JPS6255802B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of a harvester equipped with an automatic steering device, and more specifically, to an operation of a steering sensor that detects the relative positional relationship between the grain culm to be harvested and the harvester. The present invention proposes a harvester in which the left end or right end divider is expanded outward depending on the situation to prevent uncut leaves.

The automatic steering device of the harvester detects the relative positional relationship between the grain culm to be harvested and the machine body using a steering sensor placed at an appropriate location on the divider, and performs steering control based on the detection result to steer the machine. The grain culms are designed to run in a manner that follows the grain culm.

However, if you are performing reaping work with a conventional harvester equipped with such an automatic steering device, and you come to a place where the grain culm is greatly curved to the left or right, the above-mentioned The steering of the aircraft by the automatic steering device may not be able to follow the curvature of the grain culm, causing the row to shift and leaving some grain culms uncut, and in such cases, it is necessary to mow twice. However, there was a problem that operability and work efficiency were reduced.

The present invention has been made in view of the above circumstances, and it is possible to prevent uncut mowing by rotating the divider toward the outside of the machine by using the output signal of the steering sensor in the automatic steering device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With the aim of providing a harvester with improved efficiency, the present invention will be described in detail below with reference to drawings showing embodiments thereof.

Fig. 1 is a left side external view of the harvesting machine according to the present invention (hereinafter referred to as the present invention machine), Fig. 2 is a partially fragmented side sectional view showing the structure of the joint of the divider frame, and Fig. 3
The figure is a schematic plan view of the divider portion. In the figure, 2 is the reaping part disposed at the front of the machine, 2a is its lifting device, 2bl (or 2br) is the left (or right) divider, which includes a grass dividing plate 2l (or 2r) and a frame 21l ( or 21r). Therefore, the grass dividing plate 2l (or 2r) is attached to the front of the aircraft via the frame 21l (or 21r) etc. behind it, but the grass dividing plate 2l (or 2r) and the frame 21l (or 21r) The frame 21l (or 21r) is divided into front and rear parts at the rear position from the connection part with the frame front part 21l1.
(or 21r1) is connected to the frame rear part 21l2 (or 21r2) so as to be rotatable. Frame rear part 21l2 (or 21r
2), that is, the frame front part 21l1 (or 2)
As shown in Fig. 2, a small motor 22lm (or 22rm) is attached to the connection part with the motor 1r1), and this rotation is controlled by the reduction gear group 22lg (or 22rg).
through the frame rear part 21l2 (or 21r
2), the frame front part 21l1 (or 21r1) fixed to the pin 22lp, etc., and the grass dividing plate 2l (or 2r) connected thereto. It is designed to rotate left and right. Power supply to the motor 22lm (or 22rm) and forward/reverse control are performed by an electric circuit which will be described later.
When r1) is rotated to the left (or right) and reversed, the frame front portion 21l1 (or 21r1) is rotated back to the right (or left).

20l (or 20r) is a known steering sensor constituting an automatic steering system, and is located at the front part of the frame 21.
Place the sensor arm 23 at the appropriate location on l1 (or 21r1).
1 (or 23r) is attached so that it is located behind the lower edge of the lifting device 2a.

In addition, there is a 40l auxiliary branch culm installed on the side of the fuselage.
(or 40r) and the front end is motor 22lm (or 2
It is supported in a proper position on the rear part of the frame 21l2 (or 21r2) which does not rotate by rotation of 2rm).

As shown in Fig. 3, the steering sensors 20l, 20r
consists of the sensor arms 23l, 23r and sensor boxes 24l, 24r, respectively, and the sensor arm 23l (or 23r) is connected to the divider 2bl (or 2
br) and the adjacent divider on the right (or left) of the grain culm 30l (or 30r), and when the aircraft moves forward, it is pushed backward by these grain culms. If the grain culm 30l (or 30r) is not present, the sensor box 2
It is designed to rotate to a predetermined position forward by the action of a spring in 4l (or 24r). In the sensor box 24l, limit switches 221, 222, and 223, which are operated depending on the rotational position of the sensor arm 23l, are housed, and in the sensor box 24r, the sensor arm 23r is operated.
Limit switch 2 that operates depending on the rotational position of
24 and 225 are stored respectively.

