JPH0783647B2 - Horizontal cutting control device for combine harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a horizontal cutting control device in a combine.

(Prior Art) Conventionally, a short sensor and a long sensor are provided, and when both the short sensor and the long sensor are separated from the grain culm, they are too far apart, and when both the short sensor and the long sensor are in contact with the grain culm, they are close to each other. In controlling the traveling direction of the combine as an overpass, when controlling the traveling direction, in the combine in which a plurality of direction control correction signal pulses are sent from the automatic direction control device and then a return signal is sent to return the direction a little. A horizontal cutting control device is known.

(Problems to be Solved by the Invention) In the known method, a plurality of times (about 5
The input angle .theta.1 is large as shown in FIG. 6 because the direction control correction signal pulse is sent from the automatic direction control device and then the return signal (about once) is sent to return the direction a little.

As the input angle θ1 becomes smaller like θ2, the meandering becomes smaller and the operability becomes better.

(Means for Solving the Problem) Therefore, the present invention provides the short sensor 12 and the long sensor 13,
When the short sensor 12 and the long sensor 13 are both far from the culm, they are too far away, and when both the short sensor 12 and the long sensor 13 are in contact with the culm, they are too close to each other to control the traveling direction of the combine. In, when it is too close to the grain culm, a continuous correction signal pulse is sent in the direction of leaving (about 6 times), but when it is too far, a correction signal pulse is sent in the direction of approaching (about 3 times) Then, the return signal pulse is sent (about once) to return a little, and this is repeated a plurality of times to make a horizontal cutting control device in the combine that gradually approaches.

(Embodiment) An embodiment of the present invention will be described with reference to the drawings. 1 is a frame, 2 is a traveling device provided under the frame 1, 3
Is an automatic feed type threshing device provided on the frame 1, 4 is a driver's seat, 5 is a mowing unit, and 6 is a conveying device from the mowing unit 5 to the automatic feed type threshing device 3.

2 to 4 show detailed drawings of the mowing unit 5, a grass body 7 is provided at the tip of the mowing unit 5, a raising device 8 is provided behind the grass body 7, and a rear side of the raising device 8 is provided. Reaper 9
When equipped with a scraping device 10 and viewed from above, a lateral cutting sensor consisting of a short sensor 12 and a long sensor 13 is provided on the right side grass body 7 by providing a grain culm sensor 11 and a row cutting sensor 15 on the left side grass body 7. 14 is provided.

In FIG. 7, 17 is an automatic direction control mechanism, 18 is its switch,
19 is a power steering switch, 20 is a vehicle speed sensor, 21 is a right solenoid valve, and 22 is a left solenoid valve.

Thus, the automatic direction control mechanism 17 of the present invention, the short sensor 12, the long sensor 13 when the machine body is moved in a direction away from the grain culm, in any case in the case of moving in either direction, for control. A pulse is generated, and when the generation method is too close to the grain culm, a continuous correction signal pulse is sent in the direction of leaving (about 6 times), but when it is too far, the pulse is corrected in the direction of approaching. Send signal pulse (about 3
After that, a return signal is sent (about once) to return a little, and this is repeated a plurality of times to make a horizontal cutting control device in a combine that gradually approaches.

Note that in FIG. 10, the width t1 of the correction signal pulse is made larger than the width t2 of the return signal pulse.

Note that FIG. 12 shows a change in the width t1 of the correction signal pulse.

(Operation) Next, the operation will be described.

When riding in the driver's seat 4 and operating in the field, weeds are cut by the grass bodies 7, raised by the raising device 8, cut by the cutting device 9, scraped by the scraping device 10, transported by the transport device 6, and automatically fed. Threshing is performed by the type threshing device 3.

Then, when performing horizontal cutting, the tip of the short sensor 12 and the tip of the long sensor 13 are controlled by a known method, but when both the short sensor 12 and the long sensor 13 come too close to the grain, As shown in the figure, the right output is output six times in a row, and the robot quickly leaves. When it is too far away, in FIG. 5, the correction signal pulse is sent about 3 times in the approaching direction, the return signal is sent once and returned a little, and this is repeated a plurality of times to gradually approach.

