JPS6322764B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a direction control device for a combine harvester having a direction sensor and configured to automatically follow grain culm rows.

Generally, combine harvesters control an electromagnetic switching valve using a signal from a direction sensor, which operates a side clutch to control the direction. To prevent this from happening, the electromagnetic switching valve is energized intermittently. Since the swing angle of the machine due to side clutch operation differs depending on the field conditions such as dry fields and wet fields, the pulse width of intermittent energization was changed by manual switch operation, but this switching operation was very troublesome. Furthermore, it was difficult to adjust to the optimum value, which sometimes caused hunting, tracking delay, etc.

Therefore, the present invention provides a direction control device for a combine harvester that eliminates the above-mentioned drawbacks by providing an acceleration sensor that detects the vibration of the machine body and automatically changing the pulse width based on the detection result of the sensor. The purpose is to provide

Hereinafter, the present invention will be specifically described based on embodiments shown in the drawings.

As shown in FIG. 1, the combine 1 has a fuselage 2
It has a pre-processing part 3 in the front part, and the pre-processing part 3 has a large number of dividers 5, a grain culm conveying device 4, etc. in front of it. A direction sensor 6 is disposed on the left divider 5a, an acceleration sensor 7 is disposed on the right divider 5b, and a grain culm detection sensor 9 is disposed on the grain culm conveyance device 4. . direction sensor 6
As shown in FIG. 2, it has a sensor bar 11 that protrudes to the right and is biased by a spring 10 to the upright position as shown in the figure, and the sensor bar 11 is fixed to the base end. When the cam 12 is in the rotation range A, the limit switch 1
3r is turned on, and when the rotation range C is reached, the limit switch 13l is turned on, and when the rotation range B is set, both switches 13r and 13l are turned off. Furthermore, these switches 13
1 and 13r are connected to left and right solenoids 15l and 15r of an electromagnetic switching valve 15, as shown in FIG. 3, and the switching valve 15 communicates with hydraulic cylinders 16l and 16r that operate the left and right side clutches. Further, the acceleration sensor 7 has a sensor box 17, as shown in FIGS. 4 and 5, and the box 17 includes pivot bearings 19 and 1.
The sensor support shaft 20 is rotatably supported by 9. The support shaft 20 protrudes toward one side,
A sensor body 21 having a predetermined mass is fixed, and a spiral spring 22 is provided between the box 17 and the support shaft 20, so that the sensor body 12 is balanced and biased by a predetermined force so as to face straight backward. ing. Further, in the box 17, contactless switches 23a,
23b is provided, and switches 23a, 23
b consists of a light emitting diode and a phototransistor, and is switched by crossing the main body 21. That is, as shown in FIG. 10, a non-contact switch 23a is connected from the power supply 25 through a main switch 26 and a switch 9a operated by the grain culm detection sensor 9 in series.
a is a light emitting diode D and a phototransistor
It consists of transistors, and when the main body 21 crosses between them, an output is generated. The output is connected to a delay timer circuit T, and the delay timer circuit T forms a dead zone that is cut off if the output does not continue for a predetermined period of time.
Furthermore, the timer circuit T is connected to a self-holding circuit H, and once the timer circuit T outputs, the relay R
is switched from contact a to contact b, and continues to be held at contact b even if the output from circuit T disappears. Note that when the main switch 26 or the grain culm detection sensor switch 9a is turned off, the holding of the contact b is released and the contact is returned to the contact a. As shown in FIG. 8, each contact point a, b of the relay R is connected to a square wave oscillator 30a, 30, such as a multivibrator, respectively.
0b, and contact c is input to AND circuits 31r and 31l via a switching element SW made of a transistor or the like as shown in FIG. Left and right switch 13r, 13l
is inputting. Furthermore, AND circuits 31r, 31
l is connected to the left and right solenoids 15r, 15 of the electromagnetic switching valve 15 via output stages 32, 32 such as transistors.
It is output to l. Note that the pulse of the square wave oscillator 30a has a width of T ₁ as shown in FIG. 9a,
The other oscillator 30b emits a pulse having a width _T2 shorter than the pulse width _T1 , as shown in FIG. 9b.

