JPS6348489B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for introducing grain culms on both sides of the last cutting route among a plurality of grain culm introduction routes arranged laterally in parallel at the front of the machine.
The present invention relates to a combine harvester that is provided with sensor arms that face each other across a grain culm passage and rotate independently on the left and right sides, and that performs automatic steering control based on the rotation of the sensor arm when it comes into contact with a planted grain culm.

Conventionally, combine harvesters that perform this type of automatic steering control rotate the machine to the right when the right sensor arm detects the presence of planted grain culms, and turn the machine to the right when only the left sensor arm detects the presence of planted grain culms. There are known devices that turn the wheel to the left (for example,
(See Publication No. 53-112120).

The problem to be solved by the present invention is automatic steering for horizontal mowing. Observing the combine harvester operation, it was found that the row spacing (approximately 15 to 18 cm) is smaller than the row spacing (approximately 30 cm) when seedlings are planted using a rice transplanter, so It can be seen that during so-called horizontal cutting, two grain culms are introduced between adjacent weeding tools of the combine harvester. Furthermore, even though the grain culms are neatly arranged in the row direction, in the direction of horizontal cutting, the grain culms that are planted at a time by a rice transplanter are usually shifted from each other. For this reason, when conventional combine harvesters perform automatic steering control for horizontal mowing, even if the two grain culms to be introduced are in equal contact with the left and right sensor arms in some areas, the rice transplanter is unable to plant them all at once. As each cutting unit, for example 2 to 8 rows, is cut, the left and right positions of the introduced grain culms change within the range of the above-mentioned plant spacing, and the left and right sensor arms come into contact with the two grain culms. As the position changes and the steering control is frequently activated by quickly touching or leaving one of the left and right sensor arms, combine harvesters cannot be used in fields planted with small machines such as two-row rice transplanters. The ride was extremely uncomfortable. The present invention aims to provide a combine harvester that solves these problems of the prior art.

In order to achieve the above object, the combine harvester of the present invention includes a determining means that causes the machine to go straight when both the left and right sensor arms rotate, and a determination unit that determines whether the machine goes straight when both the left and right sensor arms rotate. The vehicle is characterized by further comprising a timer means for maintaining the straight forward movement.

Owing to the above features, the present invention provides the following effects. In the present invention, since sensor arms are provided on both sides of the cutting route, it is possible to harvest, for example, a single row of grain culms left along the ridge by controlling the steering, as well as to harvest two or more grain culms. When culms are introduced and both the left and right sensor arms detect the presence of grain culms, it is determined that horizontal cutting is in progress and the machine moves straight ahead, so harvesting from the lateral direction of the row is also possible thanks to automatic steering control. can be done. Also, if the delay time of the timer means is set to be slightly longer than the time required for the aircraft to travel the distance between the rows,
Even when harvesting from the side where grain culms are rarely well-aligned, there is an advantage in that smooth steering control can be performed without causing unnecessary meandering.

Embodiments of the present invention will be described below based on the drawings.

1 and 2 are a schematic side view and a plan view showing the overall structure of the combine harvester. A threshing device 3 is mounted on a machine base 2 equipped with a pair of left and right running crawlers 1, 1.
In addition to being equipped with an engine 4 and a pilot seat 5, the front part of the machine base 2 is equipped with a lifting device 6..., a reaping device 7, a harvested grain culm merging conveyance device 8, a harvested grain culm rear conveyance device 9, etc. A processing section 10 is connected to the processing section 10 so as to be able to move up and down. The pre-processing section 10 for reaping has a plurality of grain culm introduction paths A arranged in parallel in the lateral direction at its front part.
..., it has four introduction routes A... on the drawing. The threshing device 3 is equipped with a feed chain 11, a straw removal chain 12, and a straw removal vine 13.

The power from the engine 4 is branched into two systems, and one branched power is used to drive the threshing device 3 and its accompanying feed chain 11 and waste straw chain 1.
2. The waste straw cutter 13 is being driven. The other branched power of the engine power is input to a hydraulic continuously variable transmission (HST) 14 capable of forward and reverse transmission, and a part of the output from this transmission 14 is transmitted to the traveling transmission via a traveling transmission case 15. While being transmitted to the crawlers 1, 1, another part of the output from the transmission 14 is transmitted to each device of the reaping pre-processing section 10 .

The combine harvester with the above configuration includes the following automatic steering control mechanism. (See Figures 2 and 3).

The traveling crawlers 1, 1 are equipped with a steering clutch 2 operated by independent hydraulic cylinders 28, 28.
9 and 29, the power supply is interrupted for each left and right side, and the three-position electromagnetic control valve that controls the hydraulic cylinders 28 and 28 connects the grains arranged on both sides of the grain culm introduction path A on the most cut side. Culm detection sensor arm 3
It is operated based on the detection results of 1 and 31, and is configured to control the steering of the machine so as to guide the planted grain culm row between both sensor arms 31 and 31. The steering clutches 29, 29 are directly linked by wire to steering clutch pedals 32, 32 provided at the foot of the pilot's seat 5, and when steering is performed by operating the pedals, the steering clutches 29, 29 are 32 operating switches 33, 33 detect this, and the control valve is maintained in a neutral state electrically.

Furthermore, when two or more grain culms are introduced into the grain culm introduction route A and both sensor arms 31, 31 detect the presence of grain culms, the so-called horizontal cutting is performed in a direction intersecting the grain culm rows. It is set to detect this and keep the vehicle moving straight. In addition, during horizontal cutting, the distance between plants in the direction of movement of the machine, that is, the distance between rows, is relatively large and the sensor arms 31, 31 will intermittently detect grain culms, so a timer is activated to perform continuous control. It is configured as follows.

The automatic steering control mechanism described above, along with the mowing height control mechanism, handling depth control mechanism, traveling speed control mechanism, and abnormality handling control mechanism, which are not explained here, is mainly composed of a microcomputer. The determination means and timer means of the present invention are provided as functions of a microcomputer. A grain culm presence/absence detection switch 25 is provided at the bottom of the lifting device to determine whether or not the harvesting operation is in progress. As shown in the flowchart of FIG. 3, automatic steering control is started when the existence detection switch 25 detects the presence of grain culms.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; FIG. 1 is a schematic side view showing the overall structure of a combine harvester, FIG. 2 is a plan view thereof, and FIG. 3 is a schematic flowchart for automatic steering control. 31...Sensor arm, A...Grain culm introduction route.

Claims (1)

[Claims] 1. On both sides of the last cutting route A of the multiple grain culm introduction routes A arranged horizontally in the front of the machine, there are channels that face each other across the grain culm passage and rotate independently on the left and right sides. Sensor arms 31, 31 are provided, and the sensor arms 31, 31 are provided with
In a combine harvester that performs automatic steering control based on the rotation of the left and right sensor arms 31,
31 are both rotated, and a timer means is provided to maintain the straight line for a predetermined period of time from the time when both the left and right sensor arms 31, 31 have rotated. combine harvester.