JPS645844B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic direction control device for controlling the direction of a reaping machine such as a combine 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 cutting width, and during horizontal mowing, the rows of grain culms are uneven and the left sensor cannot control the direction, so the direction cannot be controlled by the left sensor. It is necessary to control the direction using the left sensor installed on the divider section on the uncut side that follows the cutting area.For this reason, direction sensors are installed on both the left and right sides, and a switch is used to manually switch between the left and right sensors depending on the cutting conditions. The switch was made by operating the . Therefore, the operation when turning the reaper, which requires many insertions, becomes even more complicated, making the operation very troublesome.

Therefore, the straight forward and right turn commands from the right sensor control the vehicle to go straight and the right direction, respectively, and the left sensor is activated by the left sensor command, and the corresponding directions are controlled based on the left sensor. A direction control device has been proposed in which the left and right sensors are automatically switched according to the cutting conditions (see Utility Model Application Publication No. 55-75234). It is related to the number of grain culm rows relative to the cutting width, and therefore when the row spacing is wide, the right sensor issues a command to go straight or turn right even during row cutting, and the right sensor, that is, the sensor for horizontal cutting, controls the direction. It will be done. As a result, the row at the left end of the cutting width is cut or left uncut, resulting in a zigzag pattern, making it difficult to control the direction by following the row in the next mowing operation.

Therefore, in the present invention, since the width between the rows is considerably wider than the width between the plants, the left sensor bar comes into contact with the grain culm only during horizontal mowing, and then instantly separates from the grain culm and does not come into contact with the grain culm. Focusing on the state of
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 can be reliably switched according to the work situation, regardless of the cutting width, etc. The object of the present invention is to provide a direction control device for a reaping machine.

Further, the present invention provides a row mowing sensor that detects the position of the grain culm in an area divided into three on the uncut side planted grain culm introduction route, and also provides a row cutting sensor on the planted grain culm introduction route on the already cut side. A reaper is provided with a horizontal mowing sensor that detects the position of a culm in a region divided into three parts, and is configured such that either one of the two sensors is activated by a switching means to control the direction. Usually, the row mowing sensor is held in such a manner that it is activated, and the direction of the reaper is controlled in the corresponding directions according to the already mowed side, straight ahead, and uncut side turning commands of the row mowing sensor. A switching command circuit that switches the switching means so that the mowing sensor operates for a certain period of time when the row mowing sensor releases the unmown side turning command and immediately sends the already cut side turning command. It is characterized by being installed.

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 placed 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 when the switch is in the rotation range B', both switches SC and SD are turned off.

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 contact points b and d for horizontal cutting are switched by a switching command circuit C, which will be described later, and each contact point for row cutting and horizontal cutting is connected to timers TU1 and TU2, respectively. Timer TU1 converts the continuous signal input I into a pulse signal output O with a delay of a predetermined time t, and timer TU2 converts the continuous signal input I into a pulse signal output O without delay. Connected. Relay R
2 is the row cutting contact e, by the switching command circuit C.
g or horizontal cutting contacts f, h, contacts e,
h is the output stage transistor TrR, and the contact f,
g is connected to transistor TrL. Each transistor TrR, TrL is the main switch SM
The input from is connected to the right control solenoid SlR and left control solenoid SlL of the turning operation solenoid valve. On the other hand, the switching command circuit C is inputted from the switches SA and SB of the row mowing sensor 10, and the switch SA is directly input to the AND element A, and from the switch SB to the switch S1 and the timer.
It is input to AND element A via TU3. The timer TU3 outputs O for a certain period of time _T1 at the moment the input signal I from the switch SB is cut off, and the switch S1 is used only when the plant is planted in a state where the spacing between plants is equal to the width between the rows, so-called straight row planting. This is a manual switch that turns it off. AND element A outputs to timer TU4, and further outputs to both relays R1 and R2 via diode D. The timer TU4 continues to hold _T2 for a certain period of time even after the pulse signal is cut off so that the pulse signal input I becomes the continuous signal output O. In addition, the main switch SM outputs an output to the relays R1 and R2 via the manual changeover switch S2 and the diode D, which are turned on in the case of the seeding and planting state. Note that switches S1 and S2 are not required during normal work.
Since it is sufficient to operate them according to the planting situation in the field, these switches S1 and S2 do not need to be on the operation panel, but should be installed in a location that is difficult to see from the driver's seat, such as below the side of the operation panel. It is good if there is.

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

Move the reaper along the row as shown in Figure 5.
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 of the No. 11, the state of the rotation range B and C is repeated, and as shown in Fig. 6, the switch SA is not turned on but the switch is turned off.
SB emits a short pitch pulse signal. As a result, signals are not input to AND element A from both sides of switches SA and SB, and the AND element and therefore switching command circuit C do not output, and both relays R1 and R2 are activated as shown in Figure 3. In other words, the row cutting contacts a, c, e, and g are maintained in a connected state. In this state, the sensor bar 11 is connected to the grain culm 15.
If it does not come into contact with the switch SA and reaches the rotation range A,
turns on, and the timer is activated via contact a of relay R1.
TU1 is energized, and after a delay and time t, which constitutes a dead zone for interstellar l, etc., a pulse signal O is output, and contact e of relay R2 and transistor TrR
The right control solenoid SlR is intermittently energized via the , and the direction of the reaper is smoothly corrected to the right. In addition, the sensor bar 11 deeply contacts the grain culm 15,
When the rotation range C is reached, switch SB is turned on and timer TU2 is energized via contact c of relay R1, which is immediately converted to pulse signal O, which activates transistor TrL and intermittently turns on left control solenoid SlL. Energize and smoothly correct the left and right direction of the reaper. 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 excited and the reaper moves straight.

