JPS5959104A - Reaming 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 The present invention provides a pair of left and right sensors on the path arm for introducing a planted stem culm, which swings backward when it comes into contact with the stem, and only one of the two sensors swings backward. Then, the present invention relates to a reaping/harvesting machine in which both of the sensors and a machine direction mechanism are connected to each other so as to automatically steer the machine in a direction in which the sensor moves away from the four stems and culms.

The automatic steering control described above is effective when moving the aircraft in the direction of the rows of stumps, so-called row cutting.
This is meaningless when the stalks do not form a row in the direction of movement of the machine, that is, when mowing horizontally and cuts across the rows. For this reason, it is common practice to stop the automatic steering control by turning off the starting switch of the control circuit during the separation.

However, when harvesting is performed by circular cutting, row cutting and horizontal cutting are repeated alternately, so it is troublesome to turn on and off the control circuit each time the cutting mode is changed.
Automation of this was desired. Focusing on the fact that the spacing between the left and right adjacent stems and culms when viewed from the direction of movement of the machine is significantly different between row mowing and horizontal mowing, the following means for performing the above automatic switching was devised.

In other words, in recent years, when rice transplanters have become widespread, the cropping pattern has changed between adjacent rows (for example, between 2g and 33g) and between plants (for example, between 3 and 3 g).
CfR ~ / g n ) is small, and the distance between adjacent plants on the left and right when viewed from the direction of plant progression is large when the plants are mowed in rows (tea distance), and becomes small when they are mown horizontally (distance between plants). Therefore, as shown in Figure 6, when cutting rows, the left and right sensors (
8a).

(8b) does not touch the left and right plants at the same time, and as shown in Figure 7, the left and right sensors (8a) and (8
Set the length so that b) always touches the left and right stocks a and en at the same time, and both sensors (8a).

It was proposed that when (8b) is raised at the same time and (to) is touched, the automatic steering control is checked and closed by determining the horizontal cutting state.

However, in this case, the left direction sensor (8a),
In order to ensure that (8b) contacts the left and right plants (a) and en at the same time and activate the sweets f' (28a) and (28b), connect the stem-culm introduction path of each sensor (8g) and (8b). (The protruding length of the cutting head is long, so when cutting rows, one sensor is activated by a slight lateral deviation of the plant, and the width of the neutral dead zone that controls straight movement is narrowed.)
A new problem has arisen in that row mowing control tends to become oversensitive, resulting in decreased control stability.

This invention was made with attention to these points, and by making improvements to the sensor structure and automatic steering control circuit, it is possible to improve stability during row mowing steering control without sacrificing stability.
The purpose is to ensure horizontal cutting control.
In the reaping/harvesting machine having the above configuration, each of the two sensors detects whether or not the reaping/harvesting machine has swung backward by a first set angle or more, and also detects whether or not the reaping/harvesting machine has swung backward by a second set angle which is larger than the first set angle. Equipped with an angle detection mechanism that detects whether
The angle detection mechanism and the aircraft direction mechanism are arranged such that the aircraft direction mechanism is in an operating state only when the backward swing angle of one of the sensors is equal to or greater than the second set angle, and artificial setting to change the first set angle by coordinating such that the steering operation by the aircraft orientation S structure is disabled only when the backward swing angles of the sensors are both equal to or greater than the first set angle. It is characterized by having a mechanism.

In other words, in steering control during row mowing, one sensor senses the approach of the plant only when it swings back far beyond the second setting angle, whereas both sensors detect the first sensor, which is slightly away from the set position. Since the mowing status is determined by sensing when the set angle has been reached, even if you set both sensors to a sufficient length to simultaneously sense the left and right adjacent plants during horizontal mowing, The left and right sensors perform essentially the same as those with shorter protrusion lengths, and therefore,
While accurately distinguishing between row cutting and horizontal cutting, stable row cutting can now be performed without unnecessary steering operations.

