JPS6348490B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to automatic directional control in a reaping machine such as a combine harvester so that the reaper travels along grain culm rows.

In general, there are two types of mowing work: row mowing, in which the work is carried out along the rows, and so-called horizontal mowing, in which the work is carried out perpendicular to the rows. The left side sensor tracks the rows on the left side of the mower, and during horizontal mowing work, the rows of grain culms are uneven and the left sensor cannot control the direction, so it is possible to separate the cut area from the uncut area. It is necessary to control the direction using the right sensor installed on the divider section on the uncut side, which follows along the cutting area.For this reason, direction sensors are installed on both the left and right sides, and depending on the cutting conditions, the left and right sensors can be operated manually or on the left or right side. It was automatically switched depending on the operating status of the sensor.
However, those that switch manually make it even more complicated to operate when turning the reaper, which requires many operations, and are very troublesome to operate. Jitsukai 1975
-Refer to No. 75234) is related to the number of grain culm rows relative to the cutting width, so if the cutting grain culms are not aligned with the cutting width, the right sensor, that is, the horizontal cutting sensor, will be activated during row cutting. This caused other inconveniences.

Therefore, based on the fact that the width between the rows is considerably wider than the distance between plants in a row, only during horizontal mowing, the left sensor bar comes into contact with the grain culm and then instantly separates from the grain culm, preventing it from coming into contact with the grain culm. Focusing on the situation, the sensor on the left side, i.e., the sensor for row mowing, determines whether it is row mowing or horizontal mowing, and the sensor for row mowing and the sensor for horizontal mowing are used depending on the work situation, regardless of the cutting width, etc. The present applicant has proposed a directional control device for a reaper that can reliably switch the direction according to the change in direction (Japanese Patent Application No. 55-130443). However, even with this device, if the rows divided by the unmown side divider are narrow, the left sensor will move from the follower row to the unmown side one row, and the machine will There is a risk that they may invade the uncut side.

In view of the above-mentioned circumstances, the present invention has been devised so that when the row mowing sensor is in the uncut side turning command state and the side cutting sensor is in the already cut side turning command state, the horizontal cutting sensor is activated for a certain period of time. Even if an abnormal condition occurs such as the uncut row being caught during row mowing, the machine can be prevented from intruding into the uncut side, and accurate directional control can be performed at all times. An object of the present invention is to provide a direction control device for a reaper.

Hereinafter, the present invention will be specifically explained based on an embodiment shown in the drawings.

As shown in FIGS. 1 and 2, the reaper has a left divider 1, a center divider 2, a right divider 3, and a grain culm conveying device 6 at the front of the machine.
etc., and a driver's seat 7 is arranged on the right side thereof. As shown in an enlarged view in FIG. 2, the divider frame 1a supporting the left divider 1, that is, the uncut side divider, is provided with a left sensor, that is, a row cutting sensor 10, and the sensor 10 is located on the right side. It has a protruding sensor bar 11. Further, the divider frame 3a supporting the right divider 3, that is, the cut side divider, is provided with a right side sensor, that is, a horizontal cutting sensor 12, and the sensor 12 has a sensor bar 13 that protrudes to the left side. . The row cutting sensor 10 is a sensor bar 1
1 is biased counterclockwise by a spring (not shown), and when the sensor bar 11 is in the rotation range A, a switch in the sensor 10, which will be described later, is activated.
If only SA is in the ON state and is in the rotation range C, the switch in the sensor 10, which will also be described later,
The configuration is such that only SB is in the on state, and when the switch is in the rotation range B between them, both switches SA and SB are in the off state. Further, in the side mowing sensor 12, the sensor bar 13 is biased clockwise by a spring (not shown).
When the sensor bar 13 is in the rotation range A', only the switch SC in the sensor 12, which will be described later, is in the ON state, and when it is in the rotation range C', only the switch SD in the sensor 12, which will also be described later, is in the ON state. , and if it is in the rotation range B' in between, both switches SC and SD will be turned off, and the sensor bar 13 will come into deep contact with the grain culm and rotate to the rotation range C'. Then, both switches
Both SC and SD are switched to the on state.

Next, the direction control circuit of this embodiment will be explained based on FIG.

