JPS5947561B2 - automatic reaper - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides automatic follow-up reaping forward movement along a row of planted stem culms using a stem culm guide action to the planted stem culm introduction path at the front of the machine, and then The machine automatically returns to reverse based on the detection of the end of the planted stem culm row, and further switches to forward travel based on the detection of the start end of the uncut adjacent planted stem culm row. The present invention relates to an automatic reaping machine configured to direct the reaping machine to the starting end of adjacent planted culm rows.

In the above-mentioned reaping machine, the turning angle changes depending on field conditions during the accompanying control at the initial stage of forward movement, and the starting ends of uncut adjacent planted stem culm rows may not be properly introduced into the introduction path.

To this end, the accompaniment characteristics at the initial stage of forward movement are configured to be changeable,
It was considered to adjust the running characteristics according to the field conditions, but since the hardness and softness of the running ground, so-called headland, is not necessarily constant even in a single field, it was difficult to sufficiently correct the running control. It was something that could not be avoided.

In addition, the range of adjustment of circulation characteristics is relatively limited,
Adjustment according to all conditions was not possible.

The present invention has been made in view of the above-mentioned circumstances, and is provided with a mechanism that applies a rotation difference to the left and right wheels only at the initial stage of forward and backward movement in the above-mentioned automatic reaper. a first sensor and a second sensor are provided, and
A third sensor for detecting the presence or absence of a planted stem culm is provided in the introduced path of the planted stem culm, and the first sensor and the second sensor repeat the detection of the presence or absence of the planted stem culm until the third sensor detects the planted stem culm. The present invention is characterized in that a reverse switching circuit that switches the transmission mechanism to the reverse side and a forward switching circuit that switches the transmission mechanism to the forward side constitute a companion control mechanism that redos the companion control by switching between forward and forward travel.

In other words, since the accompanying control is repeated until the stem culm is introduced into the stem culm introduction path, the circulation characteristics exhibited at the beginning of forward movement are constant, and the planted stem culm can be introduced appropriately in any field condition. This made it possible to automatically move the cutting machine forward.

Embodiments of the present invention will be described in detail below with reference to the 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 machine of the present invention, and the front part of the machine includes a pulling device 1, a pulling frame 2, a reaping device 3, A reaping section consisting of a horizontal conveyance device 4, a binding device 5, etc. is provided, and behind this reaping section j is a transmission case 8 equipped with a pair of left and right running wheels 7a, 7b, and an engine 9.
and a control bundle 10 etc. are provided.

A stem culm abutting guide 11 for preventing the planted stem culm to be reaped from escaping to the right outside is extended in front of the pulling device 1, and a lifting device is provided on the inside of the lifting frame 2. 1
A guide 12 is fixed to the guide 12 which slides and supports the base of the planted stem culm introduced into the planted stem culm introduction path between the raised stem culm and the lifting frame 2.

Further, a bridge-shaped reverse guide 14 is pivotally attached to the engine frame 13 at the rear of the fuselage so that it can swing up and down and is biased downward.

A gear shift lever 15 extends from the transmission case 8, and a forward/reverse switching device 16 is provided at the base of the lever 15 to switch the lever 15 between a forward position and a reverse position using an internal solenoid.

This switching device 16 includes a first sensor 17 pivotally mounted to the outside of the lifting frame 2 so as to be swingable back and forth, a second sensor 18 pivotally mounted to the engine frame 13 so as to be swingable back and forth,
The third sensor 19 is pivotally mounted in the stem culm introduction path so as to be swingable back and forth, and is driven and controlled as described below based on the swinging changes of the third sensor 19.

The first and second sensors 1B 18 are biased into a neutral posture N in which they protrude laterally and laterally, respectively, and are turned into a forward-tilted posture F and a backward-tilted posture R by contact with the planted stem culm from the rear and front. The third sensor 1 has six prongs that are configured to swing.
The sensor 9 is biased to a position that crosses the introduction path, and is configured to swing backward when it comes into contact with the introduction stem culm, and power is transmitted to the reaping section 6 only when the sensor 19 swings backward. It is configured to be

In addition, as shown in FIG. 4, the left axle 20 and the left wheel 7
A is connected with the pin 21 and the elongated hole 22 with relative rotational flexibility at a certain angle.