Furthermore, by changing the setting angle, the actual protruding length of the left and right sensors can be changed, so even if the distance between the rows changes due to differences in the field, etc., the dead zone of the sensor can be adjusted appropriately. The width can be set, and as a result, it has become possible to carry out good row mowing work using automatic steering control that ensures no excess or deficiency under normal pressure.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Figure 1, three weeding tools (2) are installed in parallel on all left and right sides at the curved part of the cutting section (1) provided in front of the harvester body, and the central weeding tool (2 ) Full supporting frame (2a
NC,, two sensors (St), (Ss)':
, the respective sensor pars +31 and +41 are arranged in a bent position protruding to the left and right opposite sides.-1 A steering clutch ('7L) that independently drives and stops the left and right pair of crawler traveling devices (6L) and (6R). , (7R) and a steering clutch ('
7L).

(7R) Single-acting hydraulic cylinder for operation (8L), (
8R), and attach the cylinders (8L) and (8R) respectively.
) is provided with an electromagnetic pulp (9) for switching between the active state and the non-active state.

Both sensors (Sl), (Ss) and electromagnetic pulp (
The link configuration of 9) will be explained in detail below.

As shown in Fig. 2, sensor par +31, 141 is caused by contact with the stem culm as the aircraft moves forward.
When the machine is swung, a voltage proportional to the swiveling angle is generated.The potentiometer α1), flZ e7 sensor server +31, +41 is attached to each of them, and when the first sensor par (4) on the right side of the machine swings, , when the output of the first comparator 09 becomes [L-1, the electromagnetic valve (
9) Solenoid carp! (9a) to disengage the steering clutch (7L)' and automatically steer the aircraft to the left, while the second sensor bar (3) on the left side of the aircraft swings and the first comparator The output of 081 is rLJ K
When this occurs, the solenoid coil L' (9b) is energized to disengage the steering clutch (7R), KL automatically steers the aircraft to the right, and the reference voltage of the first comparator 09 is changed to the variable resistor. It can be changed depending on the device, and the first
The reference voltage of the comparator 0 mark is configured to be changeable by a variable resistor (141, and the second setting angle ω of the first sensor par (4) at which the output of the first comparator aη becomes “L”) , and the output of the first comparator is “L
”The second set angle of the second sensor bar (3) (9 m
) so that each can be set in a state that can be changed independently.

In addition, when both the sensor servers +31 and +41 swing beyond the first V constant angle (θl) which is smaller than the second set angle (et), the second comparator Ro9 and the third comparator (1(il) The outputs of both rl(J,
Since the output of the second AND circuit (21) and the rise delay circuit @ is the active transistor (241) is in the OFF state, even if the first sensor bar (4) and the second sensor bar (3) are both If either one swings greatly and exceeds the second set angle (0 m), the first comparator αη
Even if the outputs of the second comparator and the second comparator α seconds were both rLJ, or one of them became “L,” both solenoids yv (9a) and (9b) were not energized, and the automatic steering control was checked. Furthermore, by grounding the inverting input terminals of the second comparator (15I and the third comparator 00), the swing angles of the first sensor (4) and the second sensor (3) The fluctuation can be detected even if it is a very small amount, and the resistor (1o) is connected to the variable resistor (141), and the resistor 01 is connected to the variable resistor (141). The set angle (θB) is set to be larger than the first set angle (θ?l) at which the outputs of the first comparator (151 and the third comparator O1 become “■”).

In addition, the falling delay circuit @ is connected to both sensors.
, +41, or both pass between the stem culms, temporarily [even if it returns to the non-swinging state, the restraining state is immediately released and the operation does not become unstable.] In addition, the structure is such that the signal obtained when both sensors 131 and +41 are oscillating is held for a certain period of time.

, Furthermore, Ryo7 server +31 shown in Fig. 1, +
41 is being installed (Ll) K The width of the stem culm row during row cutting is set to be narrower than that, and the width of the stem culm row during stacking is also set to be sufficiently wide.As a result, during row cutting, If the stem culm does not reach Jul at both sensor pars +31 and +41, it will go straight and the aircraft will be biased against the stem culm row.The first sensor bar (4) or 94.2 sensor bar (3) will come into contact with the stem culm. Then, when it swings larger than the second set angle (θ8),
Automatic steering is performed to correct the bias of the aircraft, and the second setting angle (αg)'i7 is changed to substantially both sensor bars (3).