Each of the switches SA, SB, SC, and SD has one end connected to the main switch SM, and the other end connected to each contact a, of the input switching relay R1.
It is connected to c, b, and d, respectively. Relay R1
are usually located at row mowing contacts a and c,
The contacts b and d for horizontal cutting are switched by a switching command circuit C, which will be described later, and each contact for row cutting and horizontal cutting is connected to AND elements A1 and A via timer TU1 and TU2 or directly through timer TU2.
1' is connected. The timer TU1 converts the input signal I into an output signal O delayed by a predetermined time t, and the timer TU2 converts the continuous signal input I into a pulse signal output O with a predetermined width _t1 , and outputs the AND elements A1 and A1', respectively. It is connected to the output switching relay R2 via. Relay R2 is connected to row mowing contacts e, g or side mowing contacts f, h by switching command circuit C.
The contacts e and h are connected to the output stage transistor TrR, and the contacts f and g are connected to the transistor TrL. Each of the transistors TrR and TrL connects the input from the main switch SM to the right control solenoid SlR and left control solenoid SlL of the redirection operation solenoid valve, respectively. On the other hand, the switching command circuit C has AND elements A2 and A3,
Element A2 is switch SA of row cutting sensor 10
directly from the switch SB or from the timer TU
The element A3 is connected to both switches SC and SD of the horizontal mowing sensor 12. Note that the timer TU3 outputs an output for a certain period of time _T1 at the instant _t0 when the input signal I from the switch SB is cut off. Then, the output from the AND element A3 is branched, and one side is sent to the AND element A4 together with the signal from the switch SC via the NOT element N.
Element A4 is outputting to contact b, and the other is outputting along with the signal from switch SB.
The output of the element A5 is input to the AND element A5, and the output of the element A5 is input to the OR element OR together with the output of the AND element A2, and the element OR is further connected to the timer TU4. Timer TU4 converts a short pulse signal input I into a signal output O with a long pulse width _T2 ,
Even after the pulse signal input I is disconnected, it can be held for a certain period of time _T2 and wrapped to the next pulse signal input I to form a continuous signal. And the timer
The output signal from TU4 excites solenoids S1 and S2 of both relays R1 and R2, and switches and holds both relays at horizontal cutting contacts b, d and f, h.

Next, the operation based on the above configuration will be explained.

Move the reaper along the row as shown in Figure 4.1.
In other words, when working with row cutting, the width L between rows is a relatively wide, approximately constant interval (generally about 30 cm), whereas the distance L between rows is relatively narrow (generally 11 to 30 cm).
15cm), so row cutting sensor 10
When the grain culm 15 comes into contact with the bar 11, the bar 11 repeats the rotation ranges B and C, and as shown in FIG.
SB emits a short pitch pulse signal. As a result, signals are not input to the AND element A2 from both sides of the switches SA and SB, and the AND element A2 and therefore the switching command circuit C do not output, and both relays R1 and R2 are connected to each other as shown in Figure 3. The row mowing contacts a, c, e, and g are maintained in such a state that they are connected. In this state, when the sensor bar 11 does not come into contact with the grain culm 15 and reaches the rotation range A, the switch SA is turned on and the timer TU1 is energized via the contact a of the relay R1, and the After a delay time t forming a dead zone, it is output O, and further converted to a pulse signal O for inching operation by timer TU2 and output, AND element A1,
The right control solenoid SlR is intermittently energized via contact e of relay R2 and transistor TrR to smoothly correct the direction of the reaper to the right. Also, when the sensor bar 11 comes into deep contact with the grain culm 15 and reaches the rotation range C, switch SB is turned on and relay R is turned on.
Timer TU2 is energized via contact e of 1,
Immediately converted to pulse signal O and sent to AND element A
The left control solenoid SlL is intermittently energized by activating the transistor TrL through 1', thereby smoothly correcting the reaper to the left. Furthermore, when the sensor bar 11 appropriately contacts the grain culm 15 and reaches the rotation range B,
Both solenoids SlR and SlL are not energized and the reaper moves straight.