Furthermore, as shown in Fig. 5', 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 contacts the grain culm 15 and is located in the rotation range C, the bar 11 is located between the rows and is removed from the grain culm 15 and returned to the rotation range A. Therefore,
As shown in Figure 6, switch SB emits a relatively long pitch pulse signal, and
SA emits a pulse signal that instantly switches from off to on after the pulse signal of switch SB switches from on to off. As a result, when switch SB is turned on, timer TU3 is energized via switch S1, 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 the AND element is turned on. A outputs and activates timer TU4. Then, the pulse input I from the AND element A due to the delay in the operation of the switch SB based on the rotation range B of the bar 11 becomes a continuous output O.
is converted into , and both relays R are connected via diode D.
1 and R2, and both relays are switched as shown in FIG. 4, that is, so that horizontal mowing contacts b, d, f, and h are connected. In this state, when the bar 13 of the horizontal mowing sensor 12 is in the rotation range A' and the switch SC is turned on, the timer TU1 is activated via the contact b of the relay R1, and the contact f of the relay R2 and the transistor TrL are activated. The left control solenoid SlL is intermittently energized via the , and the direction of the reaper is corrected to the left. Further, when the sensor bar 13 is in the rotation range C' and the switch SD is turned on, the timer TU2 is activated via the contact d of the relay R1, and the timer TU2 is activated via the contact d of the relay R2 and the transistor
The right control solenoid SlR is intermittently energized via TrR to correct the direction of the reaper to the right. Furthermore,
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, in the case of straight row planting, the distance between plants L is equal to the width between rows L, so the switches SA and SB emit the same signals during row mowing as they do during horizontal mowing. Sensor 12 is switched into operation. Therefore, when switch S1 is turned off, AND element A does not output, and relay R1,
R2 is switched to the state shown in FIG. 3, that is, so that the switches SA and SB of the row mowing sensor 10 are always activated.

Furthermore, in the case of scattering and planting, the bar 11 of the row mowing sensor 10 is always pushed by the grain culm 15 and is in the rotation range C, and the switch SA is turned off while the switch SB remains on. A is not output and is maintained so that the row mowing sensor 10 is always activated. Therefore, by turning on the changeover switch S2, the changeover command circuit C outputs an output and switches the relays R1 and R2 to the state shown in FIG. 4, that is, so that the switches SC and SD of the horizontal mowing sensor 12 are always operated.

As shown in Fig. 7, if a retriggerable monostable multivibrator is used as the timer TU4, its output O can be made continuous while limiting the holding time by selecting the holding time _T2. be able to.

Therefore, the horizontal mowing sensor 12, i.e., the switch
The time required to switch to the SC and SD sides can be switched and held continuously without interruption during horizontal mowing, making stable control possible _. Since it is limited to a short period of time, even if you switch to horizontal cutting mode for some reason during row cutting, you can quickly return to the original row cutting mode, and stable control of both row cutting and horizontal cutting can be performed. .

As explained above, according to the present invention, since the row mowing sensor 10 and the horizontal mowing sensor 12 can be automatically switched according to the mowing conditions, there is no need for a manual switching operation, and the reaping machine Operation when turning can be facilitated. Also,
Since row mowing and horizontal mowing are judged only by the row mowing sensor, it is not affected by the mowing width, etc., and can be reliably controlled even when planted with wide row spacing. Furthermore, regardless of the number of mowing rows, It can be installed on harvesters ranging from small to large. Further, the sensor 10 for row mowing is held so as to operate normally, and when the sensor 10 for row mowing releases the uncut side turning command SB, the sensor 12 for horizontal mowing is activated for a certain period of time by the timer TU4. Even in various situations, such as when two rows of plants enter the introduction path of the planted grain culm on the already cut side, the rows can be switched to The mowing sensor 10 is activated, and during horizontal mowing work, the horizontal mowing sensor 12 is reliably activated, and the reliability of directional control can be greatly improved.

[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 the direction sensor portion thereof, and FIG. 3 is an electric circuit diagram in a state where the row mowing sensor is in operation. Figure 4 is an electrical circuit diagram when the horizontal mowing sensor is in operation, Figure 5 is a plan view showing the action of row mowing and horizontal mowing, and Figure 6 is the row mowing sensor in the row mowing and horizontal mowing states. Figure 7 shows the timer signal.
It is a figure which shows one example of the signal of TU4. 1, 1a...Uncut side divider (part), 3,
3a... Already cut side divider (part), 10...
Sensor for row mowing, 12...Sensor for horizontal mowing,
SA, A, SD, C'...Already cut side turning command (switch), SB, C, SC, A'...Uncut side turning command (switch), C...Switching command circuit, R1, R2
...Switching means (relay), TU4...Timer,
T ₂ ...retention time.

Claims (1)

[Scope of Claims] 1. A row mowing sensor that detects the position of the grain culm in an area divided into three parts is provided on the introduction path of the planted grain culm on the uncut side, and a row cutting sensor is provided on the introduction path of the planted grain culm on the already cut side. , a reaper configured to be provided with a horizontal mowing sensor that detects the position of the grain culm in a region divided into three parts, and configured so that either one of the two sensors is activated by a switching means to perform direction control, The means is normally held in such a manner that the row mowing sensor is activated, and the reaper is directionally controlled in the corresponding directions by the mowed side, straight ahead, and uncut side turning commands of the row mowing sensor, Further, when the row mowing sensor releases the uncut side turning command and immediately sends the already cut side turning command,
A direction control device for a reaping machine, comprising a switching command circuit that switches the switching means so that the horizontal mowing sensor is operated for a certain period of time using a timer. 2. The reaping machine according to claim 1, wherein the holding time of the timer is limited to a relatively short time, and furthermore, the output is set to be continuous by inputting a pulse signal from the row mowing sensor side. direction control device.