JPH0125527B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a reaping unit configured to be capable of reaping a plurality of rows of planted stem culms, and a pair of left and right first contact sensors for the standing stem culms on the uncut land side; A mechanical orientation device that distributes and arranges second contact sensors for the side planted stem culms on the left and right, and maintains both sensors in a non-contact state with the stem culms based on the detection results of both the first contact sensors. The first step to automatically operate
a second action of automatically operating the machine direction device so that the amount of displacement caused by the sensor's contact with the stem culm is maintained within a set range based on the operating state and the detection result of the second contact sensor; The reaping harvesting apparatus is provided with a control mechanism that can freely switch between states, and an operating mechanism that selectively automatically switches the control mechanism between the first and second operating states based on the detection results of both the first contact sensors. Regarding machines.

In the case of so-called row cutting, in which the machine reaps while moving in the direction along the rows of planted stem culms, the above-mentioned reaping/harvesting machine automatically follows the machine between the rows of planted stem culms or between the rows of planted stem culms. By this, it is possible to easily and reliably perform the work while reliably introducing the planted stem culm into the predetermined reaping introduction route, and by making the first contact sensor for that purpose act on the stem culm on the side of the uncut field. , Even if the number of rows of stem culms is smaller than the number of rows that can be reaped, consideration has been given so that the above-mentioned automatic follow-up traveling can be performed, and the direction perpendicular to the rows of planted stem culms is taken into account. In the case of so-called horizontal mowing, in which the machine is reaped while moving, the machine automatically follows the row of stem culms on the already cut field side, thereby allowing the work to be carried out while avoiding the cutting of the stem culms on the already cut field side. Care has been taken to ensure that the process can be carried out easily and reliably, and furthermore,
By automatically switching between the first operating state and the second operating state of the control mechanism to eliminate the need for switching, it is possible to use the row cutting mode and horizontal cutting mode as described above. The control configuration has been simplified by making the first contact sensor double as a sensor for detecting whether the machine is running in row or side mowing direction. It has been designed to make it possible. However, conventionally, when the pair of first contact sensors come into contact with the stem culm, the control mechanism instantly changes from the first operating state to the second operating state.
During row cutting, one stem culm in a row of adjacent stem culms was planted close to the other stem culm, etc. If there is a place where the distance between parallel stem culms is extremely narrow, when the first contact sensor passes through the place where the stem culms are close to each other, the control mechanism
When the machine switches to the active state, the machine body is moved laterally to a greater extent than its original position based on the information from the second contact sensor, which tends to cause problems such as the tip of the machine body cutting into the planted stem culm row. I was getting used to it.

Therefore, as a method that can solve the above trouble, as disclosed in Japanese Patent Application Laid-Open No. 55-23929, the number of times the first contact sensor detects contact with the stem culm to the left and right sides is measured for a predetermined period of time. However, a method has been proposed in which horizontal cutting is determined when the measured number of times is equal on both the left and right sides. The reason for this is that when mowing horizontally, by the time the first contact sensor enters the stalk culm row and exits the row, both the left and right sensors of the first sensor come into contact with the stalk culm,
It is estimated that the left and right sensors contact the stem culm an equal number of times as many rows of stem culms are passed through while traveling for a predetermined period of time, and When row mowing is being performed, both the left and right sensors of the first contact sensor are traveling without contacting the stalk culm, and the left and right sensors are traveling so as to avoid contact with the stalk culm as much as possible. This is because it was estimated that the number of times the left and right sensors contacted the stem culm would not be equal even after traveling for a predetermined period of time.

However, in reality, the first contact sensor does not always come into contact with the stem culm on both the left and right sides in places where the stem culm row is missing or misaligned, so even if horizontal mowing is performed, the first contact sensor The number of times the left and right sensors make contact with the stem culm may not be equal within a predetermined period of time, and it may not be determined that the machine is mowing horizontally, and the mowing may be performed while mowing in rows. The problem was that it was not done well.

The present invention has been made in view of the above-mentioned circumstances, and the present invention does not switch to the horizontal cutting mode only when both the left and right sensors of the first contact sensor come into contact with the stem culm at the beginning of the reaping run, but instead Based on the detection by the first contact sensor during time running, even if there is a missing plant or a shift in the stem culm row, it will automatically determine whether it is horizontally mowed or row mowed, The purpose of the present invention is to provide a reaping harvester that can switch to an automatic steering state depending on the reaping mode.

Next, embodiments of the present invention will be described based on the drawings.

As shown in Fig. 1, a threshing section 2 is provided on a machine base having a crawler-type traveling device 1, and a device 3 for raising four rows of planted grain culms as the machine moves, and a device 3 for raising and mowing the grain culms. a conveying device 6 for feeding the harvested grain culm to the starting end of the threshing feed chain 5;
A reaping section 7 having respective reaping sections 7 is provided at the front part of the machine stand, thereby constructing a combine harvester capable of reaping four rows.