Changing the setting of (4) from (Ll) to (L8) etc. 7
Stable running is possible according to the concentration of I-stem culm rows.

And when on the horizontal side, both sensors par (3).

(4) are both in contact with the stem culm and are swung by more than the first set angle (hi1).By this, it is automatically determined whether it is horizontal cutting or row cutting, and when cutting the horizontal cutting, it is ensured that The automatic steering control is automatically checked.

Next, another example will be shown.

The steering clutches (7L) and (7R) can be changed to steering brakes, and these are connected to the aircraft direction mechanism (7L).

(7R), and the potentiometer 11
1, +121 can also be configured by changing the swing angle by changing the capacitance or directly converting it into a digital code and outputting it, and these can be configured by the angle detection mechanism +
l]), 121 and generically 1~, on the other hand, the variable resistor (1(8), (141Fi, angle detection mechanism fill,
The reference signal for the detection output of 121 can be generated by artificially varying it, and the signal can also be composed of, for example, a capacitance value or something that is directly converted into a digital code and output. Manual setting machine *Q3. Collectively referred to as α, these two setting S OJ and A barrels can be used to simultaneously set the left and right 1st and 2nd setting angles (09), respectively, using, for example, a -shaft type double-wire usable resistor or a single-shaft double-wire variable capacitor. It may be configured so that it can be done.

Further, the circuit configuration includes the angle detection mechanism 111, f1
2! and artificial setting mechanism CJ31. Various changes can be made depending on the output signal format of the +141 and the format of the aircraft direction mechanism (7L) and ('7R).

The present invention can be applied to various types of combine harvesters, binders, reaping machines, etc., and the sleds and the like are collectively referred to as reaping and harvesting machines.

[Brief explanation of the drawing]

1 and 2 are reapings according to the present invention? Fig. 1 is a schematic plan view showing the front part of the combine harvester and the running relationship, Fig. 2 is a schematic circuit diagram of the automatic steering control device, and Fig. 8 shows the conventional structure of the sensor. The plan view shown in FIG. 4 is an explanatory view showing the operating state of the sensor. (Sl), (Ss)...Sensor, (1
7L), (7R)...Aircraft direction mechanism, 111
, 12)...Angle detection mechanism, Q31.141.
...Artificial setting mechanism, ω+1)...First setting angle, (6)is)...Second setting angle. JP-A-59-59104 (6) Figure 3 Figure 4 O O○ θ1d2

Claims (1)

[Scope of Claims] ■ A pair of left and right sensors (Sl) that swing backward when in contact with the planted stem culm on the side of the introduction path of the planted stem culm. (Sg), and both the sensors (Sl) and (Sg
) When only one of the sensors (Sl),
This is a reaping and harvesting machine in which the machine direction mechanism (7L) and (7R) are linked, and both sensors (Ss) = (
Ss) respectively K, detect whether it has oscillated by the first setting angle 0□) or more, and also detect the first setting angle (σλ)
Angle detection mechanisms C11l and c2 are attached to detect whether or not the aircraft has swung backward by a larger second set angle (9□), and the angle detection mechanisms U and a2 and the aircraft direction mechanism ('7
L), (7R) 'r, the sensor (Sl) - (S
One backward swing angle of s) is the second setting angle GPII)
Only in the above state, the aircraft direction mechanism (7L), (7R)
is in the operating state, and both of the sensors (S+
) and (Sm) are both at the first setting angle C.
Bl) the aircraft direction mechanism (7, L) only in the state above u;
The artificial setting mechanism 1131 changes the set angle (θ'm) so that the steering operation by (7R) becomes impossible, and the reaping harvest is set at +41. (i) The angle detection mechanism fill (121) is an analog sensor that outputs an electric signal proportional to the backward swing angle. (i) Ifi'l artificial setting m IN+131,
(II is Itl written by Ryogakuhiro detector 11 (11!Iα2
The reaping/harvesting machine according to claim 0 or 0, characterized in that the reaping/harvesting machine is a mechanism for simultaneously setting the second setting angle (θ/angle). ■ Both angle detection ill! The reaping/harvesting machine according to claim 0 or 2, characterized in that a separate manual setting mechanism (13, α) is provided for each of α1 and Q'ZI.