, (19c), respectively. Although not described in detail, each of the raising device (10), the cutting blade (11), and the auxiliary conveyance device (12) is connected to the elongated frame (18A).
) (18B) and the weeding tool support frame (19a),
(19b).

(19c) will be used as a base frame to be assembled in a predetermined posture.

A rotating shaft (21) with a spiral groove is driven in forward and reverse directions by a horizontal sliding electric motor (20) serving as an actuator for sliding the reaping section (6) in the width direction of the machine body. Square frame (18
A), (bracket attached to (18B)) (22
), and the reaping part is attached by fixing a frame member (23) to the frame (13A), which fits into the rotating shaft (21). It is configured such that the position of the reaping processing section (8) in the width direction of the machine body can be changed.

In addition, in the figure, (24a) and (24b) are a pair of limit switches attached to the reaping part that are turned on when the frame (13^) reaches the left and right limits where the position can be changed; The part attachment is provided to automatically stop the drive of the electric motor (20) when the frame (13A) reaches the left and right limits in which the frame (13A) can be repositioned.

However, although not detailed, the reaping part support frame (13
) is also used as a case of a transmission shaft that transmits power from the machine body (V) to the reaping section (6).

Further, as shown in FIG. 5, the reaping section (6) is provided with a locking rod (25) for locking the conveying device (7),
As the position of the reaping section (6) is adjusted, the conveying device (
7) whose position can be adjusted by swinging.

Next, a control configuration for automatically adjusting the position of the machine body (v), that is, the reaping processing section (A) with respect to the rows of grain rods lined up in the machine traveling direction will be described.

As shown in FIGS. 3 and 4, the three weeding tool support frames (19a), (19b), (19c)
The weeding tool support frame (19
b) includes a contact-type steering control sensor (S1) for detecting whether the position of the reaping processing unit (A) in the width direction of the machine body with respect to the row of grain rods deviates from the appropriate reaping position range; Two pieces are provided spaced apart from each other in the front and rear direction.

To explain further, the steering control sensor (S1) is as follows:
A pair of left and right sensor bars (
26) and its sensor bar (26) are at or above the set angle,
A pair of switches (not shown) are turned on as the machine rotates toward the rear, and the position of the reaping processing section (A) in the width direction of the machine relative to the row of grain rods deviates from the appropriate reaping position range. As a result, the sensor bar (25) comes into contact with the base of the grain culm and rotates toward the rear of the machine, and with this rotation, the switch is turned on and the machine position moves out of the proper position range. It is possible to detect deviations. Since a pair of left and right switches are provided for detecting the sensor bar (26) and its rotation,
The configuration is such that it can be determined whether the shift is in the left or right direction based on which of the left and right switches is turned on.

Since the steering control sensor (S1) is provided with a pair of front and rear sensors, it is possible to determine whether the body (V) is tilted with respect to the row of grain rods and the position in the width direction based on the state of displacement in the front and rear. It is now possible to distinguish between the two.

In other words, when the orientation of the aircraft (ν) is misaligned with respect to the row of grain rods, the aircraft position detected by the pair of steering control sensors (S1) will be in different directions at the front and back, and the misalignment of the orientation will cause If there is no difference in position only in the width direction, the front and rear will be in the same direction.

Therefore, if there is a deviation in the orientation of the aircraft (V) with respect to the row of grain rods, the traveling device (1) is operated to steer the aircraft (V).
), the orientation of the aircraft (V) is corrected, and there is no deviation in the orientation of the aircraft (V).
If there is only a positional deviation in the width direction, change the position of the reaping processing unit (A) in the width direction of the machine body so that the position of the reaping processing unit (A) with respect to the grain rod row is at the appropriate reaping position. The steering operation of the traveling device (1) and the reaping processing unit (A) are performed based on the detection information of each of the pair of front and rear steering control sensors (S+) so as to be maintained within the range.
and the position change operation.

By the way, the pair of front and rear steering control sensors (S+)
Steering control sensor (S+) located on the rear side of the
is integrated with the ultrasonic reflection type ground height detection sensor (S2) for detecting the ground height of the reaping processing section (A) located below the steering control sensor (S+). It is assembled.

The height above the ground detection sensor (S2) is configured to maintain the height above the ground of the reaping processing section (A) within a set range.
It will be used as means for detecting control information for automatically operating the lifting hydraulic cylinder (15).

Next, control if for steering the traveling device (1)
The i configuration will be explained.

As shown in FIG. 1, the pair of left and right traveling devices (1) includes a transmission device (26) that changes the speed of power from an engine (E).
) is driven via a pair of left and right steering clutches (27) that are turned on and off separately for the left and right sides.

However, the steering clutch (27) is provided with a travel brake (not shown) so that the brake is applied as the steering clutch (27) is further operated from the clutch disengaged state to the disengaged state. In other words, when the clutch is disengaged, the vehicle can turn slowly, and when the brakes are applied, the vehicle can turn sharply with a smaller radius than when the clutch is disengaged.

