JPS5837809B2 - Automatic forward and backward switching type reaping machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention uses a reaping machine such as a binder or a combine harvester to perform reaping while moving forward along a row of planted stalks, and then based on detection of the end of the row of planted stalks. The present invention relates to a reaping machine that automatically switches forward and backward movement, and is configured to move backward along the mowing mark.

This type of automatic forward/reverse switching type reaper was developed to automate the reaping operation in a reciprocating mode. Therefore, it is necessary to steer the machine so that it can be accurately moved forward toward the reaping start end of the adjacent planted stem culm row to be reaped next time.

Conventionally, such a steering control means operates a steering mechanism based on detection of the end position of an adjacent planted stem culm row or stump row while the aircraft is moving backward, and controls the operating time using a timer. , the aircraft was configured to release the steering operation when it reached the beginning of the next row of planted culms to be harvested, but in this case, there was a risk of the aircraft slipping, running onto a stump, or stopping in reverse. Due to variations in the lateral position relative to the adjacent planted stem culm rows, variations occur in the direction of the aircraft within the set time, so the position of the aircraft after the steering is released and the adjacent planted stem This has the drawback that the position of the cutting start end of the culm row is misaligned in the lateral direction, resulting in an excess or deficiency in the required amount of steering of the machine, and the machine tends to push down the planted culm or leave it uncut.

In view of the above, the present invention makes it possible to reliably and accurately control the steering of the aircraft according to the required amount of steering even under conditions where there are variations in the required amount of steering, and to push down planted stems and culms with the aircraft. To provide a forward and backward automatic switching type reaping machine which can safely introduce a reaping machine to the reaping start end of a row of planted stems and culms without any remaining mowing.

The forward and backward automatic switching type reaping machine according to the present invention, as described at the beginning, operates the machine body to move toward the adjacent planted stem culm row based on the detection of the end position of the adjacent planted stem culm row while the machine is moving backward. An automatic steering mechanism that releases the steering based on the detection of the starting end of the adjacent planted stem culm row while the aircraft is moving forward, and an automatic steering mechanism that uses the reaped stump row as a guide when the aircraft moves forward and backward. It is characterized by being provided with a stump guide for guiding.

That is, according to the present invention, since the stump guide is provided for guiding and guiding the machine using the row of stumps after reaping as a guide both when the machine moves forward and backward, that is, when the machine moves forward for reaping and when moving backward. The directional control is performed by the row of cut stumps, which are treated as guide tools, and the stump guide guided by this row, so the required device for directional control when moving forward and backward is not the same as the conventional sensor. It is much simpler and does not cause troubles such as malfunctions than those that use the same type of tools.In addition, in the case of using the planted stem culm as a guide tool, pushing down the stem culm will cause damage, but it has the disadvantage of being too strong. In particular, because the row of reaped stumps, which are highly parallel to the rows of adjacent planted stems, is used as a guide, the direction of the machine body is difficult to change even if it slips, so it is difficult to move backward. The amount of variation in the lateral position of the stop position relative to the adjacent planted stem culm row is almost non-existent, or even if there is, it is very small, and the machine position and the cutting start end position of the adjacent planted stem culm row after the steering is released. There is an advantage that it is easy to maintain a constant relative positional relationship with the lateral direction.

Moreover, when the cutting start end of an adjacent planted stem culm row is detected while the machine is steering in the forward state, this steering is automatically canceled, so it will not snap, run onto a stump, or move backwards. Even if there is variation in the lateral position of the stop position with respect to the cutting start end of the adjacent planted stem culm row, this does not affect the machine position after the steering is released and the position of the cutting start end of the adjacent planted stem culm row. Steering control can be performed in a state where it is easier to maintain a constant relative positional relationship in the lateral direction. Therefore, when switching from a reverse state to a forward state, there is no possibility that the machine will push down the planted culms or leave them uncut. It is possible to reliably, accurately and safely move the machine body to the cutting start end of an adjacent planted stem culm row in a state where there is no

Therefore, the present invention has made it possible to safely, reliably, and accurately perform automatic reaping work using a reciprocating mowing system.

