JPS6239961B2 - - Google Patents

Description

[Detailed description of the invention] The present invention automatically changes the direction of movement of the harvester by 90 degrees when the harvester finishes one stroke of reaping and transitions from row mowing (or horizontal mowing) to horizontal mowing (or row mowing). This relates to a so-called automatic rotation control method.

In order to enable unmanned operation of harvesting machines such as combines, the development of automatic rotation control methods as well as automatic steering control methods has recently become active, but there are no automatic rotation control methods that are sufficiently practical. It had not been developed. The present invention enables stable rotation operation, does not impede the smooth flow of grain culms during normal reaping work, and prevents erroneous rotation even when the machine approaches a defective part. The purpose of the present invention is to provide an automatic rotation control method that makes it possible to avoid damage to uncut grain culms.

The present invention provides a first method for detecting the presence or absence of grain culms in front of the cutting blade.
A detection means and a second detection means for detecting the presence or absence of a grain culm on the uncut side of the machine are provided, and the machine is moved forward based on the detection of the absence of grain culms by the first detection means, and then turns to the uncut side. a stroke, a stroke in which the turning is stopped by the detection of the grain culm by the second detection means and then immediately proceeded; and a stroke in which the nose is moved in the same direction as the turning direction while moving backward by the detection of the absence of the grain culm by the second detection means. It is characterized by including a process of turning the required amount to .

The present invention will be described in detail below based on drawings showing a two-row mowing combine used for implementing the present invention. Note that in the following description, the automatic steering device installed in parallel with the device used to implement this automatic rotation control method is omitted.

In FIG. 1, reference numeral 1 indicates a cutting blade, and 2l, 2m, and 2r indicate dividers on the left side (uncut side), center, and right side (immediately cut side), respectively. A sensor lever 3m is rotatably attached to the divider 2m to detect the presence or absence of grain culms in front of the cutting blade.
When the grain culm 31 to be harvested comes into contact with the sensor lever 3m, a limit switch is activated near the sensor lever 3m.
S ₁ is now activated. A first circulation control sensor SR is attached to the divider 2r. This sensor SR includes a hydraulic cylinder 4, a sensor lever 3r connected to the piston rod 4a so as to be housed in the fuselage side in response to the forward and backward movements of the piston rod 4a of the hydraulic cylinder 4, and extended to the front of the fuselage. It consists of a limit switch _S2 that is activated when the grain culm 32 comes into contact with the left side surface of the sensor lever 3r when the sensor lever 3r extends forward. A second circulation control sensor SL is attached to the divider 2. This sensor SL includes a hydraulic cylinder 5, a sensor lever 3l connected to the piston rod 5a so as to be housed in the fuselage side in response to the retreating and advancing of the piston rod 5a of the hydraulic cylinder 5, and protruding to the left of the fuselage. When the sensor lever 3l protrudes to the left, a limit switch _S3 operates when the grain culm does not come into contact with the sensor lever 3l; It consists of a limit switch _S4 that is activated when it is rotated.

Numerals 6 and 7 are four-port, three-position switching type directional control valves that control the feeding direction of the pressure oil supplied by the pump 16. When the solenoid 6l of the directional control valve 6 is energized, the directional control valve 6 is switched in the direction of the arrow 1, and the hydraulic cylinders 4, 5
to move the piston rod 4a backward, move the piston rod 5a forward, and drive the other hydraulic cylinder 8 to move the piston rod 8a forward.
advance. This piston rod 8a is connected to a transmission device and a vertical drive device of the reaping section so as to stop the driving of the reaping section of the combine and raise the cutting height of the reaping section by advancing the piston rod 8a.
When the solenoid 6r of the directional control valve 6 is energized, the directional control valve 6 switches in the direction of the arrow r, driving the hydraulic cylinders 4, 5, and 8 in the opposite direction to that described above. .

Next, the solenoid 7l (or 7
r) is energized, this directional control valve 7 moves as shown by the arrow l.
(or r) direction, left side (or right side)
When the side clutch 9l (or 9r) disengages, the left (or right) brake 10l (or 1
0r) is operated, and only the right (or left) crawler 11r (or 11l) can rotate.