A pair of steering hydraulic cylinders (2OL) are configured to separately operate the left and right steering clutches (27).
), (28R) and their steering hydraulic cylinders (
28L) and (28R), and an electromagnetically operated steering control valve (29) that controls the supply of hydraulic oil to the steering control valves (29), and the steering control valve (29) that controls the steering control valve based on the detection information of the pair of front and rear steering control sensors (S1). The operation of the control valve (29) and the reaping processing section (
Steering control means (A) for controlling the operation of the lateral sliding electric motor (20) for changing the position in the width direction of the aircraft body (
100) and a microcomputer-based control device (30).

However, the control bag! (30) is an operation of an electromagnetically operated lifting control valve (31) that controls the supply of hydraulic oil to the lifting hydraulic cylinder (15) based on the information from the ground height detection sensor (S2). It also functions as an elevation control means for controlling the

In the figure, (32) is the horizontal slide electric motor (2).
0) drive circuit; (33) is the steering control valve (29);
This is a steering lever for manually operating the steering wheel with priority over the steering operation by the steering control sensor (S+), and is provided in the steering section (4).

Further, (34) is a pair of switch-type sensors that detect the operation state of the steering lever (33), and the output thereof is manually inputted to the control device (30).

That is, the control device (30) controls the steering lever.
When (33) is manually operated, the steering control sensor (
Even during the steering control by S1), priority is given to manual operation by the steering lever (33). However, although not detailed, the steering lever (
During the manual operation according to step 33), the position change operation of the reaping processing section (A) is not performed.

Next, the configuration of the steering control means (100) will be described in detail while explaining the operation of the control device (30) based on the flowchart shown in FIG.

When the power is turned on and control operation is started, the detection information of the pair of front and rear steering control sensors (S1) is read at set time intervals, and the position of the machine relative to the row of grain rods is in different directions at the front and rear. Based on whether or not, it is determined whether there is a deviation in the orientation of the aircraft (v) with respect to the row of grain rods.

If there is a deviation in the orientation of the aircraft, the steering control valve (29) is operated in accordance with the direction of the deviation to steer the traveling device (1) to correct the orientation of the aircraft. Become.

If there is no deviation in the orientation of the aircraft, the position is determined in the width direction of the aircraft based on whether the deviation in the aircraft position detected by the front and rear steering control sensors (S1) is in the same direction. If there is a deviation in the width direction of the machine body, the electric motor (20) is operated in accordance with the direction to adjust the width direction of the reaping processing section (A). The position will have to be corrected.

If there is no deviation in both the orientation of the aircraft and the position in the width direction, the operation of the steering control valve (29) and the electric motor (20) is stopped to maintain the current running state. Become.

Note that the control device (30) does not operate until the power is turned off.
Each process explained above will be repeated.

[Another Embodiment] In the above embodiment, the steering control sensor (S1) is configured as a switch type that only detects the presence or absence of positional deviation. Using a potentiometer or the like that can output a corresponding detected value, the amount of positional deviation in the width direction of the machine with respect to the row of grain rods can be detected, and the amount of steering operation and the reaping processing unit (eight ) may be operated using the amount of position change.

Further, in the above embodiment, the present invention is applied to a combine harvester, but it can also be applied to various types of reaping and harvesting machines, including the reaping processing section (A) and the specific configuration for changing its position. , the specific configuration of each part can be changed in various ways.

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 steering control device for a reaping harvester according to the present invention, in which Fig. 1 is a block diagram of the control configuration, Fig. 2 is a flowchart of control operation, and Fig. 3 is an enlarged view of the steering control sensor. A side view, FIG. 4 is a partially cutaway plan view of the position changing means of the reaping processing section, and FIG. 5 is a schematic side view of the front part of the combine. (8)... Reaping processing section, (V)...
Aircraft, (S+)... Steering control sensor, (1
)... Traveling device, (100)... Steering control means.

Claims (1)

[Claims] A reaping processing section (A) is provided at the front of the machine body (V) equipped with the traveling device (1) so that its position in the machine width direction can be freely changed and adjusted. A steering control sensor (S_1) is provided to detect a positional deviation in the width direction of the aircraft with respect to the rows of grain rods arranged in the row, and based on the detection information of the steering control sensor (S_1), the aircraft (
A steering control device for a reaping harvester, comprising a steering control means (100) for steering the traveling device (1) so that the grain V) automatically travels along the row of grain rods. A pair of steering control sensors (S_1) are provided at intervals in the longitudinal direction of the aircraft, and the steering control means (100) includes:
Based on information from each of the pair of steering control sensors (S_1), if the position of the aircraft relative to the row of grain rods is shifted in different directions in the front and back, the traveling device (1) is steered; , when the machine body position is shifted in the same direction in the front and back, the operation of the reaping harvester is configured to change the position of the reaping processing section (A) in the width direction with respect to the machine body (V). direction control device.