JPS5834086B2 - 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 this detection result is used to operate a steering control device (steering device) to move the machine body in a straight direction. On the other hand, when the sensor is configured to steer in a fixed direction (a direction in which the sensor does not contact the stem culm), the sensor is held at a fixed position with respect to the aircraft, so when the aircraft travel speed changes, the aircraft's penetrating speed changes. The amount of direction of the machine per unit time changes depending on the force, and there is a problem in that it is 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,
To provide a reaping and harvesting machine capable of making the machine suitably travel along a stem culm row regardless of changes in the machine's advancing speed by rationally changing the position of a sensor according to the machine's advancing speed. That is.

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

Figure 1 is an overall side view of a combine harvester as an example of a reaping harvester, 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
1 is a steering clutch (steering control mechanism) that controls the driving force.

A sensor 10 is pivotally attached to the rear part of the grass divider 9 at the tip of the grass divider 3a on the unmown side among the grass dividers 3 of the pre-treatment section 4 so as to be rotatable left and right. , this sensor 10 includes a microswitch S1 symmetrically with respect to the pivot shaft 11.
．． S2 is attached, and a switch contact part 1 is attached on the branching rod 3a.
2 is formed.

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

A travel gear shift lever 14 is attached to the cockpit 13 located near the front of the aircraft, and a 1.11.
1 [[It is configured to be able to perform speed and reverse steering.

The transmission shaft 16 that transmits the driving force to the driving wheels of the crawler 7.7 has a mechanism 17 that detects the driving speed of the centrifugal force (governor type) traveling device 6 that operates in proportion to the increase or decrease in the number of rotations. It is attached.

The weeding rod 3a equipped with the sensor 10 is configured to be continuously and automatically changed and adjusted in the longitudinal direction of the machine body according to the detection result of the drive speed detection mechanism 17.

Reference numeral 18 denotes a connector that connects the drive speed detection mechanism 17 and the dividing rod 3a.

According to such a configuration, when the traveling speed change lever 14 is switched to the speed increasing side, the driving speed for driving the traveling device 6 is detected by the detection mechanism 17, and the weeding rod 3a is moved to the front of the aircraft via the connector 16. The sensor 10 is moved to the front of the aircraft.

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 culm is detected, and the aircraft, which is traveling at a high speed and is being steered by a small amount per unit time, is quickly steered. Let it happen.

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 position itself 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.

Also, when the travel gear shift lever 14 is operated to the deceleration side, the deceleration state is detected by the mechanism 17 that detects the driving force of the travel device 6, and the sensor 10 is moved to the rear of the body, and the stalk culm detection is slightly retired from the tip. After detection, the steering clutch 8, which is input after a certain time lag, is activated and turns the machine at a late stage, making a large turn per unit time, thereby dividing the stem culm. The aircraft is turned so as to be positioned approximately in the center of the rods 3a, 3.

FIG. 4 shows another embodiment, in which the mowing 3a is equipped with a driving force transmission mechanism (torque converter) that transmits hydraulic driving force to the traveling device 6 when the traveling device 6 is driven using hydraulic pressure. (not shown) is derived from the pilot circuit 19,
The pressure accumulator 20 provided in the pilot circuit 19 is configured to push and pull the grass dividing rod 3a in the longitudinal direction of the aircraft body, thereby changing the position of the sensor 10.

In this case, the steering clutches 8, 8 are switched using hydraulic pressure by the rocking of the sensor 10.

That is, as shown in FIG. 5, the microswitch S1. attached to the sensor 10. The solenoid valve 21 is activated by the operation of S2, and hydraulic pressure is applied to the clutch arm 2 via the operating cylinder 22.
3 is activated to cut off the driving force to one crawler 7 and turn the aircraft in the direction of the arrow.

In summary, the reaping harvester according to the present invention is provided with a mechanism 17 for detecting the driving speed of the traveling device 6, and the sensor 10 is arranged in accordance with the detection result of this mechanism 17 based on speed increase and deceleration of the traveling device 6. The present invention is characterized in that the position is continuously automatically changed and adjusted to the front of the aircraft body when speed increase is detected, and to the rear side of the aircraft body when deceleration is detected.

That is, since the sensor 10 is continuously and automatically changed and adjusted in its position in the longitudinal direction of the aircraft according to the detection result of the mechanism 17 that detects the driving speed of the traveling device 6, for example, when the driving speed is in a high speed range , the sensor 10 moves to the front of the aircraft,
The deviation between the stem culm and the aircraft body is detected at the front, and steering control is performed early to prevent the aircraft traveling at high speed from overturning the stem culm (the aircraft can be made to follow the line of stem culms).

Also, when the drive speed is in a low speed range, 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 slow time to prevent the aircraft from meandering. This allows them to follow the stem and culm rows.

In other words, it has become easy to make the machine accurately follow the stem culm row regardless of the traveling speed of the machine.

It is also possible to manually switch the sensor position according to the gear change state, but the gear change state and the actual running speed do not necessarily correspond. Therefore, the detection timing of the sensor may not be appropriate. However, in the present invention, the sensor position is automatically adjusted according to the actual traveling speed, so such a problem does not occur.

[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, FIG. 3 is a plan view of the main parts, and FIG. FIG. 5 is a plan view of main parts showing another embodiment. 6... Travel device, 8... Steering control mechanism, 10... Sensor, 17... Drive speed detection mechanism.

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 , a reaping and harvesting machine configured to automatically steer the machine so that the machine travels along the stalk culm row, a mechanism 17 for detecting the drive speed of the traveling device 6 is provided, and the mechanism 17 is configured to increase and decelerate the traveling device 6. In response to the detection results of the mechanism 17, the position of the sensor 10 is continuously and automatically changed to the front of the aircraft when detecting speed increase and to the rear of the aircraft when detecting deceleration. A reaping harvester.