Based on the signals obtained from the limit switches S ₁ , S ₂ , S ₃ , S ₄ , etc., the solenoids 6l, 6r,
The electric control circuit for controlling the energization and excitation of 7l, 7r, etc. is shown in FIG. That is, on the positive side of the battery 12 whose negative side is grounded to the body, there is a manual switch 13 for turning on and off the power of this automatic rotation control circuit, and a normally closed contact _S1b of a limit switch _S1 .
and timer T ₀ are connected in series, and this timer
T ₀ comprises an a contact T ₀ a which has a time limit (t ₀ ) for opening. One end of T ₀ a _is connected to S ₁ b, and a timer T ₁ and a solenoid _6l are connected between the other end and the body ground.
It is equipped with a contact point T ₁ a and is designed to turn on and off 6L.

S ₅ a and S ₆ a are normally open contacts of a limit switch arranged to operate when the speed change lever is in the forward position and the reverse position, respectively, and the series circuit of S ₅ a and the solenoid 7l and S ₆ The series circuit of a and solenoid 7r is connected in parallel, and one end of this parallel circuit is connected to the body ground, and the other end is connected to the normally closed contact S ₂ b of limit switch S ₂ and the normally open contact S ₃ a of limit switch S ₃ . and is connected to the other end of T ₀ a.

A normally open contact S _{2 a} of a limit switch S 2, a timer T ₂ and a solenoid 6r are connected between the connection point of S ₃ a and S ₂ b and the body ground, and the timer T ₂ is closed for a limited time (t ₂ ). It is equipped with an a contact T 2 a having an a-contact point T ₂ a, and is designed to make 6r of connections and disconnections. And 6r of T ₂ a
A solenoid 14 is connected between the terminal on the connection side and body ground. Furthermore, a normally open contact of limit switch _S4 is connected between the other end of _T0a and the body ground.
S ₄ a and solenoid 15 are connected in series. The solenoids 14 and 15 switch the electromagnetic directional control valves of a hydraulic control circuit (not shown) to move the gear shift levers from reverse to neutral to forward, and from forward to neutral to reverse, thereby reversing the forward and backward movement of the aircraft. ing.

Using a combine constructed as described above, the method of the present invention is carried out as follows.

(b) First, as shown in Figure 3 (1), when the combine completes the row cutting process, the sensor lever 3m, which had been pressed by the grain culm to be reaped that had been in front of the cutting blade 1, Since the culm is gone, it rotates forward, and S ₁ b changes from open to closed. Since the manual switch 13 is closed in advance, S ₁ b
starts energizing timer T ₀ by closing , and the third
As shown in Fig. 2, T ₀ a closes and timing starts at T ₁ after a time to when the machine finishes transporting the harvested grain culms to the threshing section while passing near the corner of the uncut grain culm group U. At the same time, current is applied to 6l via T ₁ a. As a result, the direction control valve 6 is switched in the l direction, the sensor levers 3r and 3l project forward and leftward, respectively, and at the same time, the driving of the reaping section is stopped by the action of the hydraulic cylinder 8, and the reaping section is moved upwardly and retracted. Then, after t ₁ hour, T ₁ a is opened and 6l
energization is stopped, and the directional control valve 6 is held at the neutral position.

As S ₃ a closes due to the protrusion of 3,
7l is energized through S ₂ b and S ₅ a, which is closed due to the gear shift lever being in the forward position at this time, the direction control valve 7 is switched to the l direction, the aircraft turns to the left, and the sensor lever 3l is turned to the left. approaches uncut grain culm group U.

(b) Next, due to this left turning, the sensor lever 3l comes into contact with the uncut grain culm group U as shown in Fig. 3.
S ₄ a is closed, S ₃ a is opened, and energization to 7l is stopped, thereby stopping the turning operation. At the same time, the solenoid 15 is energized and the gear shift lever changes from forward to neutral to reverse, so when the gear lever is in the reverse position, the aircraft moves immediately while maintaining an appropriate inclination angle with respect to the grain culm row. . During this immediate movement, the sensor lever 3l is in contact with the uncut grain culm group U.
S ₄ a is kept closed.

(c) Eventually, as shown in Fig. 3, the divider 2l
When the machine moves backward to a position where the sensor lever 3l has passed the corner of the uncut grain culm group U and the sensor lever 3l is separated from the uncut grain culm group U, the sensor lever 3l projects to the left. As a result, S ₃ a is closed and S ₄ a is opened, and the energization to the solenoid 15 is stopped, and the aircraft stops moving backward.