In addition, as shown in Fig. 4,', when the reaper is used in the direction across the rows, that is, by horizontal mowing, the inter-row width L is wide, so regardless of the positions of dividers 1 to 3, as shown in After the bar 11 of the row mowing sensor 10 comes into contact with the grain culm 15 and is located in the rotation range C, the bar 11 is located between the rows and comes off the grain culm 15 and moves into the rotation range A, as shown by ''. be returned. Therefore, as shown in Figures 5 and ', switch SB emits a pulse signal with a relatively long pitch, and switch SA switches from off to on at the instant the pulse signal of switch SB switches from on to off. It emits a pulse signal that changes. As a result, when switch SB is turned on, timer TU3 is energized, and when switch SB is turned off, timer TU3 emits a signal for a certain period of time _T1 , and at the same time, switch SA is turned on and AND element A2 outputs.
Activate timer TU4 via the OR element. Then, as shown in Figure 5 SA, T ₁ , the switch is activated.
A short pulse input I from the AND element _A2 based on SA and a constant time T1 is converted into a continuous output O based on the long pulse width _T2 , and the solenoid S1, S
2 is excited, and relays R1 and R2 are switched so that horizontal mowing contacts b, d, f, and h are connected. In this state, the bar 13 of the horizontal mowing sensor 12 is in the rotation range A', and when the switch SC is turned on,
Since the input is input to AND element A4, and switch SD is in the off state, AND element A3 does not output.
Therefore, the inverted output signal is input to AND element A4 via NOT element N, and thereby element A
4 is output, timers TU1 and TU2 are activated via contact b of relay R1, and AND element A
1. Intermittently energize the left control solenoid SlL through the contact f of the relay R2 and the transistor TrL to correct the direction of the reaper to the left. Also, when the sensor bar 13 is in the rotation range C' and the switch SD is turned on, the timer is activated via the contact d of the relay R1.
TU2 is activated, and the right control solenoid SlR is intermittently energized via AND element A1', contact h of relay R2, and transistor TrR to correct the direction of the reaper to the right. Also, sensor bar 1
3 comes into deeper contact with the grain culm 15 and reaches the rotation range C'', both switches SC and SD are turned on, but
Based on the ON of both switches, AND element A3 outputs, and the output is further inverted by NOT element N.
Since there is no input to the AND element A4, and accordingly, there is no output from the element A4, a state similar to that described above occurs in which only the switch SD is turned on, and the direction of the reaper is corrected to the right. Further, when the sensor bar 13 is in the rotation range RO', both switches SC and SD are not turned on, and the reaper moves straight.

In addition, as shown in Fig. 4, during row mowing work, if the rows divided by the uncut side divider 1 become narrow, that is, the rows on the uncut side by one row from the cutting width are moved to the already cut side. When it is curved, the sensor bar 11 of the row mowing sensor 10 comes into contact with one row on the unmown side and reaches the rotation range C. As a result, the reaper tries to be corrected to the left as described above, but when the reaper turns slightly to the left, the sensor bar 13 of the horizontal mowing sensor 12 comes into deep contact with the grain culm 15. Rotate to the rotation range C'',
Turn on both SC and SD switches. Then,
AND element A3 outputs and the sensor bar 11
With switch SB turned on due to the rotation range C,
AND element A5 outputs, and further activates timer TU4 via OR element OR, and immediately relay R
1 and R2 so that horizontal mowing contacts b, d, f, and g are turned on. At this time, the output of AND element A3 is inverted via NOT element N, and
It is not input to element A4, and therefore, AND element A4 will not output regardless of the on state of switch SC. As a result, based on the ON of switch SD, timer TU2 is activated immediately via contact d, and furthermore, the right control solenoid SlR is energized via AND element A1', contact h and transistor TrR, and the reaping machine is immediately moved to the right. Correct.

As explained above, according to the present invention, the row mowing and horizontal mowing sensors 10 and 11 are switched and held by the unique operation of the row mowing sensor 10, so that the direction is reliably maintained regardless of the width between the rows. Although it can be controlled and therefore installed on all reapers regardless of the cutting width,
Even if an abnormal condition such as uncut rows being caught during row mowing occurs, the system is immediately switched to the horizontal mowing sensor 12, and based on the horizontal mowing sensor 12, priority is given to turning to the already mowed side. , it is possible to prevent the reaper from invading the unmown side, and accurate direction control can be performed at all times.

[Brief explanation of the drawing]

Fig. 1 is a schematic plan view showing a reaper to which the present invention can be applied, Fig. 2 is a plan view showing its direction sensor portion, Fig. 3 is an electric circuit diagram showing an embodiment of the present invention, and Fig. 4 5 is a plan view showing the operation of the present invention, and FIG. 5 is a diagram showing each signal. 1... Unmown side divider, 3... Already cut side divider, 10... Row mowing sensor, 12
...Sensor for horizontal mowing, R1, R2...Switching relay, a, c, e, g...Contact for row mowing, b,
d, f, h...contact for side cutting, a, SA...already cut side turning command, c, SB...uncut side turning command,
(c'), c''...already cut side turning command, TU4...timer.

Claims (1)

[Claims] 1. In a reaper that is equipped with a row cutting sensor on the uncut side divider section and a horizontal cutting sensor on the already cut side divider section, the direction of the reaper is usually controlled in the corresponding direction based on the row cutting sensor. When the row mowing sensor releases the uncut side turning command and immediately issues the already cut side turning command, or when the row mowing sensor is in the uncut side turning command state, and a direction control device for a reaper configured to keep the horizontal mowing sensor activated for a predetermined period of time when the horizontal mowing sensor is in a cutting side direction command state.