FIG. 6 shows a control circuit of the solenoid drive circuit 23 that operates the forward/reverse switching device 16, and in the figure, Re4. R
e2. Re3. Re4 is a relay, rl, rl',
r2.

r2' + r2''t r5+ r4 is a relay contact, R
1, R2, R3 are resistors, C1, C2 are capacitors, a,
b, c, d, and e are the first sensors 1, respectively;
A sliding contact provided at the base of 7 corresponds to the fixed printed conductive contacts f, g, h as shown in FIG.

Further, sl is a switch linked to the third sensor 19, and is configured to be opened when the sensor 19 swings backward.

Further, s2 and s3 are switches respectively linked to the second sensor 18, and the switch S2 is closed only when the sensor 18 is in the neutral position N, and the switch S3 is closed when the sensor 18 is in the backward tilted position R. It is configured to be closed only when the

Next, the automatic reaping operation will be sequentially explained.

(B) Forward travel for reaping (see Figure 5) When the gear change operation lever 15 is set to the forward position and the machine is directed toward the outermost planted stem row A, the lower surface of the reaping section 6 slides into contact with the field. In this state, by the contact guidance action of the guides 11 and 12, the machine moves forward to follow the stem culm row A while guiding it to the planted stem culm introduction path.

Then, the reaping section is driven by the operation of the third sensor 19, and automatic reaping travel is performed.

Also, at this time, the first and second sensors 118 are brought into the backward tilting posture R by contacting with the adjacent planted stem culm rows B, respectively.

Therefore, in this case, contacts c and e in the control circuit are connected via conductive contact g, contact S is connected to contact f, relay Re2 is energized, and the relay circuit is activated by opening relay contact r2. will be self-maintained.

(b) Reverse return travel (see Figure 5) When the cutting of the stem culm row A is completed and the machine protrudes an appropriate distance forward from the end of the adjacent planted stem culm row B, the first sensor 17 It detaches from the final stump B2 of the culm row B and swings back to the neutral position N, thereby disconnecting the contacts S and F and connecting the contacts A and B.

Also, at this time, there is no stem culm in the introduction path, and the third sensor 1
9 is swinging back, switch S1 is closed and relay Re3 is energized.

Also, from the moment the contacts b and f are disconnected, the capacitor C1
Relay Re2 maintains the circuit while the charging current flows (approximately 0.3 to 0.4 seconds), and upon completion of charging, relay Re2
2 can be cut.

Therefore, during this charging time, the relay contacts r3 and r2' provided in the reverse switching circuit 1 of the solenoid drive circuit 23 are closed, and the forward/reverse switching device 16 operates the shift lever 1.
5 is switched to the reverse position.

” - When the machine is switched to the backward state as shown in the figure, the machine automatically moves backward along the previous forward travel trace due to the sliding guide action between the backward guide 14 and the uncut planted stem culms row B and stump row C. Return.

Then, when the aircraft moves backward, the first and second sensors
8 assumes a forward leaning posture F due to contact with the adjacent planted stem culm row B, and as a result, contacts e and d are connected via conductive contact g, contacts s and f are connected, and relay Re is connected.
1 is energized and the relay contact r1 is closed, so that the relay circuit is self-maintained.

(c) Forward switching operation (see Figure 5 c) When the aircraft crosses the end (starting end) of the stem culm row B by moving backward, the first sensor 17 comes off the starting end stock B1 and swings back to the neutral attitude N. , the contact point.

When f is disconnected, contacts a and b are connected.

Therefore, as in the case of the mouth, the relay Re1 remains energized only during the charging time of the capacitor C1, so that the relay contacts r1' and r3 of the forward switching circuit j of the solenoid drive circuit 23 are closed.

In this case, the second sensor 18 is naturally removed from the stem culm and is in the neutral position N, so the switch S2 is closed, so the solenoid drive circuit 23 is energized and the speed change lever 15 is moved to the forward position. Can be switched.

) Forward steering operation (No. 5N: see) When switching from reverse to forward, the left wheel 7a
0, the aircraft stops for a certain period of time and only the right wheel 7b is driven forward.
After a relative rotation between the wheels 7a and the wheels 7a through a constant angle θ, the wheels rotate together with the right wheels 7b and move straight.

Then, the guide 11 grasps the stem culm row B from the outside and introduces the stem culm row B into the introduction path, and the above-mentioned state A is again achieved.

