JPS5834085B2 - Karitorishyuukakuki - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention detects the deviation in the lateral position between the planted stem culm and the machine body using a planted stem culm detection sensor placed at the front of the machine body,
The present invention relates to a reaping/harvesting machine configured to automatically steer the machine to travel along the stalk culm row by a steering control mechanism for the traveling device based on the detection result.

Conventionally, in such reaping and harvesting machines, the position of the machine body relative to the planted stem culm is detected by a sensor installed at the front of the machine body, and the detection result is used to operate a steering control mechanism to steer the machine body in a fixed direction with respect to the straight direction. (in a direction in which the sensor does not contact the stem culm), the sensor was held at a fixed position relative to the aircraft, so when the aircraft's running speed changes, the qualitative force of the aircraft will cause the unit time to turn. This resulted in a change in the amount of machine direction per hit, and there was a problem in that it was difficult to make the machine follow the stem culm rows smoothly.

That is, as the traveling speed of the aircraft increases, the amount by which the aircraft turns within a unit time decreases, causing it to fall over the stem culm.

On the other hand, as the aircraft speed decreases, the amount that the aircraft turns within a unit time increases, resulting in a meandering operation in which the aircraft moves left and right.

The present invention aims to solve such problems,
By rationally changing the position of the sensor in accordance with the speed change operation of the aircraft, it is possible to keep the aircraft well aligned with the stem culm row when performing automatic steering, regardless of changes in the aircraft's advancing speed. The purpose of this project is to provide a reaping and harvesting machine that is capable of reaping and harvesting.

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

Fig. 1 is an overall side view of a combine harvester as an example of a reaping/harvesting machine, in which a pre-processing section 4 consisting of a pulling device 1, a reaping device 2, a weeding rod 3, etc. is provided at the front of the machine. The machine is equipped with a threshing device 5 at the rear of the machine.

6 is a crawler traveling device, and left and right crawlers 7.7
The running driving force is configured independently and freely, and 8,8
is a steering clutch (steering control mechanism) that controls on/off of driving force.

Among the weeding rods 3 of the pre-treatment section 4, the planting stem culm approach path (to the side of the weeding rod 3 A sensor 10 is pivotally mounted to the side (including the side) so as to be rotatable left and right, and this sensor 10 has a pivot shaft 11
Microswitches S1 and S2 are attached symmetrically with respect to each other, and a switch contact portion 12 is formed on the dividing rod 3a.

The weeding rod 3a is held so as to be displaceable in the longitudinal direction with respect to the fuselage part.

A travel gear lever 14 is attached to the cockpit 13 located near the front of the aircraft, and the gear lever 14 moves along the groove 15 in the H-shaped beam.
The branching rod 3a equipped with the sensor 10 is configured to be able to change its position forward in conjunction with the forward speed change operation of the traveling speed change lever 14 in the speed increasing direction. There is.

Reference numeral 16 denotes a coupling device that connects the travel gear shift lever 14 and the dividing rod 3a, which is pivoted around a pivot point P. A lever 17 that can be slidably moved in the axis direction of the coupling device is connected to the gear shift lever 14. In conjunction with the movement, the dividing rod 3a is moved back and forth in the direction of the arrow.

Incidentally, during the reverse operation, it is preferable to disconnect the sensor 10 and the operation clutches 8, 8.

According to such a configuration, when the traveling speed change lever 14 is switched to the speed increasing side, the weeding rod 3a is pushed out to the front of the aircraft body via the connector 16, and the sensor 10 is moved to the front of the aircraft body. .

Therefore, when the aircraft speed is high, the sensor 10 that has changed its position forward contacts the stem culm A to detect the aircraft position with respect to the stem culm row, and then the sensor 10 rotates around the pivot shaft 11 and the micro When the switch S1 is activated, one of the steering clutches 8 is activated after a certain period of time (time lag) after the stem culm is detected, and the aircraft, which is traveling at a high speed and is rarely steered per unit time, is steered at an early stage. be.

Therefore, while the machine moves to the location where the detected stem culm A is located, the stem culm B adjacent to the detected stem culm A (the detected stem culm A and the adjacent stem culm B are separated by a certain distance) is moved to the branching rod 3a, The aircraft turns to be located at or approximately in the middle of 3.

When the orientation of the aircraft is corrected in this way and the stem culm no longer comes into contact with the sensor 10, the aircraft continues to travel straight.

Furthermore, when the traveling speed change lever 14 is operated to the deceleration side, the sensor 10 is moved to the rear side of the aircraft, and the stem culm is detected from the tip or at the point where the culm has retreated, and the information is input after a certain time lag after detection. The steering clutch 8 is actuated to turn the machine at a late stage and make a large turn per unit time, thereby turning the machine to position the stem culm approximately in the center of the dividing rods 3a, 3. It is.

Note that the reference numeral 17 shown in FIG. 3 indicates an activation sensor that drives the raising device 1 and the reaping device 2 of the pre-processing section 4 based on the result of detecting the presence of a stem culm.

To summarize, as shown in the above-described embodiment, the structural feature of the reaping harvester of the present invention is that the installed position of the planted stem culm detection sensor 10 is changed to the speed increasing and decelerating side of the traveling device 6. The structure is such that it can be reversibly adjusted to the front and rear portions of the fuselage depending on the operation, and this structure has achieved the following effects.

That is, since the installation position of the sensor 10 is adjusted in the longitudinal direction of the aircraft in conjunction with the speed change operation of the traveling device 6, when the speed change operation lever is operated to the high speed side when performing steering based on stem culm detection, the sensor 10 The system moves to the front of the aircraft, detects the deviation between the stem culm and the aircraft at the front, and performs steering control early to make the aircraft follow the stem culm line without overturning the stem culm when the aircraft is traveling at high speed. be.

Also, when the speed change control lever is operated to the low speed side, the sensor 10 moves to the rear of the aircraft, detects the deviation between the stem culm and the aircraft at the rear, and performs steering control at a late stage to prevent the aircraft from meandering. This allows the plants to follow the stem and culm rows.

In other words, by setting the sensor position appropriate to the traveling speed of the aircraft, the detection timing can be made appropriate, and when performing automatic steering to make the aircraft go straight along the culm row, it is possible to accurately follow the culm row. I ended up getting a reaping harvester.

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping/harvesting machine according to the present invention; FIG. 1 is an overall side view of the combine, FIG. 2 is an overall plan view of the combine, and FIG. 3 is a schematic plan view of the main parts showing the operation. 6... Travel device, 8, 8... Steering control mechanism, 10... Planted stem culm detection sensor

Claims (1)

[Claims] 1. The planted stem culm detection sensor 10 located at the front of the aircraft body detects the deviation in the lateral position between the planted stem culm and the aircraft body, and based on this detection result, the steering control mechanism 8, 8 for the traveling device 6 , in a reaping harvester configured to automatically steer the machine so that the machine travels along the stalk culm row, the position of the detection sensor 10 is adjusted according to the speed change operation of the traveling device 6 to the speed increase or deceleration side. A reaping/harvesting machine characterized in that it is configured to reversibly change and adjust the front part and the rear part with respect to the machine body.