Therefore, the relationship between the on/off states of the limit switches 221 to 223 in the sensor box 24l and the rotational position of the sensor arm 23l, and the limit switches 224 and 225 in the sensor box 24r.
The relationship between the on/off state and the rotational position of the sensor arm 23r is that the sensor arm 23l is
Based on the position of contact with l, the sensor arm 23l
The rotational position is classified into regions (1), (2), (3), and (4) from the divider 2bl side to the adjacent divider side, and is based on the position where the sensor arm 23r contacts the grain culm 30r. The rotation position of the sensor arm 23r is in the area from the divider 2br side to the adjacent divider side.
When classified into (a), (b), and (c), the limit switches are shown in Table 1, with the limit switch ON indicated by a circle and the limit switch off indicated by an x mark. The on/off state combinations of these limit switches are described later in an electric circuit (No. 4).
(See the figure) makes a logical judgment by the logic circuit of the solenoid VSl or VSR of the electromagnetic directional control valve (not shown) related to automatic steering, as shown in Table 1. (indicated by an x mark), as a result, the vehicle travels straight or turns left or right, and automatic steering is performed.

FIG. 4 is an electrical circuit diagram of the main parts of the machine of the present invention. The power supply from the battery 8 to this electric circuit is turned on and off by the main switch 7, and the positive electrode of the battery 8 is connected via the main switch 7 to one end of each of the solenoids VSl and VSR and to the sensor box 24l. , 24r, and the motor control circuits 11l and 11r, and the negative electrode of the battery 8 is grounded to the body. Control of energization to each solenoid VSl and VSr is performed by switching circuits 9l and 9r interposed between the other ends of VSl and VSr and the body ground, and the switching circuits 9l and 9r are turned on and off. Off, in other words the solenoid
Power is turned on and off to VSl and VSR by the switch group and the three subsequent inverters 10a, 10d, 10.
f, a logic circuit 10 consisting of two NAND gates 10b, 10c and one NOR gate 10e.
It has come to be controlled by 16 changes the control conditions based on the rotational position of the sensor arm 23r of the right steering sensor 20r in the reaping work using the machine of the present invention, depending on whether the cutting work is carried out in the middle or when the row cutting (horizontal cutting) work is carried out. The common terminal 16c and the switching terminal 16a are connected to each other when performing intermediate cutting work.
When performing row mowing (horizontal mowing) work, the common terminal 16c and the switching side terminal 16b are connected.

Next, the circuit portion involved in energizing the drive motor 22lm (or 22rm) will be explained.

One end of the limit switch 221 (or 225) is connected to the positive terminal of the battery 8 via the main switch 7. The other end of the limit switch 221 (or 225) is connected to the motor control circuit 11l (or 1
1r) control input terminal. The motor control circuit 11l (or 11r) is composed of a flip-flop, a timer circuit, a motor drive circuit, a power supply direction switching circuit for the motor 22lm (or 22rm), etc.
1 (or 225) and its control input terminal becomes high level, the flip-flop is set and the limit switch 221 (or 225) is closed.
It latches that the circuit is closed, that is, that a left or right turn command has been issued, and the set signal controls the timer circuit, drive circuit, and power supply direction switching circuit to operate motor 22lm (or 22rm) for a certain period of time T. Rotate only ₁ forward. This allows the divider 2bl
(or 2br) will expand to the left (or right) by a predetermined angle. Therefore, motor 22lm (or 22lm)
When normal rotation of rm) is completed, the timer circuit maintains the same circuit state for a certain period of time _T2 .
After time _T2 has elapsed, a reset signal is input to the reset terminal of the flip-flop, and this causes the motor 22lm (or 22rm) to operate for a certain period of time.
It is reversed by T ₁ , and the grass dividing plates 2l and 2r are returned to their original positions, that is, the front part of the frame 21l1 (or 21r1)
Then, the frame rear part 21l2 (or 21r2) returns to a straight state. However, if the limit switch 221 (or 225) is closed when the reset signal is input, the flip-flop is not reset and the motor 22lm (or 22rm) is not reversed until the limit switch 221 (or 225) is opened. Note that the time T ₁ is the rotational speed of the motor 22lm (or 22rm), the reduction ratio of the reduction gear group 22lg (or 22rg), and the divider 2.
The time required for the divider 2bl (or 2br) to rotate to the full rotation angle is determined in consideration of the angle at which bl (or 2br) can be rotated to the left (or right). Further, the length of time _T2 is selected depending on the slowness of response of the automatic steering system. Furthermore, motor 2
To control the amount of forward and reverse rotation of 2lm (or 22r), the front part of the frame 21l1
(or 21r1) limit switches placed at both ends of the rotation range may be used.