In this case, if the stem culm row B cannot be introduced into the introduction path due to insufficient amount of accompanying, the first sensor 17 assumes a backward tilted posture R at the contact point with the adjacent planted stem culm row B, and makes contact. c,
e are connected and the relay Re2 is energized, but since the third sensor 19 is in the return position and the switch S1 remains closed, the second center 18 contacts the stem culm and tilts backward. When posture R is reached and switch S3 is closed, a charging circuit for capacitor C2 is established, and after charging time (approximately 1 to 2 seconds) has elapsed for capacitor C2, relay Re4 is energized and contact r4 is closed. Close.

As a result, the relay Re3 is energized, the contact r3 is closed, the reverse switching circuit i of the solenoid drive circuit 23 becomes energized, and the speed change lever 15 is switched to the reverse position.

In this case, the left and right wheels 7a, 7b are
A difference in rotation occurs.

When traveling backwards, the first sensor 17 returns to the forward leaning position F.
This is the same as the above-mentioned reverse return running state, and when the first sensor 17 leaves the starting end plant B1 of the planted stem culm row B, the above-mentioned forward switching operation C is performed again.

Then, the steering is repeated by repeatedly moving forward and backward until the planted stem culm is introduced into the introduction path and the third sensor 19 swings backward.

The above explanation (a) to) is one cycle of operation,
Thereafter, similar operations are repeated to harvest the planted stems and culms one by one, row by row.

Furthermore, in the above configuration, the following safety measures are taken against stock shortages.

(B) Countermeasures for missing plants during forward reaping movement Even if the first sensor 17 returns from the backward leaning position R to the forward leaning position F due to a missing plant during the above-mentioned forward reaping movement,
While the third sensor 19 detects the stem culm, the switch S1 remains open, so the relay Re3 does not operate, the solenoid drive circuit 23 is not energized, and the vehicle continues moving forward.

Therefore, the reverse switching control is performed only when the first sensor 17 and the third sensor 19 are both removed from the stem culm, that is, when the -stroke reaping travel is completed.

(b) Countermeasures for missing stock during return to reverse mode Even if the first sensor 17 returns from the forward leaning position F to the neutral position N due to a missing stock during return to reverse as described above, the second sensor 18
While it is in the forward leaning posture F in contact with the stem culm, the switch S2 of the forward switching circuit j is kept open, so that backward movement is continued.

Therefore, forward switching control is performed only when both the first and second sensors 18 are removed from the stem culm, that is, when the backward return is completed.

In the embodiment, a two-wheel type reaper is used as an example, but it is also possible to use a one-wheel type reaper that can change the direction of the wheels around the vertical axis with respect to the machine body.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic reaping machine according to the present invention, in which Fig. 1 is an overall side view, Fig. 2 is an overall plan view, Fig. 3 is a plan view of the first sensor base, and Fig. 4 is a view of the left wheel. A partially longitudinal side view showing the attachment part, FIG. 5 is a schematic plan view showing the sequential operation of automatic reaping work, and FIG. 6 is a control circuit diagram. 19: Sensor, A: Row of planted stems and culms, B: Row of uncut adjacent planted stems and culms, D: Row of adjacent planted stems and culms
- Planted stem culm introduction route.

Claims (1)

[Claims] 1 After automatic follow-up reaping forward travel along the planted culm row A by the culm guiding action to the planted culm introduction path at the front of the machine, the end of the uncut adjacent planted culm row B Based on the detection, the machine automatically returns to reverse, and furthermore, based on the detection of the starting end of the uncut adjacent planted stem culm row B, it switches to forward travel, and at the beginning of the forward movement, temporarily gives the machine a circular ability to plant adjacent plants. In an automatic reaping machine configured to direct the reaper toward the starting end of the stem culm row B, a mechanism is provided to give a rotation difference to the left and right wheels 7a, 7b only at the initial stage of forward and backward movement, and a first
A sensor 17 and a second sensor 18 are provided, and a third sensor 19 for detecting the presence or absence of a stem culm is provided on the planted stem culm introduction path, and the first Based on the detection of the presence or absence of planted stem culms by the sensor 17 and the second sensor 18, a reverse switching circuit i switches the transmission mechanism to the reverse side and a forward switching circuit j switches the transmission mechanism to the forward side. An automatic reaping machine that consists of a control mechanism.