JPS6018012Y2 - Automatic steering control type reaping machine - Google Patents

Description

[Detailed description of the invention] The present invention is designed to automatically follow the planting stem culm rows and move the machine, which is similar to a combine harvester. Among the weeding tools,
The machine body - The side weeding tool and the adjacent weeding tool detect the lateral displacement of the planted stem culm introduced between the two weeding tools, and based on the detection results, the machine A pair of left and right sensor mechanisms for automatically controlling the steering device to align the culm along the row of planted stems and culms, each of which is positioned perpendicular or almost perpendicular to the direction of movement of the aircraft. The present invention relates to an automatic steering control type reaper that is installed oppositely to form a non-detection operating area of an appropriate width between the tips of the servers.

Generally, the thread spacing between planted stems and culms differs depending on the region, for example, wide in cold regions and narrow in warm regions.

Therefore, if the position of the non-detection operation area with respect to the aircraft remains constant, if the aircraft is positioned to introduce an example of a planted stem culm row into the center of the non-detection operation area, this planted stem culm row The planted stem culm rows that are separated from the rows will be introduced at a position offset from the predetermined position of the planted stem culm introduction path, and depending on the thread spacing of the planted stem culm rows, other machines may - Planted stem culms may be pushed down or damaged by side weeding tools.

In order to solve this problem, if the width of the non-detection operation area is set to be large, there is a disadvantage that the detection accuracy of the amount of lateral displacement of the planted stem culm decreases.

In view of the above-mentioned circumstances, the present invention changes the position of the non-detection operation area with respect to the machine body according to the thread spacing of the planted stem culm rows, so that the planted stem culm rows are positioned as much as possible in the predetermined position of the planted stem culm introduction path. It is designed to be able to be introduced near the machine's position so that mowing work can be carried out smoothly regardless of the size of the line spacing. The present invention is characterized in that it can be configured freely and that the amount of protrusion of both the sensor bars can be changed freely.

That is, by making the weeding tool horizontally movable and making it possible to change the protrusion amount of the sensor par, the position of the non-detection operating area relative to the aircraft can be changed and adjusted over a wide range. If the spacing between the rows of standing culm rows is not appropriate, place the machine in a position where the culms can be introduced into each introduction path, and change the position of the non-detection activation area according to the position of the row of culm rows to be detected at this time. It can be adjusted, and the reaping work can be smoothly performed regardless of the size of the row spacing of the planted stem culms without reducing the accuracy of detecting the amount of lateral displacement of the planted stems as described above.

In addition, even if the culm diameter of the planted stem culm differs depending on the region, the width of the non-detection operation area formed between the tips of the two sensor bars can be adjusted according to the culm of the planted stem. The width can be easily changed, and reaping work can always be carried out in a stable manner, regardless of row spacing or culm diameter.

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

FIG. 1 shows a combine harvester, in which a threshing device 3 is mounted and a mission case 5 for transmitting power to a pair of left and right crawler traveling devices 4, 4 is installed in front of a fuselage frame 6. Weeding tools 1, 1'...1''' arranged side by side at appropriate intervals in the left and right directions with respect to the direction,
Planted stem culm introduction path B between these adjacent weeding tools...
- A lifting device 7 for lifting and transporting the planted stem culm (planted shell culm) introduced into the culm to an almost upright position, and a lifting device 7 for lifting and transporting the planted stem culm (planted shell culm) introduced in the A reaping device 8 that cuts off the base of a planted stem culm, and a reaping device that transports and feeds a plurality of harvested stem culms to the threshing device 3 while laterally feeding and merging the stem culms and sequentially changing the posture to a sideways posture. A reaping section 10 consisting of a stem culm conveying device 9 is provided.

Also, as shown in FIG. 2, among the weeding tools, the grass cutting tools 1, 1' which are adjacent to each other on the side closest to the uncut land are
A pair of left and right sensor mechanisms 2, 2 that swing rearward upon contact with a planted stem culm introduced into the planted stem culm introduction path B between '
', with each of the sensor pars 2A, 2A' oriented at right angles or nearly perpendicular to the direction of aircraft movement, and with an appropriate width between the tips of each sensor par 2A, 2A' (the culm of the planted stem culm). The pair of sensor mechanisms 2 and 2' are arranged opposite each other to form a non-detection operating area A (width slightly larger than the diameter), and the detection results of the pair of sensor mechanisms 2 and 2' are transmitted to a pair of left and right steering devices 11 provided in the mission case 5. 11 is input to the control mechanism 12 that automatically controls the sensor mechanism 2, 2'.
By automatically controlling the pair of left and right steering devices 11.11 based on the detection of the lateral displacement of the planted stem culm,
The machine is designed to automatically follow the rows of planted stems and culms.

Furthermore, as shown in FIGS. 3 to 6, among the left and right weeding tools 1 and 1', when installing the weeding tool 1 located on the unmown side, the rear end of the rod 13 is attached to the weeding tool 1. Vertical axis center 3 with respect to support rod 14
It can swing freely in the left and right directions around the
The weeding tool 1 is fixedly attached via a partially arc-shaped elongated hole 15 around the vertical axis 3 formed at the rear end of the weeding tool 3 and a port 16 inserted through the hole 15, thereby preventing the lateral movement of the weeding tool 1. The sensor mechanism 2 provided on the weeding tool 1 can be freely configured, and the sensor par 2A and the detection tongue 2b of the sensor box 2B can be connected to a long hole 2a formed in the sensor par 2A and both 2A, The detection tongue piece 2b is connected to the detection tongue piece 2b via bolts and nuts 16' and 17 provided over the length 2B.
The sensor par 2A is attached so as to be relatively movable and fixed in the protrusion direction, so that the protrusion amount of the sensor par 2A can be changed.

Incidentally, the sensor par 2A' of the sensor mechanism 2' provided on the weeding tool 1' adjacent to the weeding tool 1 is also configured to have a protruding amount that can be changed at will, similarly to the sensor parr 2A.

If the row spacing of the planted stem culm rows is different from the standard, each planted stem culm row is connected to each planted stem culm introduction path B.
...Adjust the position of the machine relative to the row of planted stems and culms so that the weeding tool 1 can be introduced, and move the weeding tool 1 to the position shown in Fig. From the state shown in Figure 6, as shown in Figure 6 or 8, the width of the planted stem culm introduction path B relative to the detected planted stem culm row is changed by swinging around the vertical axis 3. , the amount of protrusion of the sensor pars 2A, 2A' of the weeding tools 1, 1' is moved and adjusted in the lateral direction to maintain the width S of the non-detection operating area A at a predetermined width, thereby increasing the width of the non-detection operating area A. Change and adjust the position.

In addition, 18 in the figure is a unit for detecting the lateral displacement of the planted stem culms and automatically controlling the aircraft in a direction substantially perpendicular to the planted stem culm row based on the detection result. This sensor mechanism is attached to the pulling device 7 located closest to the mown field among the pulling devices 7.

In addition, FIG. 7 shows another embodiment, in which the entire weeding tool 1 located on the side of the unmown land is attached to the weeding support rod 14 so as to be swingable and fixed in a direction perpendicular to the direction of movement of the machine. The weeding tool 1 can be moved laterally freely.

Moreover, in the above-mentioned embodiment, both sensors par 2A.

Although the configuration is such that the amount of protrusion of the sensor bars 2A' can be changed by lateral movement of the sensor bars 2A, 2A', it may also be changed by replacing sensor bars of different lengths.

-,,,r,7゜

[Brief explanation of drawings]

The drawings show an embodiment of the automatic steering control type reaping machine according to the present invention. Fig. 1 is an overall side view of the combine, Fig. 2 is a steering control system diagram of the main parts, and Fig. 3 is an enlarged view of the main parts. Side view, Figure 4 is an enlarged partially cutaway rear view of the main part, Figure 5 is V in Figure 4.
-V line enlarged sectional view, FIGS. 6A to 6C are enlarged partially cutaway plan views of the main parts and their operational views, and FIG. 7 is an enlarged plan view of the main parts showing another embodiment. 1.1'... Grass splitting tool, 2,2'... Sensor mechanism, 2A, 2A'... Sensor bar,
A... Non-detection operating area, B... Planted stem culm introduction path, S... Width of A, L... Width of B.

Claims (1)

[Claims for Utility Model Registration] Of the weeding tools 1.1', 1', 1"', and 1"" provided at appropriate intervals in the lateral direction with respect to the machine's traveling direction, the machine -
The side weeding tool 1 and the adjacent weeding tool 1' detect the lateral displacement of the planted stem culm introduced between the two dividing tools 1 and 1'. Based on the results, a pair of left and right sensor mechanisms 2, 2' are installed to automatically control the steering device to align the aircraft along the row of planted stems and culms. In the automatic steering control type reaping machine, which is positioned at right angles or almost at right angles to the body, and is arranged oppositely to form a non-detection operating area A of an appropriate width between the tips of the sensor pars 2A and 2A', - The side weeding implement 1 can be freely moved laterally, and both sensor pars 2A are provided. An automatic steering control type reaping machine characterized in that the amount of protrusion of 2A' can be freely changed.