JPS6337763Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a harvesting machine equipped with an automatic steering device, and particularly proposes a harvesting machine capable of issuing a row shift warning.

Harvesters equipped with automatic steering devices have recently become popular. Under normal conditions, this automatic steering system allows the harvesting work to be carried out without causing uncut mowing or misalignment of grain rows, but in cases where the grain culm rows are extremely disturbed, Or, in places where the grain culm spacing is rapidly narrowing, rows may occasionally shift, pushing down the grain culms and damaging them, and also causing post-processing to take time and lower yields and work efficiency. That will happen.

This invention detects line misalignment immediately after it occurs, and
The present invention will be described below in detail with reference to drawings showing embodiments thereof, with the object of providing a harvester that can issue an alarm and minimize the above-mentioned problems.

FIG. 1 schematically shows the front divider part of the harvesting machine according to the present invention (hereinafter referred to as the present machine), and the left and right dividers 1l and 1r each have a sensor arm 21.
Turn the steering sensor 2 with the l and 21r toward the inside of the aircraft.
0l and 20r are attached. Steering sensor 2
0l and 20r are the sensor arms 21l and 2, respectively.
1r and sensor boxes 22l and 22r. The sensor arm 21l or 21r is the divider 1
Grain culm row 3 between l or 1r and central divider 1m
0l or 30r, and when the aircraft moves forward, it is pressed by this grain culm ray 30l or 30r and rotates backwards, and if there is no grain culm ray 30l or 30r, the action of the spring in the sensor box 22l or 22r It is designed to rotate forward.

On the other hand, three (or two) switches are housed in the sensor box 22l or 22r, which are activated depending on the rotational position of the sensor arm 21l or 21r, and the combination of open and closed states of these switches is determined logically. Thus, the energization of the solenoid VSl or VSR of the electromagnetic directional control valve V, which will be described later, is controlled.

Figure 2 is a hydraulic circuit diagram of the automatic steering system,
3 is a pump, V is a 4-port 3-position switching type electromagnetic directional control valve, 4l and 4r are respective piston rods 4
Side clutch 5l, 5r due to protrusion of la, 4ra
This is a hydraulic cylinder that can be turned off. Therefore, this hydraulic circuit is a solenoid VSl or
When the VSr is energized, the solenoid directional control valve V
is switched in the direction of arrow l or r, pressure oil is supplied to the hydraulic cylinder 4l or 4r, the left side clutch 5l (or the right side clutch 5r) is cut off, and the left crawler 50l (or the right side crawler 50l) is shut off. The drive of the crawler 50r) is stopped so that the movement of the aircraft can be corrected to the left (or right). By switching the electromagnetic directional control valve V, when the side clutch 5l is disconnected, the left brake is also applied, and when the side clutch 5r is disconnected, the right brake is also applied, so that the steering can be quickly responded to. Of course, it is also possible to increase the sexiness.

Incidentally, the engagement and disconnection of the side clutches 5l and 5r can also be performed by the left and right side clutch levers 6l and 6r provided on the operation column 12 of the harvester, but the side clutch levers 6l and 6r A limit switch 60 is provided near the side clutch levers 6l, 6r, and includes a normally open contact 60a (see FIG. 3) that closes when one of the side clutches 5l, 5r is disconnected by pulling one of the side clutches 5l, 5r. ing. By connecting this contact point 60a as shown in FIG. 3, priority can be given to manual operation during the pulling operation of the side clutch lever 6l or 6r.

Next, the electric circuit of the automatic steering system shown in FIG. 3 will be explained. The power supply from the battery 8 to this electric circuit is turned on and off by a key switch 7, and the positive terminal of the battery 8 is connected to the key switch 7 and a switch 71 for automatic steering selection.
It is connected to one end of each of the solenoids VSl and VSr through the switch 7, and to a group of switches in the sensor boxes 22l and 22r only through the switch 7. Further, the negative electrode of the battery 8 is grounded to the body. Control of energization to each of the solenoids VSl and VSr is performed by switching circuits 9l and 9r interposed between the other ends of the solenoids VSl and VSr and the body ground.
l,9r on/off, in other words, solenoid
The on/off of energization to VSl and VSR is controlled by the switch group and the logic circuit 10 at the subsequent stage. Now, turn on the contacts of the three switches 221, 222, and 223 in the left sensor box 22l.
The relationship between the off state and the rotational position of the sensor arm 21l is as follows. That is, based on the position where the sensor arm 21l contacts the grain culm 30l, the rotational position of the sensor arm 21l is changed from the divider 1l side to the 1m side as shown in FIG.
If classified as 2, 3, 4, the first switch 221
(using only one normally open contact) is on only in region 1, the others are off, and the second switch 222
The third switch 223 (using two normally open contacts 222a ₁ and 222a ₂ ) is off in areas 1 and 2 and on in areas 3 and 4, and the third switch 223 (using normally open contacts 223a and 223b) is in areas 1 and 2. Normally open contact 22 at 4
3a is off (normally closed contact 223b is on), and in other areas, normally open contact 223a is on (normally closed contact 223b is on).
23b is off).

On the other hand, the on/off state of the two switches 224 and 225 (both using one normally open contact) in the right sensor box 22r and the sensor arm 21r
The relationship with the rotational position of sensor arm 21 is similarly
If the rotating position of r is classified into areas a, b, and c from the divider lr side to the 1m side, the fourth switch 2
24 is turned off in areas a and b and turned on in area c, and the fifth switch 225 is turned on in area a and turned off in areas b and c.

The switch 224 is connected to the common terminal 11c of the changeover switch 11. This changeover switch 11
is provided to selectively switch between steering control during intermediate cutting work and steering control during row mowing or horizontal mowing work, and the open/closed state of switch 224 can be controlled by different input terminals of logic circuit 10. I am trying to input it into . That is, one switching side terminal 11a of the switching switch 11 is used as the common terminal 11 during the middle splitting operation.
The terminal to be connected to c and the input end of the inverter 10a of the logic circuit 10, and the other switching side terminal 11b to be connected to the common terminal 11c during row mowing or horizontal mowing work, It is connected to the input terminals of NAND gates 10b and 10c of the logic circuit 10. The two output terminals of the logic circuit 10 are connected to the input terminals of the switching circuits 9l and 9r.
Solenoids VSl and VSr are energized when the respective input terminals of r reach the "H" level.

Table 1 shows how to set the changeover switch 11 to the middle cutting work side (11
The left and right sensor arms 21l,
For each combination of rotation areas of 22r, the switch 221
This is a list showing the ON (○ mark) and OFF (x mark) of each of ~225, the ON (○ mark) and OFF (x mark) of energization to each solenoid VSl and VSr, and the progress status of the aircraft. The logic circuit 10 is configured to energize the solenoids VSl and VSR as shown in this table by turning on and off the switches 221-225. Note that - in Table 1 indicates that the on/off state of the switch is undefined or unrelated to control.

Referring to the contents of Table 1, mid-splitting work is in the manner shown in columns 1 to 3 of Table 1, row mowing work is generally in the manner in columns 6 to 8, and horizontal mowing work is generally in the manner shown in columns 6 to 8. Automatic steering control is performed in the modes shown in columns 4 to 6 (however, the sensor arm 21l is normally in region 1), and when one stroke of reaping is completed, the aircraft moves straight in the mode. .

The logic circuit is constructed to perform the control shown in Table 1. That is, switch 221
One end is connected to another input end of the NAND gate 10b, the normally open contacts 222a ₁ and 223a are connected in series, and one end of this series circuit is connected to the other input end of the NAND gate 10c, and the switch 225 is connected to the other input end of the NAND gate 10c. It is connected to the inverter 10d. And a NOR gate 10e which has two inputs as the outputs of the inverter 10a and the NAND gate 10b.
is connected via a resistor to the input of a switching circuit 9l for controlling the energization of the solenoid VSl, and both outputs of the inverter 10d and the NAND gate 10c connected to the switch 225 are collectively input to the inverter 10f, and its output is , switching circuit 9r for energization control of solenoid VSR
is connected to the input via a resistor.

Now, the present invention is equipped with a line deviation alarm circuit 40, and to explain this circuit, the switch 221
The terminal on the NAND gate 10b side is connected to one end of the clock section 41c of the timer 41, and the other end is grounded to the body. The connection points between the switches 7 and 71 are a normally open contact 222a ₂ , a normally closed contact 223b, an excitation coil 42c of the electromagnetic relay 42, and a time limit contact (a normally open contact with a time limit for opening and closing) 4 of the timer 41.
1a, a normally open contact 42a of the electrode relay 42, an alarm lamp 43, and an alarm buzzer 44.
It is connected to one end of each series circuit consisting of parallel circuits, and the other end of these series circuits is grounded to the body. Note that the time limit of the timer 41 is set to about several seconds for both open and closed circuits.