As shown in FIG. 2, among the four rows of reaped grain culm introduction paths A, B, C, and D of the reaping section 7, the planted grain is introduced into the introduction path A that is located closest to the uncut field side. The first bar-type contact sensors 8a and 8b as a pair of left and right first contact sensors are individually shaken to correspond to the culm and the planted stem culm introduced into the introduction path B adjacent to the introduction path A, respectively. It is movably attached to the first weeding tool support rod 9a, and a switch 10a or 10 is attached to the first sensor 8a, 8b, respectively.
b is interlocked so that it enters the ON state only when the sensors 8a and 8b are in contact with the grain culm, so that during row mowing work, the grain culm row located closest to the uncut field side and the adjacent grain culm row A first system for detecting the lateral deviation and deviation direction of the machine body with respect to between the grain culm rows, and for electrically extracting the detection results.
A detection device is configured. That is, by knowing that both switches 10a and 10b are in the off state, it is determined that the deviation of the machine body between the planted grain culm rows is within the set range, and either switch 1 is turned off.
By knowing whether 0a or 10b is in the entering state, it is possible to determine the deviation of the machine body between the grain culm rows beyond the set value and the deviation direction.

Further, as shown in FIG. 2, a second contact with the planted grain culm introduced into the introduction route D, which is located closest to the cut field side among the cut grain culm introduction routes A, B, C, and D, is made. A second bar-type contact sensor 11 as a sensor is swingably attached to the second weeding tool support rod 9b, biased so as to be substantially parallel to the lateral direction of the machine, and the first and second switches are 12a,
12b is in a posture substantially parallel to the lateral direction of the aircraft with respect to the second sensor 11, only the first switch 12a is in the on state, and the second sensor 11 is swung to the rear of the aircraft at a certain angle. When the machine is in the moved position, only the second switch 12b is in the on state. A second detection device is configured to detect the position and deflection direction and to electrically take out the detection results. That is, both switches 12a,
By knowing that both switches 12b are in the cut state, it is determined that the deviation of the machine body with respect to the planted grain culm row is within the set range, and either switch 12a or 1 is turned on.
By knowing whether or not 2b is in the engaged state, it is possible to determine the deviation and direction of deviation of the machine relative to the planted grain culm row beyond the setting.

A hydraulic cylinder 14a or 14b for operating the left and right steering clutches 13a and 13b provided in the traveling device 1 is attached to each of them, and as shown in FIG. , 14b, and both switches 10 of the first detection device.
a, 10b are linked by the first control section 15a of the controller 15, and this first control section 15a
is configured to automatically operate both control valves Va, Vb so that they are both in the OFF state based on information from both switches 10a, 10b, and both control valves Va,
Vb and both switches 12a, 1 of the second detection device
2b by the second control section 15b of the controller 15, and the second control section 15b is
The control valves Va, Vb are configured to be automatically operated based on information from the first and second switches 12a, 12b so that both of them are in the off state; An operating mechanism 16 for selectively switching the two control units 15a and 15b into an active state is attached to the controller 15,
Accordingly, a control mechanism for automatically operating both steering clutches 13a, 13b based on detection results from the first and second detection devices is provided based on detection results from both first sensors 8a, 8b. A first operation state in which both steering clutches 13a and 13b are automatically operated so that both sensors 8a and 8b are maintained in a non-contact state with respect to grain; a second steering clutch that automatically operates both steering clutches 13a and 13b so that the amount of displacement due to contact with the grain culm is maintained within a set range;
The operating state can be switched freely by the operating mechanism 16.

As shown in FIG. 2, the switching operation mechanism 16 includes a switch 10 of the first detection device.
A pulse generator 17 that generates a pulse signal every time a and 10b enter the ON state, and a time setter 18
The pulse generator 17 within the time set by
By measuring the number of pulses generated from
The first sensor 8 is equipped with a device 19 that measures the number of times the first sensor 8a or 8b comes into contact with the grain culm at every time set by the setting device 18.
attached to each of a and 8b, and both measuring devices 1
Measurement results and frequency setting device 20 for each of 9 and 19
The set values are introduced and compared, and the number of measurements by at least one of both measuring devices 19, 19 is 3.
When it is determined that the number of measurements is less than 3 times, only the first control section 15a is automatically operated to the operating state, and when it is determined that the number of measurements of both measuring devices 19, 19 is 3 times or more, a second control is performed. Part 15b
The second control unit 15b, which is operated to the operating state based on the information from the operating device 21 and the time setting device 18, is configured to be automatically operated to the operating state. Associated with the controller 15 is a device 22 for keeping it active for a set period of time. That is, if the number of times that at least one of the first sensors 8a and 8b comes into contact with the grain culm within the time set by the setting device 18 is less than three times, the control mechanism returns to the first operating state. and both first sensors 8a, 8b within the time set by the setting device 18.
When the control mechanism is in contact with the grain culm three or more times, the control mechanism is automatically switched from the first operating state to the second operating state by the operating device 21, and until the set time elapses after switching. During this period, the second operating state is maintained by the maintenance device 22.