The operation of the machine of the present invention constructed as described above will be explained in the case of row mowing. When the common terminal 16c and the switching side terminal 16b of the selection switch 16 are connected and the field is entered, the right steering sensor 20r has its sensor arm 23r in the field as shown in columns 6 to 8 of Table 1.
(C), while the left steering sensor 20l moves so that its sensor arm 23l is located in the range of regions (1) to (3). That is, when the aircraft continues to move straight along the grain culm, the sensor arm 23l is located in region (2), and the aircraft continues to move straight without making any turns. Meanwhile, the aircraft veered to the left and the divider 2bl was inserted into the grain culm on the right side.
When the aircraft moves away from 30l, the limit switches 222 and 223 of the steering sensor 20l close, causing the aircraft to turn to the right, and when the sensor arm 23l of the steering sensor 20l enters region (2), it moves back to the grain culm 30l.
The vehicle will return to a straight-ahead state that follows. On the other hand, if the aircraft veers to the right or the grain culm 30l curves to the left, the limit switch 221
In this case, the solenoid VSl is energized by the closing, and the flip-flop of the motor control circuit 11l is also set, and the motor 22lm is driven in normal rotation to drive the front frame 21l1 and the grass divider plate 2l. rotates to the left.
This leftward rotation of the grass divider plate 2l is carried out quickly compared to the steering of the heavy vehicle body, so the sensor arm 23l moves into the area before the leftward turn of the vehicle body.
At (2), it comes into contact with the grain culm 30l, and the limit switch 221 opens.

Due to the leftward rotation of the divider 2bl as described above, the grain culm ray 30l is not located to the left of the divider 2bl (toward the outside of the body), thereby reliably avoiding ray displacement.

Note that if the grain culm 30l is extremely curved to the left, the limit switch 221 may remain closed even after the grass divider plate 2l has rotated to the leftmost position. In this case, the left turn of the aircraft is also performed in conjunction with the rotation of the grass divider plate 2l, and also after the rotation of the grass divider plate 2l. and steering sensor 2
Sensor arm 23l of 0l detects grain culm 3 in area (2).
When it comes into contact with 0l, the aircraft will go straight ahead.

Then, after the grass dividing plate 2l has finished rotating to the left, the time has elapsed.
If time T ₂ has elapsed and the limit switch 221 is already open, or if the aircraft turns left after time T ₂ has elapsed, the limit switch 22
1 is open, the motor 22lm is reversed by the motor control circuit 11l and the front part of the frame 21l is
1 and the frame rear part 21l2 return to a straight state. If the limit switch 221 opens again during the return, the solenoid
Power is applied to VSl and the aircraft turns left.

The operations of the left-hand divider 2bl and the left-hand steering sensor 20l have been explained above, but in the case of horizontal mowing work or middle-splitting work, steering is mainly performed based on the right steering sensor 20r. By opening and closing the limit switch 225, the right divider 2br is also rotated to the right and then returned to the left.

As described above, in the machine of the present invention, when the grain culm rays approach the inside of the left and right end dividers 2bl and 2br, each divider quickly rotates to spread to the left and right. Even if the aircraft travel speed is too fast for the aircraft's automatic steering to follow, the grain culm rays can be positioned inside the aircraft of each divider, so there is no risk of the rays shifting. This method definitely avoids having to mow twice and damaging the grain culms that have shifted, which has the practical benefit of improving work efficiency and harvest rate.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a left side external view of the machine of the present invention, Fig. 2 is a partially fragmented side sectional view showing the structure of the joint of the divider frame, and Fig. 3 is a partially exploded side sectional view. FIG. 4 is a schematic plan view of the divider portion and is an electrical circuit diagram of the main part of the machine of the present invention. 2bl, 2br...divider, 20l, 20r...
Steering sensor, 211, 222...225...switch.

Claims (1)

[Scope of Claims] 1. A sensor is provided on each of the left and right dividers of the machine body to detect the relative positional relationship between the grain culm row to be harvested and the machine body, and automatic steering is performed to follow the grain culm row based on the output signal of the sensor. In the harvesting machine, the divider is pivoted at its proximal end side so that its distal end can be rotated in the left-right direction of the machine body, and the left and right dividers are driven to rotate respectively. 1. A harvesting machine, comprising means for rotating the left and right dividers in a predetermined direction in response to an output signal from the sensor. 2 If the sensor installed on the left divider issues a signal to command the aircraft to turn left, the left divider will be rotated to the left, and the sensor installed on the right divider will command the aircraft to turn right. 2. The harvesting machine according to claim 1, wherein the right divider is configured to rotate to the right when a signal is issued.