Note that FIG. 10 shows the width t1 of the correction signal pulse made larger than the width t2 of the return signal pulse, and FIG. 12 shows that the width t1 of the correction signal pulse is changed. It is the same.

(Effect) Conventionally, a short sensor and a long sensor are provided, and when both the short sensor and the long sensor are separated from the culm, they are too far away from each other, and when both the short sensor and the long sensor are in contact with the culm, they are too close to each other. As one for controlling the traveling direction of the combine as described above, when controlling the traveling direction, the direction control correction signal pulse is sent from the automatic direction control device a plurality of times, and then a return signal is sent to return the direction slightly in the horizontal direction in the combine. Mowing control devices are known.

In the known method, when controlling the traveling direction, a plurality of times (about 5
The input angle .theta.1 is large as shown in FIG. 6 because the direction control correction signal pulse is sent from the automatic direction control device and then the return signal (about once) is sent to return the direction a little.

As the input angle θ1 becomes smaller like θ2, the meandering becomes smaller and the operability becomes better.

However, the present invention is provided with a short sensor 12 and a long sensor 13, when both the short sensor 12 and the long sensor 13 are separated from the culm too far, both the short sensor 12 and the long sensor 13 are in the culm. In the case of controlling the traveling direction of the combine as being too close when coming into contact, when it is too close to the grain culm, a continuous correction signal pulse is sent (about 6 times) in a leaving direction, but when it is too far away Is a horizontal cutting control device in a combine in which a correction signal pulse is sent in the approaching direction (about 3 times), a return signal pulse is sent out (about 1 time) to return a little, and this is repeated a plurality of times to gradually approach. Therefore, the above object is often achieved.

[Brief description of drawings]

FIG. 1 is a side view of the whole, FIG. 2 is a plan view of the mowing part, and FIG.
Fig. 4 is a right side view of the mowing unit, Fig. 4 is a left side view of the mowing unit, Fig. 5 is an output timing chart of the first embodiment, Fig. 6 is a mowing locus diagram of Fig. 5, and Fig. 7 is a block. FIG. 8 is a pulse output flow chart, FIG. 9 is a main flow chart, FIG. 10 is an output timing chart of the second embodiment, FIG. 11 is a cutting locus chart of FIG. 10, and FIG. FIG. 13 is an output timing chart of the embodiment, and FIG. 13 is a cutting locus diagram of FIG. Explanation of reference numerals 1 ... Frame, 2 ... Traveling device, 3 ... Automatic feeding threshing device, 4 ... Driver's seat, 5 ... Mowing section, 6 ... Conveying device, 7 ... Grass, 8 ... … Raising device, 9 …… Mowing device,
10 …… Scraping device, 11 …… Grain culm sensor, 12 …… Short sensor, 13 …… Long sensor, 14 …… Horizontal cutting sensor, 15 …… Strip cutting sensor, 16 …… Grain culm sensor, 17 …… Automatic direction control mechanism, 18 …… switch, 19 …… power steering switch, 20…
… Vehicle speed sensor, 21 …… Right solenoid valve, 22 …… Left solenoid valve.

Claims (1)

[Claims] 1. A short sensor 12 and a long sensor 13 are provided, and when both of the short sensor 12 and the long sensor 13 are separated from a grain culm, they are too far apart from each other, and the short sensor 12 and the long sensor are separated from each other.
When both of 13 contact the culm and control the traveling direction of the combine as being too close, when it is too close to the culm, it sends away a continuous correction signal pulse in the away direction, but is too far away. In this case, the horizontal cutting control device in the combine, in which the correction signal pulse is sent in the approaching direction, the return signal pulse is sent out, and it is returned a little, and this is repeated several times to gradually approach.