Since this embodiment has the above configuration, when the sensor bar 11 of the direction sensor 6 is in the rotation range A without contacting the grain culm row, the switch 13r is turned on by the cam 12 and the electromagnetic switching valve is turned on. The right solenoid 15r of No. 15 is energized, oil is sent to the right side clutch hydraulic cylinder 16r, and the combine 1 is corrected to the right. Further, when the sensor bar 11 deeply contacts the grain culm row and is rotated to the rotation range c, the switch 13l is turned on and the left solenoid 15l is energized to correct the combine harvester 1 to the left. When making this direction correction, if the swing of the machine body 2 is small due to field conditions, etc., the inertia acting on the sensor body 21 of the acceleration sensor 7 is also small, so the body 21 does not cross the non-contact switch 23a.
Therefore, relay R remains connected to contact a.
In this state, as shown in FIG. 9a, the oscillator 3
A long pulse with a width T ₁ from 0a is sent to the AND circuit 31r,
31l, and when the right and left switches 13r and 13l of the direction sensor 6 are turned on, the right and left solenoids 15r and 15l are intermittently excited with a relatively long excitation time corresponding to the long pulse width _T1 . The direction of the combine 1 is controlled by this.
On the other hand, if the deflection θ of the machine body 2 is large due to field conditions or the like, large inertia acts on the sensor body 21 of the acceleration sensor 7, and the body 21 crosses the non-contact switch 23a. Then, as shown in FIGS. 6 and 7, the main body 21 is rotated against the spring 22 by the inertial force accompanying the swing of the aircraft, and when the swing of the aircraft ends, it is damped and returned to the neutral position. Once the dead time has been exceeded, the predetermined time _t1 is interrupted between the light emitting diode D and the phototransistor Tr, an output is generated from the delay timer circuit T, and the self-holding circuit H switches the relay R to contact b, and the main body 21 is in the neutral position. Even if the contact point b returns to the position, it is self-held at the contact point b position. In this state, as shown in FIG. 9b, the width from the oscillator 30b is
A short pulse of _T2 is input to the AND circuits 31r and 31l, and when the right and left switches 13r and 13l of the direction sensor 6 are turned on, the right and left solenoid 1 is turned on.
5r and 15l are intermittently excited with a relatively short excitation time, thereby controlling the direction of the combine harvester 1. Further, when the combine harvester 1 finishes one stroke of the reaping work and reaches the edge of the field, the cut grain culm is not supplied to the transport path of the grain culm transport device 6, so the switch 9a of the grain culm detection sensor 9 is turned off. As a result, the combine 1 is operated by the solenoid 15.
The rotation can be made quickly by continuous excitation of the solenoid using the manual operation lever without the need for intermittent operation of the r, 15l. At the same time, the self-holding of relay R is also released and returned to contact a.

Note that the above embodiment uses one non-contact switch 23.
Although only point a has been described, as shown in FIG. The solenoid may be configured so that it is intermittently excited by a pulse with a width T ₂ that is even shorter than the pulse width T ₂ , and the solenoid can be switched and adjusted in three stages. It may be possible to make the adjustment possible. Furthermore, although the non-contact switches 23a and 23b are constructed of light emitting diodes D and phototransistors Tr, other non-contact switches such as proximity switches can be used. Furthermore, the pulse width can be changed by the oscillators 30a, 30.
b is switched by relay R, but the pulse width value can also be changed by switching capacitors, resistors, etc. with one oscillator, and the on/off time of the oscillator can be changed in conjunction with the vehicle speed. It may be configured as follows.

As explained above, according to the present invention, the acceleration sensor 7 capable of detecting vibration of the aircraft body is provided, and the pulse width for operating the side clutch is automatically changed based on the detection result by the sensor. Regardless of differences in load conditions such as field conditions and the weight of paddy onboard, it is possible to control the swing of the machine so that it remains approximately constant during direction control, without causing hunting or tracking delay, and without causing sudden swing of the machine. This eliminates discomfort, and also eliminates the hassle of manual operation and malfunctions caused by forgetting to operate.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing a combine harvester to which the present invention can be applied, Fig. 2 is a plan cross-sectional view showing its direction sensor, Fig. 3 is a hydraulic circuit diagram for direction control, and Fig. 4 is a front cross-section showing an acceleration sensor. 5 is a plan cross-sectional view thereof, FIG. 6 is a plan view showing the operation of the acceleration sensor, FIG. 7 is a diagram showing the movement of the sensor body of the acceleration sensor, and FIG. 8 is a diagram showing one part of the control circuit of the present invention. FIGS. 9a and 9b are diagrams showing operations based on different oscillators, and FIG. 10 is a diagram showing an embodiment of a control circuit for an acceleration sensor. 1... Combine harvester, 6... Direction sensor, 7...
... Acceleration sensor, 13r, 13l ... Direction sensor switch, 15 ... Solenoid switching valve, 15
r, 15l...Solenoid, 16r, 16l...
For side clutch (hydraulic cylinder), 21...Sensor body, 22...Spring, 23a, 23
b... Non-contact switch, T... Delay circuit, H...
Self-holding circuit, R...Relay, _T1 , _T2 ...Pulse width.

Claims (1)

[Scope of Claims] 1. In a combine harvester having a direction sensor and configured to control left and right solenoids of an electromagnetic switching valve that operates left and right side clutches based on the direction sensor to follow grain culm rows, the left and right solenoid The combine harvester is configured to operate intermittently with an appropriate pulse width, and is provided with an acceleration sensor for detecting vibration of the machine body due to the operation of the side clutch, and is configured to automatically change the pulse width based on the detection result of the acceleration sensor. Directional control device. 2. The acceleration sensor is configured by a sensor main body that is rotatably supported and protrudes to one side, a spring that balances the protrusion of the main body so that it is positioned in the longitudinal direction of the aircraft, and a non-contact switch operated by the main body. 2. A direction control device for a combine harvester according to claim 1, wherein said non-contact switch is connected to a self-holding circuit via a delay timer circuit.