Hereinafter, an embodiment of the present invention will be explained based on a walking binder 2 shown in the drawings.A reaping binding part 4 and an engine part 5 are arranged in front and rear positions of a pair of left and right running wheels 1 and 10, and The machine body is supported in a reaping posture by a grounding pick 6 attached to the reaping binding part 4 and the wheels 1, 1, and the mission case 7 for the wheels 1, 1 has these wheels 1. , 1, which is equipped with steering clutches 8, 8 that can individually disconnect the transmission state to the adjacent planted stem culms A'. a sensor 9 that detects the end of the tree; a forward/reverse transmission mechanism 10 that switches the machine forward or backward in response to the end detection operation of the sensor 9; A stump guide 11 is provided to guide the stump, and after cutting and tying is performed while moving forward along the planted stem culm row A, the cutting trace is moved backward based on the detection of the end of the planted stem culm row A. , it is configured to switch to the forward state based on the detection of the end position of the adjacent planted stem culm row A' in this backward movement state.

The sensor 9 is pivotably supported around the vertical axis X, and is elastically biased to swing into a neutral position protruding from the lateral direction toward the adjacent planted stem culm row A' side. As the machine moves forward and backward, the adjacent planted stem culms row A
The end of the adjacent planted culm row A' is detected by swinging back to the neutral posture based on the absence of a culm at the end.

Therefore, in the walking binder 2, among the front left and right leather dividing tools 12A and 12B that are attached to the reaping binding section 4,
The weeding tool 12A on the side far from the adjacent planted stem culm row A' comes into contact with the adjacent planted stem culm as the aircraft steers toward the adjacent planted stem culm row A' while the aircraft is moving forward. A second sensor 13 is provided which detects and operates, and based on the sensor 9 detecting the end position of the adjacent planted culm row A' in the backward movement state, the aircraft is steered toward the adjacent planted culm row A'. An automatic steering mechanism 3 is provided for canceling the steering based on the second sensor 13 detecting the starting end of the adjacent planted stem culm row A' while the machine is being steered forward.

The automatic steering mechanism 3 disconnects and operates the steering clutch 8 for the wheels 1 on the side of the adjacent planted culm row A' in response to the sensor 9 detecting the end position of the adjacent planted culm row A'. By interlocking both sensors 9 and 13 with the steering clutch 8, the steering clutch 8 is engaged and activated in response to the detection of the starting end of the adjacent planted culm row A' by the second sensor 13. The steering clutch 8 is configured to also serve as the steering clutch 8.

Therefore, in this walking binder 2, as shown in Fig. 3 A, 3, C, 2, there is a forward mowing movement along the planted stem culm row A, a backward movement along the reaping traces, and a backward movement after the backward movement. In order to perform automatic cutting and tying work in a reciprocating cutting mode by repeatedly steering toward the starting end of adjacent planted stem culm row A', the machine direction toward the starting end of adjacent planted stem culm row A' after moving backward is In conjunction with this, the second sensor 13 is released when it detects the starting end of the adjacent planted stem culm row A', so that this machine orientation can be performed reliably and appropriately.

In addition, in the embodiment, the second sensor 13 was provided to detect the starting end of the adjacent planted stem culm row A' when the machine is moving forward, but this may be done using the forward/reverse switching sensor 9. .

[Brief explanation of drawings]

The drawings show an embodiment of the forward and backward automatic switching type reaping machine according to the present invention, in which Fig. 1 is an overall side view, Fig. 2 is a schematic plan view of the entire structure, and Fig. 3 A, B, C, and 2 illustrate reaping work. FIG. A: row of planted stems and culms, A': row of adjacent planted stems and culms, B: row of stumps, 3: automatic steering mechanism.

Claims (1)

[Claims] 1. After mowing while moving forward along the planted stem culm row A, based on detection of the end of the planted stem culm row A,
The reaping machine is configured to move backwards along the mowing track, and is configured to move the mowing machine backward and forward, and the machine moves the mower to the adjacent planted stems based on the detection of the end position of the adjacent planted stem culm row A' while the machine is moving backward. An automatic steering mechanism 3 that steers toward the culm A' side and cancels the steering based on the color inspection of the starting end of the adjacent planted culm row A' when the machine is moving forward, and when the machine moves forward or backward. This reaping machine is characterized in that it is provided with a stump guide 11 for guiding the machine body using the stump row B after reaping as a guide. 2. The automatic forward/reverse switching type reaping machine according to claim 1, wherein the automatic steering mechanism 3 is configured to function as one of the steering clutches already installed in the machine body.