JPS602009B2 - Automatic reaping harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic reaping/harvesting machine that is configured to automatically change direction and head toward the reaping path of its own stroke upon completion of one forward reaping stroke.

Although this automatic reaping/harvesting machine can perform unmanned operations and save labor, the following points need to be addressed in terms of implementation. In other words, for example, in a combine,
When storing threshed grain in a hopper one by one, when this hopper is almost full, when bagging grain one by one, when there are few storage bags left, or when, for example, a combine harvester with a harvesting and tying machine or a scarlet straw tying device is used. If there is a situation where, if the work continues as it is, problems with grain transportation or bundling will occur, such as when there is not enough binding cord left, it is necessary to stop the reaping work to prevent the above problems from occurring. There is.

However, when stopping the above-mentioned reaping operation, if the progress of the machine is stopped immediately when the above-mentioned conditions are detected, there are various problems such as damaging the grain stalks that are being raised.

This key issuance was made keeping in mind the above-mentioned situation,
In the reaping/harvesting machine having the above-mentioned structure, a mechanism is provided to detect a state that will cause trouble if the operation continues for a certain period of time from the current point in time, and based on the detection result, the automatic direction change operation is stopped, and The present invention is characterized in that the machine is configured to automatically stop based on the detection of the end of the grain cluster.

In other words, since the machine is designed to be able to stop when it reaches the oribe of the grain group, that is, when it reaches the end of one stroke, it may stop in the middle of the reaping run and damage the grain. In addition to eliminating problems such as
Since the next reaping run can be started from the end of the grain group, operations such as row alignment can be easily performed compared to starting work from the middle of the grain group.

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

The figure shows the front part of the machine, which consists of a crawler traveling device 1, a threshing device 2, etc., a device 3 for pulling up the tate-tachi grain azusa into an upright position, and a cutting device for cutting the base end of the raised stalk. 4 shows a combine harvester that is connected and equipped with a reaping section consisting of a device 5 for vertically conveying the reaped stalks toward the rear threshing device 2.

The threshing device 2 handles the harvested stalks while being held and conveyed by a feed chain 6 installed on the Fujiichi side, and sends the scaled straw after processing to the rear scarlet straw cutter 7 to thin it. It is configured for cutting and processing, and is also configured to send the processed grains into a hopper 9 disposed on the side of the device using a lifting cylinder 8 as shown in FIG. .

Furthermore, this combine harvester automatically changes direction based on the detection result of grain presence/absence by the rocking sensor 10 attached to the side of the reaping section, and automatically moves along the circular mowing circuit shown in FIG. The machine is designed to run while mowing.

That is, the rocking sensor 10 is rotatably supported around the vertical axis x, and is elastically biased to a position protruding to the outside of the plant. When the machine body reaches the end of one stroke, it assumes the protruding position and presses the electric switch 11.

Then, based on the signal from the switch 11, the automatic direction change control circuit A is operated to change the direction so as to enter the reaping path for the next stroke.

Note that, as shown in FIG. 4, the automatic direction change control circuit A performs a first control to subsequently move the aircraft forward by a certain distance when a signal from the switch 11 is transmitted;
After that, a second control that causes the aircraft to move backward while turning until it becomes perpendicular to the direction of travel in the previous stroke, and a third control that causes the aircraft to start going straight again when this second control is completed are programmed in advance. It is.

Furthermore, when the grains are stored in the hopper 9 to a point where it is almost full, the machine is configured as described below to automatically stop the machine.

That is, near the top of the hopper 3, there is provided an electric switch 12 that is pressed when the grains have been stored to a level sufficient to accommodate the grains for about one more stroke of reaping work.

As shown in FIG. 5, this switch 12 includes a track contact S of the automatic direction change control circuit A, a starting contact S2 of the automatic stop control circuit B, which will be described later, and a track support contact of the transmission circuit C of the aircraft equipment. The switch is configured as a starting switch for the three-way deflection relay 13 having a point S2, and when pressed, each of the contacts S
, , S2, and S3 are switched to a connection state opposite to that shown.
When the transmitter circuit C is energized, it emits a buzzer 14 built into a wireless transmitter/receiver 17 carried by the worker as shown in FIG.
The controller is configured to issue a command signal for activating the controller.

The automatic stop control circuit B detects when the horizontal swing sensor 15 installed on the rear side of the machine loses contact with the grains and moves towards the inside of the machine as the machine reaches the end of the grain group. When the electric switch 16 is pressed, the main clutch (not shown), which disconnects power transmission to various devices of the aircraft, is automatically turned off by elastically returning to the protruding position and swinging from the oscillated position to the protruding position. It is configured to switch to

Therefore, when the electric switch 12 for full detection is pressed, the relay 13 is activated to stop the operation of the automatic direction change control circuit A, and the automatic stop control circuit B is activated. It will be automatically stopped after reaching the end of the grain cluster.

Also, at the same time as the relay 13 is activated, the transmitter/receiver 1 is activated.
The buzzer 14 of No. 7 issues an alarm and informs the operator of the need for grain removal work. In the case of the example, depending on the field conditions, there is a possibility that the hopper 9 will be full by the time the machine reaches the end of the Koji group. Another electric switch 18 is provided which is pressed when the grain is stored, and when this switch 18 is pressed, the machine automatically turns to the harvested side as shown in FIG. It is advisable to incorporate a control mechanism to automatically stop the robot when it is picked out from the group.

In addition, in the case of the embodiment, if the electric switch 12 for fullness detection is pressed when the machine is located near the end of the grain group, no grain is left in the hopper 9 even after one stroke of reaping work. This leaves room to accommodate the grains.

Then, when the entire surface of the field has been reaped after a little more reaping work, it is okay to continue the XU reaping work, so for such times, the relay 13
It would be convenient to incorporate a mechanism that can maintain the connection in the illustrated connection state, and it would be even more convenient if the connection maintenance mechanism could be operated by commands from the transmitter/receiver 17. In addition, it is possible to configure the machine so that it can be stopped arbitrarily using a wireless signal from the transmitter/receiver 17, and to
It is convenient to have a configuration in which the occurrence of a trouble in the transmitter/receiver 17 is activated by radio communication when trouble occurs in the transmitter/receiver 17, and a lamp provided on the transmitter/receiver 17 indicates where the trouble has occurred.

Further, the present invention may be applied to detect the amount of string in a 9E straw binding device, detect the remaining amount of fuel in an installed engine, etc.

[Brief explanation of drawings]

The drawings illustrate embodiments of the automatic reaping and harvesting machine according to the present invention, in which Fig. 1 is a plan view of a combine harvester, Fig. 2 is a partially vertical front view of a hopper, Fig. 3 is a reaping travel route diagram, and Fig. 4 is a plan view of a combine harvester. The figure is a direction change route diagram, Figure 5 is a diagram of the interlocking of various electric switches, and Figure 6 is a diagram of the direction change route.
The figure is a plan view of the transceiver, and FIG. 7 is a travel route diagram of an applied example. 12...Detection mechanism. Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7

Claims (1)

[Claims] 1. In an automatic reaping harvester that is configured to automatically change direction and head to the next reaping route when one forward reaping stroke is completed, a problem will occur if operation continues for a certain period of time from the current point. A mechanism 12 is provided for detecting that this occurs, and based on this detection result, the automatic direction change operation is stopped, and the aircraft is configured to automatically stop based on the detection of the end of the grain culm group. Features an automatic reaping harvester.