JPS5835642B2 - Directional control device for mobile agricultural machinery - Google Patents

Description

[Detailed description of the invention] The present invention relates to a direction control device for a mobile agricultural machine.

In a harvesting machine that automatically reaps shell culms, etc., the direction of the machine is always automatically controlled based on the position of the shell culm so that the shell culm is pulled into a predetermined taxiway. It has become.

FIG. 1 and FIG. 2 are a schematic side view and a plan view, respectively, of a combine harvester.

At the front lower part of the fuselage 1, there are a plurality of weeding rods 2a, 2b, 2c for guiding the planted culms to the taxiway.

3b and 3c, and are arranged parallel to the plane of travel of the fuselage 1 at approximately equal intervals.

Branching rod 3a. A culm lifting device 4 is provided between 3b and 3c, the lower end of which is attached near the grass cutting bodies 2a and 2c, and is installed in an inclined manner.

The culm that has entered the guideway is pulled up to the correct position by the lifting lug 5 of the culm lifting device 4 that continuously rises in an endless manner.
Guided to the next reaping operation, the root portion of the culm is cut by a clipper-like reaping device 6.

The cut culm is sent above the machine body 1 by the culm conveying device 1, and sent to the threshing device 9 by the culm feeding device 8.

The husks are threshed in the threshing device 9, and only the paddy is separated and sent, and packed into bags by the paddy bagging device 10.

A direction sensor 11 is attached to the lower part of the shell culm lifting device 4, and is provided with a driving actuator 11a extending to the guide path of the shell culm.

When the culm passes through the tip and the base of the actuator 11a, the rotation angles are different, and a changeover switch in the direction sensor 11 operates accordingly, so that the culm passes approximately at the center of the actuator 11a. The direction change of the aircraft 1 is automatically performed.

However, conventionally, the signal obtained from the direction sensor 11 is converted into an intermittent signal for a certain period of time using a timer or the like, and this is sent to the direction changing device of the aircraft 1, which applies intermittent brakes to the crawler and moves the aircraft 1 into a stepped state. It was changing direction.

Therefore, based on fluctuations in the traveling speed of the aircraft 1, the direction change distance per unit time varies greatly, and especially when the traveling speed of the aircraft 1 is slow, the direction sensor 11 confirms the position of the culm before changing the direction. There are drawbacks such as the aircraft 1 traveling a considerable distance while the device finishes operating,
An unmatching phenomenon occurred between the direction sensor and the direction control device driven by the direction sensor.

Therefore, the present invention eliminates these drawbacks and provides a direction control device for a mobile agricultural machine that prevents mismatching between a direction sensor and a direction control device driven by the direction sensor due to changes in the running speed of the machine. .

Examples of the present invention will be described in detail below.

3 to 7 are explanatory diagrams showing an embodiment of a direction control device for a mobile agricultural machine according to the present invention.

That is, as shown in FIGS. 3 and 4, when the direction sensor 11 detects that there is a culm at the base of the actuator lla, the changeover switch in the direction sensor 11 outputs a signal as shown in FIG. 4a. is now output.

This signal lasts as long as the actuator lla has a culm at its base.

On the other hand, there is a rotating shaft that rotates in proportion to the traveling speed of the aircraft 1, and as shown in FIG. A reed switch 14 is disposed at.

The shaft 12 may be a drive shaft for causing the body 1 to travel, or may be any other shaft that conducts rotation therewith.

A pulse signal as shown in FIG. 4 is generated from the reed switch 14 of such a traveling device.

This pulse signal and the direction sensor 1 shown in FIG.
The signal from the direction sensor 11 is input to the control unit, and here, as long as the signal from the direction sensor 11 continues, a predetermined number of pulses are counted, and for example, every 6 pulses are counted intermittently. Moreover, the signal width is set to two pulses, so that a control signal as shown in FIG. 4C is obtained.

This signal is then input to the operation section of the direction change device of the aircraft body 1, but this signal is inside the direction sensor 11 that operates based on the presence of the culm at the base of the actuator 11a, as shown in FIG. Solenoid 1 with switch IP
5, a current corresponding to the control signal shown in FIG. 4C is caused to flow.

The solenoid 15 uses its electromagnetic action to switch the Sanpoya switching valve 17 shown in the hydraulic circuit of FIG.
20, the current flows through the solenoid 15, and as a result, the Sanpoya switching valve 17 moves one block to the right, which causes the oil to be sucked up by the hydraulic pump 18. Oil is filled into the cylinder 19.

The cylinder 19 intermittently applies brakes to the crawler on one side of the fuselage 1, causing it to make a step-like left turn so that the culm is positioned approximately at the center of the actuator 11a.

Note that if there is a culm at the tip of the actuator lla, the fifth
A switch 11'' in the direction sensor 11 shown in the figure causes current to flow through the solenoid 16, and this solenoid 16
As a result of the Sanpoya switching valve 17 being moved one block to the left from the state shown in FIG. 7, the oil sucked up by the hydraulic pump 18 is filled into the cylinder 20.

This cylinder 20 intermittently applies a brake to the crawler on the opposite side of the crawler described above, causing the vehicle to turn to the right.

21 is an IJ valve for keeping the pressure of oil sucked up by the hydraulic pump 18 constant.

In this way, the signal of the direction sensor 11 that detects the position of the culm is extracted for a predetermined number of pulse signals generated in proportion to the traveling speed of the aircraft 1, and the direction change device of the aircraft 1 is driven by this signal. In this way, even if there is a change in the traveling speed of the aircraft body 1, the traveling distance can be made equal between when the direction sensor 11 confirms the position of the culm and when the direction change device is driving.

In other words, even if the traveling speed of the aircraft 1 is quite high, the aircraft 1 will travel a considerable distance between the time when the direction sensor 11 confirms the position of the culm and the time when the direction change device finishes driving. There will be no such thing as doing.

Note that the control signal is generated according to the count of pulse signals, assuming that a detection signal is generated, so the time from when the detection signal is generated until the first control signal is generated depends on the frequency of the pulse signal. When driving at high speeds, the frequency of the pulse signal is high, so when a detection signal is generated, a control signal is generated immediately.
When driving at low speeds, the frequency of the pulse signal is low, so
The control signal is generated after a slight delay after the detection signal is generated.

Therefore, when running at high speed, when a detection signal is generated, the direction is immediately changed and the machine body 1 is prevented from plunging into the uncut culm, while when running at low speed, even when a detection signal is generated, the direction is not immediately changed and the direction is slightly changed. Detection signals during this period are ignored, and hunting is prevented from occurring.

In this embodiment, the control unit sends a signal to the direction changing device every time it counts six pulses input from the traveling device, and the width of the signal is two pulses. The number is not limited and can be selected arbitrarily.

Further, while the signal is being output from the direction sensor 11, the signal is intermittently sent to the direction change device, but the invention is not necessarily limited to this, and the width of the signal sent to the direction change device is relatively wide. Of course, it is also possible to send only one.

In addition, in order to generate a pulse signal proportional to the traveling speed of the aircraft 1, a traveling device as shown in Fig. 5 is used, but there is no need to limit it to this, and a mechanical switch mechanism is provided. It may be something.

As described above, according to the direction control device for a mobile agricultural machine according to the present invention, mismatching between the sensing sensor and the direction changing device driven by the sensor can be prevented depending on the traveling speed of the machine.

[Brief explanation of drawings]

FIGS. 1 and 2 are a schematic side view and a plan view of a combine harvester, respectively, and FIGS. 3 to 7 are explanatory diagrams showing one embodiment of a direction control device for a mobile agricultural machine according to the present invention. 1... Aircraft, 2a, 2b, 2c...
・Dividing body, 3a, 3b, 3c...Dividing rod, 4・
..... Culm lifting device, 5 ..... Drawing lug, 6
... Reaping device, 7 ... Grain culm conveying device, 9 ... Threshing device, 10 ... Paddy bagging device, 11 ...・Direction sensor, 11a...
・Actuator, i i', i i'...
...Switch, 12...Axis, 13...
・Magnet, 14... Reed switch, 15
．． 16...Solenoid, IT...Three-position switching 1 valve, 18...Hydraulic pump, 19,2
0...Cylinder, 21...Relief valve.

Claims (1)

[Claims] 1. A direction sensor that emits a signal when it deviates from the desired direction of movement, a pulse generator that generates a pulse with a frequency proportional to the traveling speed of the aircraft, and a predetermined number of pulses that are counted from the time when the direction sensor obtains the signal. What is claimed is: 1. A direction control device for a mobile agricultural machine, comprising: a control unit that drives a direction change device using a signal up to the point where the direction change device is driven.