In short, during row mowing work, as shown in Figure 3, the machine can work while automatically following between the grain culm row located closest to the uncut field and the adjacent grain culm row, and , during horizontal mowing work, use the fourth
As shown in the figure, the machine can be operated while automatically following the row of grain culms located closest to the mowed field, and furthermore, the row of grains to be followed during row mowing can be moved to the side closest to the uncut field. By making it a 2-row system, even when only 2 or 3 rows of grain culms are to be harvested, consideration has been given to allowing automatic follow-up travel.
In addition, when using the row mowing mode and the horizontal mowing mode, the first sensors 8a and 8b detect the traveling direction of the machine relative to the row of planted grain culms, and the automatic steering control mode is selected between the row mowing mode and the horizontal mowing mode. Both first sensors 8
By making the control mode switch only when both a and 8b come into contact with the grain culm a set number of times within a set time, it is possible to avoid planting when the grain culm is extremely close to each other during row mowing work. Even if there is a place where the grain is standing up, consideration has been given to prevent the front end of the machine from cutting into the row of planted grain culms.

As shown in FIG. 2, the operating device 21 is manually switched between an operating state and a non-operating state, and when the operating device 21 is in the non-operating state, the first and second
A device 23 for selectively manually switching the control units 15a, 15b into an operating state is attached to the control mechanism, so that automatic steering control can be selectively switched between row mowing and horizontal mowing. It's like this.

The steering clutches 13a, 13b can be changed to steering brakes, etc., and are collectively referred to as aircraft direction devices 13a, 13b.

Moreover, the present invention adopts a configuration in which the rows of grain are followed instead of between rows of grain culms during row cutting,
It can also be applied to various types of reaping and harvesting machines, such as binders and rush harvesting machines, which have different reaping targets and processing methods.

In summary, the present invention provides the reaping and harvesting machine described above, in which the operating mechanism 16 measures the number of times each of the first contact sensors 8a and 8b comes into contact with the stem and culm at every set time. device 19
Then, only when the number of times the measuring devices 19, 19 measure the contact state with the stem with the first contact sensors 8a, 8b is equal to or more than the set number within the set time, the control mechanism is set to the second operating state. and a device 22 that maintains the control mechanism switched to the second operating state by the operating device 21 in the operating state for the set time. shall be.

In other words, in general, in the direction parallel to the planting direction of the stem culms, there are not many concentrated locations where the stem culms of adjacent stem culm rows are planted extremely close to each other as mentioned above. In view of this,
The first contact sensor 8a, 8b detects the location near the stem culm.
Even if both first contact sensors 8a and 8b are in contact with the stem and culm for a preset period of time required for the stem to pass, the automatic switching operation mechanism 16 is prevented from operating. It becomes possible to prevent the control mechanism from switching to the second operating state due to the proximity of the stem culm, and it becomes possible to avoid the above-mentioned interruption of the machine to the planted stem culm row. Since it is determined that horizontal cutting is in progress when the number of times of contact with the stem culm during traveling for a predetermined time is equal to or greater than the set number of times, as in the past, the number of times of contact with the stalk culm during traveling for a predetermined time is determined by the left and right first contact sensors 8a, Compared to 8b, which determines horizontal cutting when both are equal, it is possible to reliably determine whether horizontal cutting or row cutting is occurring even if there are missing plants or misalignment of stem culm rows. This has resulted in effects such as being able to prevent the mowing vehicle from running in the wrong running mode.

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 reaping harvester according to the present invention, in which Fig. 1 is a side view of the front part of the combine, Fig. 2 is a plan view of the sensor mounting part, and Fig. 3 is a plan view showing the row cutting state of the reaping part. FIG. 4 is a plan view showing the horizontal cutting state of the cutting section. 7... Reaping part, 8a, 8b... First contact sensor, 11... Second contact sensor, 13a, 13b
... Steering device, 16 ... Operation mechanism, 19 ... Measurement device, 21 ... Operation device, 22 ... Maintenance device.

Claims (1)

[Claims] 1 A pair of left and right first contact sensors 8a, 8b for the planted stem culms on the uncut land side and a pair of left and right contact sensors 8a, 8b for the planted stem culms on the uncut land side are installed in the reaping unit 7 configured to be capable of reaping a plurality of rows of planted stem culms. The second contact sensors 11 are distributed to the left and right, and the first contact sensors 8a,
Based on the detection result of sensor 8b, both sensors 8a,
8b is maintained in a non-contact state with respect to the stem culm.
Based on the operating state and the detection result of the second contact sensor 11, the machine direction devices 13a and 13b are automatically operated so that the amount of displacement due to the contact of the second contact sensor 11 with the stem culm is maintained within a set range. A control mechanism is provided that can be freely switched to a second operation state to be operated, and the control mechanism is automatically switched to the first and second operation states based on the detection results of both the first contact sensors 8a and 8b. The operating mechanism 16 is a measuring device that measures the number of times each of the first contact sensors 8a and 8b comes into contact with the stem culm at each set time. 19, 19, and the control mechanism is activated only when the number of times the measuring devices 19, 19 measure the state of contact with the stem at both the first contact sensors 8a, 8b is equal to or more than the set number within the set time. and a device 22 for maintaining the control mechanism, which has been switched to the second operating state by the operating device 21, in that operating state for the set time. A reaping harvester featuring: