JPS58281B2 - Automatic reaping harvester - Google Patents

Description

[Detailed description of the invention] FIELD OF THE INVENTION The present invention relates to a reaping harvester.

Generally, the harvesting method for stem culms is to release the harvested stem culms toward the uncut field. Conventionally, as shown in Figure 6, the machine is placed along the outer periphery of the field. So-called circular mowing is performed in which the harvester is sequentially directed toward the inner circumference, but when the harvester is automatically controlled, the harvester is turned approximately at right angles.

In this way, when turning the aircraft at a relatively large angle (right angle), it is difficult to correctly turn the aircraft to the set angle due to uncertain factors such as differences in the degree of softness of the soil. .

In order to satisfy such demands, there is a problem in that a complicated and expensive turning control device is required.

The present invention has been made in view of these problems, and provides an automatic reaping and harvesting system in which the direction control of the machine body is easy and the direction control device itself is easy to configure by rationally setting the reaping and harvesting mode. The aim is to provide an opportunity for

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

1 and 2 show a side view and a schematic plan view of a reaping and binding machine (binder) as an example of the reaping and harvesting machine of the present invention. 3
, a reaping section 6 consisting of a lateral conveyance device 4, a binding device 5, etc. is provided, and behind this reaping section 6 are a pair of left and right running wheels 7a.

A mission case 8 equipped with 7b, an engine 9, a control handle 10, etc. are provided.

In addition, the front end of the pulling frame 2 enters between the planted stem culm rows located on both the left and right sides of this pulling frame 2, and advances to the solid stem culm row by contact on the left and right stem culms. A tracking guide 11 for tracking is fixedly installed, and a lifting device 1
A guide rod extends forward from the front end of the culm to pull up the stem culm to be harvested and prevent it from escaping to the right outside of the device 1.

The guide rod 12 is pivotally mounted around the fulcrum 2 so that it can swing up and down unsteadily, and is used in a downward swing biased state during mowing work, and when traveling on the road or when stored, it is used at 17 in Fig. 1. It is held swinging upward as shown in the figure.

Further, on the left side of the rear part of the body, a guide rod 13 that comes into contact with the planted stem culm row during backward movement is pivotally mounted around the fulcrum 9 so that it can swing up and down unstably.

Further, the running wheels 7a, 7b are operated by operating a speed change operation lever 14 provided on the control handle 10 to change the gear transmission device in the mission case 8, so that the speed can be changed to three forward speeds and one reverse speed as shown in FIG. configured to be possible.

Also, the running wheels 7a. The left and right wheels 7b are driven at the same speed when moving forward, and the wheels 7a on the binding device 5 side are driven slightly faster than the other wheel 7b when moving backward.

That is, the forward reaping follow-up control mechanism G is constituted by the forward follow-up guide 11 that comes into contact with the stem culm to be reaped and the adjacent stem culm, and the traveling device which has the property of turning in the opposite direction to the binding device 5. Further, a backward return control mechanism H is constituted by the guide rod 13 that contacts the adjacent stem culm and the traveling device which has the property of turning toward the binding device 5 side even in the backward traveling state.

The speed change operation lever 14, which serves as a forward switching mechanism, is configured to automatically switch between forward and backward speeds at the second forward speed position F2 and the reverse position R, which are the reaping travel speed, by the control described below. At the switching point between the second forward speed position F2 and the reverse position R, both positions F2. A U-shaped lever switching device 15 with a spacing that allows the lever to be moved between R, an electric motor 16 capable of driving in forward and reverse directions, and a rack and pinion mechanism 1.
The bar 14 is arranged movably in the two position switching directions via the bar 7, and the switching tool 15, the electric motor 16, and the rack and pinion mechanism 17 constitute an automatic switching mechanism for the bar 14.

The electric motor 16 rotates in the forward and backward directions based on a change in the contact state between the planted stem culm and a sensor 18, which is pivotally connected to the pulling frame 2 so as to be swingable back and forth, and the planted stem culm. The drive is controlled.

The sensor 18 is energized to a neutral posture n protruding laterally and laterally, and changes from a backward leaning posture r to a neutral posture n;
and a change from the forward leaning posture f to the neutral posture n are electrically detected and determined, and these detection results are transmitted to the control circuit 19 of the electric motor 16, as shown in the block diagram of FIG. has been done.

Further, the lever switching tool 15 is attached with a printed conductive plate 21 that slides into fixed brushes 20..., and the position of the lever switching tool 15 is detected by changes in the contact state between the brushes 20... and the conductive plate 21. A detection mechanism 22 is configured.

This position detection result is also transmitted to the control circuit 19.

Further, the signal from the control circuit 19 is transmitted to the right traveling wheel 7b.
The signal is also transmitted to the operating circuit 25 of the solenoid 24 that controls the on/off of the clutch 23 (turning mechanism) for power on/off.When a signal for switching from reverse to forward is issued from the control circuit 19, The clutch 23 is disengaged and operated for a certain period of time via a built-in timer, and the left and right side of the equipment is moved only in the forward state until the machine moves toward the starting end of the next row of stem culms immediately after the machine switches from reverse to forward. Running wheel 7a
, 7b, and the turning mechanism 23 is configured to give an extremely large speed difference to the machine body to accurately align the machine body with the starting end of the adjacent planted stem culm row.

Moreover, between the pulling device 1 and the pulling frame 2, there is a device for detecting the presence or absence of a stem culm, which is pressed and swung backwards when it comes into contact with a planted culm, and returns to swing forward when the contact is released. Power is transmitted to the reaping unit 6 based on the sensor 26 detecting the presence of a stem culm, and power is transmitted to the reaping unit 6 based on the operation of the sensor 26 detecting the presence of a stem culm. The structure is such that the power transmission is cut off.

Next, the automatic reaping operation will be sequentially explained.

(B) Forward travel for reaping (see Figure 4) When the speed change operation lever 14 is set to reaping speed (2nd forward speed) F2 and the machine is directed toward the outermost planted stem row A, the lower surface of the reaping section 6 While in sliding contact with the field, the following guide 11 provided at the front end of the pulling frame 2 is inserted between the stem culm row A and the adjacent planted stem culm row B, and both the stem culm rows A and B are connected to each other. Said guide 1
Due to the contact guidance action of 1, the machine moves forward following the stem culm row A while introducing it between the lifting frame 2 and the lifting device 1.

Then, the reaping section 6 is driven by the operation of the stem culm presence/absence detection sensor 26, and automatic reaping travel is performed.

Also, at this time, the sensor 18 assumes a backward tilted attitude r due to contact with the adjacent planted stem culm row B.

(b) Reverse return travel (see Figure 4) When the cutting of the stem culm row A is completed and the machine protrudes an appropriate distance j'C ahead of the end of the adjacent planted stem culm row B, the sensor 18 is activated. It comes off the final end stock b' of the stem culm row B and swings back to the neutral stand n, and this operation is detected and the control circuit 1
9 is activated, the electric motor 16 is driven in reverse, and accordingly the lever switching tool 15 moves in the X direction, and the speed change operation lever 14 is switched from the forward second speed position F2 to the reverse position R.

Then, the position detection mechanism 22 of the switching tool 15 detects that the lever switching tool 15 has switched the gear shift operation lever 14 to the reverse position R, and accordingly, the control circuit 19 is activated, and the lever switching tool 15 is activated as shown in FIG. The electric motor 16 is driven in normal rotation until it returns to the neutral position shown by the solid line in the middle.

When the machine is switched to the reverse state as described above, the speed of the right running wheel 7a is set slightly higher than that of the left running wheel 7b, so the aircraft is given the ability to move toward the adjacent planted culm B side. However, the guide rod 1 installed on the left side of the rear of the aircraft
3 comes into contact with the stem culm row B, and the aircraft automatically moves backward and returns along this stem culm row B.

Also, at this time, the sensor 26 detects the absence of a stem culm, so the drive of the reaping unit 6 is cut off, and the sensor 18 detects the absence of a stem culm.
The contact with causes the forward leaning posture f.

(C) Forward switching operation (see Figure 4 C) When the machine passes the end (starting end) of the stem culm row B, the sensor 18 comes off the rearmost stem and swings back to the neutral attitude n, and this operation is detected, the control circuit 19 is activated, and the electric motor 16 is driven to rotate in the normal direction. Accordingly, the lever switching device 15 moves in the Y direction, and the shift operation lever 14 is moved from the reverse position R to the forward second speed position F2. Can be switched.

Furthermore, the movement of the lever switching tool 15 is detected by the position detection mechanism 22, the electric motor 16 is driven in the reverse direction, and only the lever switching tool 15 returns to the neutral position again.

) Forward steering operation (see Figure 4 D) When switching from reverse to forward, the reaction causes the aircraft to shift to the first position.
As shown by the imaginary line in the figure, the reaping section 6 is tilted slightly backward and rises above the field.

Further, when the sensor 18 returns from the forward leaning position f to the neutral position n, a clutch disengagement signal is transmitted from the control circuit 19 to the operation circuit 25 of the transmission angle clutch 23 to the left running wheel 7b, and the solenoid 24 is activated to close the clutch. 23 is cut, and the aircraft is driven largely forward to the left by driving only the right traveling wheel 7a.

As mentioned above, since the reaping section 6 is floating due to the reaction of the reversal of the direction of travel, there is no ground resistance of the reaping section 6 when moving forward to the left, and the aircraft is definitely on the left side, that is. It is routed to the starting end side of stem culm row B.

In this case, even if the reaping section 6 floats up, the guide rod 12 maintains contact with the ground due to downward biasing force as shown by 12' in FIG. The stem culm row B is introduced between the lifting frame 2 and the lifting device 1 by surely contacting the row B from the outside.

Then, near the point when the aircraft entered the stem culm row B,
The clutch 23 is engaged and operated by the operation of a timer incorporated in the clutch operation circuit 25, and the left and right traveling wheels 7a, 7b are driven forward at the same speed, and the process returns to the above-mentioned forward reaping travel stroke (a).

The one-cycle operations A to II explained above are repeated in sequence to perform unmanned reaping work.

In the embodiment, a speed difference is given to the left and right wheels 7a and 7b in the backward traveling state to give the traveling device the property of turning around. However, this backward return control is designed to cause the aircraft to move along the forward traveling trajectory. It is also possible to change the control mode to a mode in which the vehicle returns to reverse, and there is no need to provide the characteristic of turning in the reverse state.

In addition, in the embodiment, the machine body is configured to move straight when moving forward, but the machine body is also configured to turn to the opposite side of the binding device 5 when moving forward, and the guide rod 12 that contacts the cutting stem culm The structure may be such that the body moves straight by the action of contacting the stem culm.

Further, as a means for turning the aircraft immediately after switching from the forward state to the reverse state, in addition to employing a steering clutch as in the embodiment, it is also possible to create a difference in drive speed by changing gears, etc. It is also possible to disengage one of the steering clutches and apply the brakes.

To summarize as described above, the automatic reaping/harvesting machine according to the present invention performs follow-up cutting along the row of planted stalks and culms, then moves backward along the row of adjacent planted stalks and culms, and uses the result of detecting the end of the adjacent row of planted stalks and culms. To automatically control the series of operations to direct the machine toward the beginning of the row of adjacent planted culms, the forward reaping follow-up control mechanism that moves forward for reaping while following the culms is controlled to A return control mechanism that follows the row and returns to reverse, a row-planted stem culm end detection mechanism, a forward-reverse switching mechanism that is activated based on the detection result of this detection mechanism, and a forward-reverse switching mechanism that switches the aircraft from reverse to forward. The machine is characterized by being equipped with a turning mechanism that turns the machine body by applying a substantial speed difference to the left and right wheels of the machine only when it is moving forward toward the starting end of the stem culm row of the immediately following row. do.

In other words, when turning the aircraft, after harvesting the planted stem culms in rows, it moves backward along the adjacent planted stem culm rows, and based on the detection result of the end of this adjacent planted stem culm row. Since the machine is controlled to turn toward the starting end of the row of adjacent planted stem culms, the amount of turning can be reduced compared to the conventional circular mowing method, causing less damage to the field. Moreover, since the amount of turning is small, there is little turning error due to soil hardness and softness, and there is an advantage that it is easy to align the adjacent planted stems and culms with a simple device.

[Brief explanation of drawings]

The drawings illustrate embodiments of the automatic reaping/harvesting machine according to the present invention, in which FIG. 1 is an overall side view of the binder, FIG. 2 is a schematic overall plan view of the binder, and FIG. 3 is an enlarged plan view of the speed change operation section. , 4A, 20C, 2D are schematic plan views sequentially showing the operating state, FIG. 5 is a block diagram of the control mechanism, and FIG. 6 is a schematic plan view showing the operating state of the conventional example. G...Forward reaping follow-up control mechanism, 14...
- Forward/forward switching mechanism, 18... Planted stem culm end detection mechanism, H... Backward return control mechanism, 23...
... Turning mechanism.

Claims (1)

[Claims] 1 After performing follow-up cutting along the row of planted stalks, the machine moves backward along the row of adjacent planted stalks, and based on the detection result of the end of the row of adjacent planted stalks, directs the aircraft to the starting end of this row of adjacent planted stalks. In order to automatically control these series of operations in order to
A forward reaping follow-up control mechanism G that moves forward for reaping following a stem culm, a return control mechanism H that moves backward and returns following an adjacent stem culm row, a row-planted stem culm end detection mechanism 18, and this detection. The forward/reverse switching mechanism 14 is activated based on the detection result of the mechanism 18, and the left and right wheels 7a are equipped on the aircraft only when the aircraft is moving forward to the starting end of the next row of stem culms immediately after the aircraft is switched from reverse to forward. , 7b, and a turning mechanism 23 for turning the machine body by applying a substantial speed difference to the automatic reaping and harvesting machine.