The proposed machine with the configuration described above runs while automatically steering in the manner shown in Table 1, but now the left steering sensor 20l is used as a reference to perform automatic steering during row mowing. In the case where the grain culm 30l on the left side of the divider 1l is curved to the left as shown in FIG.
comes into contact with the grain culm 30l in region 1 (the part indicated by ○), the switch 221 is turned on, and the aircraft turns to the left to correct its direction of travel. On the other hand, when the switch 221 is turned on, the timer section 41c of the timer 41 starts measuring time. If the curvature of the grain culm is sharp (small radius), the aircraft will not be able to fully follow the left turn and will be in a situation where it will split the stock (the part shown with circles). During this time, the contact 41a closes due to the expiration of the timer 41, and then, when the row deviation state is reached after this stock splitting (the part indicated by ○), the sensor arm 21l
is released from the restraint from the grain culm and becomes free at the position of region (4). Therefore, the contacts 222a ₂ , 223b
is turned on, energizing the excitation coil 42c together with the contact 41a that is already on, and the contact 4
2a is turned on and the alarm lamp 43 and alarm buzzer 44 are turned on.
is driven to notify the occurrence of line misalignment. Therefore, the driver can immediately stop running the aircraft and perform the necessary post-processing. Note that the alarm lamp and buzzer can be stopped by resetting the timer 41.

Next, as shown in Figure 5, although the grain culm ray 30l is curved to the left, its radius is large and the aircraft follows this without shifting and corrects the direction of travel. As before, the sensor arm 21l comes into contact with the grain culm in region 1 at the part marked with ◯, and the switch 221 is turned on. As a result, the aircraft turns to the left, and the divider 1l moves away from the grain culm 30l to the left (○), so the contact state in area 1,
In other words, the on state of 221 is immediately released and timer 4 is turned on.
1, the power to the clock section 41c is cut off before the time limit is reached, so the contact 41a does not turn on, and the lamp and
Buzzer doesn't work. Furthermore, even if the switch 221 is on for a long time and the timer 41 reaches its expiry time and the contact 41a is turned on, there will not be a situation in which both 222a ₂ and 223b are turned on immediately thereafter (areas 2 and 3 are not always turned on). A state of contact in area 4 after passing through a state of contact in
1l becomes free). Therefore, during this time, the contact 41a turns off when the timer 41 closes, and the lamp and buzzer end up not operating. Furthermore, if the sensor arm 21l comes into contact with floating seedlings or weeds in area 1 due to the presence of them, the time is so short that the contact 41a does not turn on, and no false alarm is issued.

As described above, according to the present invention, it is possible to detect the occurrence of row misalignment and issue a warning without malfunction, so the driver can leave the steering of the machine to the automatic steering system and perform tasks such as replacing paddy bags with peace of mind. be able to engage in auxiliary work. Since the generation of an alarm can prevent row slippage at an early stage, damage to grain culms is minimal, which is of practical benefit in suppressing sludge, and post-processing is simple, causing a significant drop in work efficiency. The present invention has excellent effects such as no problems. In the above embodiment, the misalignment of the rows was detected by the operation of the steering sensor on the left side, but in order to cope with the case where the right side is used as the uncut side, the deviation is detected by the steering sensor on the right side. It is also possible to configure

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a schematic plan view of the divider portion of the proposed device, and FIG.
The figure is a hydraulic circuit diagram of the automatic steering system, FIG. 3 is an electrical circuit diagram of a main part of the proposed machine, and FIGS. 4 and 5 are explanatory diagrams of the operation of the proposed machine. 20l, 20r...steering sensor, 40...line deviation alarm circuit, 41...timer, 43...warning lamp, 44...warning buzzer.

【table】

Claims (1)

[Scope of utility model registration request] Equipped with an automatic steering device that detects the relative positional relationship between the grain culm and the aircraft using a steering sensor, and automatically runs the aircraft following the grain culm based on this detection result. In the harvesting machine, if the steering sensor continuously issues a detection signal indicating that the machine traveling direction should be corrected for a predetermined period of time or more, and then issues a detection signal indicating that the grain culm is absent, an alarm is issued. A harvesting machine characterized by the following configurations.