In this case, the gear shift lever is in the reverse position, so
S ₆ a is closed, and the solenoid 7r is energized at the same time as the solenoid 15 is stopped, and the aircraft turns backward to the right, that is, the nose turns to the left.

(D) As a result of this left turn, as shown in Fig. 3, the sensor lever 3r contacts the uncut grain culm group U, S ₂ b opens, and the energization to the solenoid 7r is stopped, causing the machine to turn left. stops. When S ₂ b is opened, S ₂ a is closed and timer T ₂ is energized so that timer T ₂ starts counting time, and the solenoids 6r and 14 are energized via T ₂ a. This causes the gear shift lever to switch from the neutral position to the forward position,
The aircraft starts moving forward and sensor lever 3
r, 3l are stored and the hydraulic cylinder 8 operates to resume driving and lower the reaping section. Then, after ₂ hours t, T ₂ a is opened and the energization to 6r and 14 is stopped, but around this time, the sensor lever 3m comes into contact with the uncut grain culm group U, and S ₁ b is opened. After the automatic rotation control device completes a series of rotation controls, the next step of horizontal cutting is started under the control of an automatic steering device (not shown). Furthermore, tires
T ₀ , T ₁ , and T ₂ return to zero when S ₁ b is opened.

As described above, according to the present invention, the rotation operation can be completed within a short time without waste, and the linked operation with row mowing or horizontal mowing before and after the rotation operation can be performed extremely smoothly, so that work efficiency can be improved. .

Furthermore, in the above embodiment, the sensor lever 3
Since the l and 3r are configured to protrude only during automatic rotation, there is no risk of them coming into contact with the grain culm during reaping work and interfering with the reaping work or damaging the grain culm.

In addition, if you reach the missing part during row cutting or horizontal cutting, the timer will start if the missing part is short.
Even if S ₁ b is closed due to the presence of T ₀ , the aircraft will reach the grain culm location and S ₁ b will be recirculated by the time the stage after T ₀ a is energized, and the sensor levers 3l and 3r will be closed.
The protrusion is not performed, and erroneous turning movements are avoided. When the defective part is long, the closed path of 6l causes the sensor levers 3r and 3l to protrude as shown by a in _FIG . is closed and solenoid 15
Electricity is applied to the aircraft, which causes the aircraft to proceed immediately.
Then, as shown by b in Fig. 4, when the sensor lever 3l comes to the front of the uncut grain culm group U, it rotates forward, thereby closing S ₃ a, opening S ₄ a, and closing S ₂ b. , _S6a
7r is energized for closing, and the aircraft continues to make a backward right turn, that is, a left turn of the nose, due to the backward rotation of the crawler 11l. The operator must detect this malfunction and restore the machine to its normal state, but the uncut grain culm will not be damaged during this time.

As described in detail above, the present invention allows the rotation operation to be carried out efficiently and does not damage the uncut grain culm, so it greatly contributes to the realization of unmanned operation of the harvesting machine.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, in which Fig. 1 is a schematic plan view of the divider section of the combine shown together with a hydraulic circuit diagram, Fig. 2 is an electric control circuit diagram thereof,
FIG. 3 is an explanatory diagram of the rotation operation of the combine, and FIG. 4 is an explanatory diagram of the operation of the combine at a defective site. 2l, 2m, 2r...divider, 3l, 3m,
3r...sensor lever, 4,5,8...hydraulic cylinder, 6,7...directional control valve, 9l,9r...side clutch, 10l, 10r...brake, 11
l, 11r...Crawler, SL, SR...Sensor for rotation control, _S1 , _S2 , _S3 , _S4 ...Limit switch, _T0 , _T1 , _T2 ...Timer.

Claims (1)

[Claims] 1 A first detection means for detecting the presence or absence of grain culms in front of the cutting blade, and a second detection means for detecting the presence or absence of grain culms on the uncut side of the machine body.
A detection means is provided, and the first detection means detects the absence of a grain culm, and the machine moves forward, and then turns to the uncut side; and the second detection means detects the grain culm, and the turning is stopped. Automatic rotation of a harvesting machine, characterized in that it includes a process of causing the machine to immediately advance immediately afterward, and a process of causing the nose to turn a required amount in the same direction as the turning direction while causing the machine to move backward upon detection of the absence of grain culms by a second detection means. Row control method.