JPH0728575B2 - Turn control device of reaper harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a reaper harvesting machine including a traveling vehicle body having a pair of left and right traveling crawlers, and a reaping processing section mounted on a front portion of the traveling vehicle body. The present invention relates to a turn control device for automatically traveling to the next work stroke in the direction intersecting with the one stroke at the end of one work stroke.

[Conventional technology]

Such a turn control device is used when a reaper-harvester such as a combine is run in a cutting mode.

Then, generally, after the work stroke is completed, first, a first turning is performed in which the traveling vehicle body is swiveled to the uncut grain side by a set angle, and after the turning, the traveling vehicle body is moved backward by a set distance and after that. The second turn is performed to turn the traveling vehicle body to the uncut grain culm side by the set angle, and after the turning, the turns are performed in the order of advancing the traveling vehicle body. (See, for example, JP-A-62-111307).

[Problems to be Solved by the Invention]

In such a turn, as shown in FIG. 7, the forward movement distance (Lf) after the cutting processing unit finishes the cutting processing of the uncut grain culm is made small, and the backward movement distance (Lr after the first turn is made. )
It is desirable to reduce the time required for a turn and the size of the headland by reducing the.

However, during the first turning, it suppresses the traveling crawler on the uncut side from pushing down the uncut culm, and at the time of the secondary turning, suppresses the tip of the cutting unit pushing down the uncut culm. However, in order to keep the position of the harvester in the vehicle width direction at the proper position for the next work stroke when the vehicle moves forward after the second turn, the forward travel distance (Lf) and the reverse travel distance ( Lr) could not be made sufficiently small.

By the way, in order to prevent the uncut grain culms from being pushed down even if the primary turning position and the secondary turning position are slightly deviated, it is necessary to give flexibility to the deviation of the turning position and perform turn control. From this point as well, there is a restriction in shortening the forward distance (Lf) and the backward distance (Lr).

The present invention has been made in view of the above situation, and its purpose is to effectively utilize the point that there is no hindrance in work even when a large amount of grain culms are temporarily mowed by the mowing unit. Then, the forward distance and the backward distance are shortened.

[Means for Solving the Problems]

A turn control device for a reaper harvesting machine according to the present invention provides a reaper harvesting machine including a traveling vehicle body having a pair of left and right traveling crawlers, and a reaping processing unit mounted on a front portion of the traveling vehicle body, to complete one work stroke. In accordance with, the automatic traveling to the next work stroke in the direction intersecting with the stroke, the reaping processing unit is provided to adjust the position change in the lateral direction of the vehicle body,
At the location on the front side of the end of the work process, a position changing means for changing the position of the mowing processing unit from the set standard mowing position to the uncut grain culm side by the set amount position, and after the end of the work process. A first turning means for turning the traveling vehicle body to the uncut grain side by a set angle, and a reverse means for moving the traveling vehicle vehicle backward a set distance after the turning.
After the reverse drive, the secondary turning means for turning the traveling vehicle body to the uncut grain side by the set angle, the forward traveling means for advancing the traveling vehicle body after the turning, and after the end of the work stroke, and Before the operation of the secondary turning means, a position changing means for returning the cutting processing section to the standard cutting position is provided.

Further, in order to automatically activate the turn control, there is provided a turn activation means for determining that the traveling vehicle body has reached near the end of the work stroke and activating the turn control.

Further, the first turning is for turning around a traveling crawler on the uncut grain culm side, and the second turning is for turning around a running crawler on the already cut grain culm side.

[Action]

Next, the operation is shown in (a), (b), (c) and (d) of FIG.
Will be described with reference to.

The cutting processing unit located at the set standard position is moved to the terminal cutting position where the set amount position has been changed to the uncut grain culm side, at a position before the terminal end of the work process. (Fig. 1 (a),
(See (b)) By the way, in the mowing processing unit located at the standard position, the already-mown side part of the mowing band is a non-mowing part in which grain culms are not introduced. For this reason, even if the position is changed to the terminal cutting position, the grain culm located closest to the already cut side is not left uncut.

Next, after the end of the work process, the traveling vehicle body is swung to the uncut grain culm side by a set angle, for example, by turning the running crawler on the uncut grain culm side. (See FIG. 1 (c)) After the turning, the traveling vehicle body is moved backward by a set distance, and after the backward movement is completed, the traveling vehicle body is turned around, for example, the traveling crawler on the already cut grain culm side to move the traveling vehicle body to the uncut grain Turn to the side. (See FIG. 1D) After the turning, the traveling vehicle body is moved forward.

Then, after the work stroke is completed and before the second turning after the reverse movement is performed, the mowing processing unit is returned to the set standard mowing position. In the illustrated diagram, the return movement is performed after the end of the first turn after the end of the work stroke.

The activation of the above-mentioned turn control may be initiated by the boarding operator, but it may be activated automatically as described below.

That is, for example, the travel distance from the start end of the work stroke,
It is detected by the distance detecting means, and when the traveling distance reaches a distance close to the length of the work stroke stored in the storage means, it is detected that the traveling vehicle body has reached the end of the work stroke. , It is detected that the end of the work stroke is reached, and the turn control is automatically activated.

〔The invention's effect〕

Therefore, in the end portion of the work stroke, there is a cut portion that protrudes toward the uncut grain culm side. Therefore, even if the advance distance after the end of the stroke is reduced and the primary turning is performed,
The running crawler on the uncut grain culm side does not push down the uncut grain culm.

Moreover, even if the reverse distance is reduced by the presence of the above-described already-cut portion and by the return movement of the mowing processing unit to the standard mowing position, the mowing processing unit is not mowed during the second turning. There is no need to push down the grain culm.

In short, even if the forward and backward distances are reduced, the uncut grain culms can be turned without being pushed down, the turn time can be shortened, and the size of the headland can be reduced.

Further, if the turn control is automatically activated, the turn can be surely made at an appropriate time.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 5, a combine harvester as an example of a harvesting machine is mounted on a traveling vehicle body (2) having a pair of left and right traveling crawlers (1L) and (1R), and the traveling vehicle body (2). A threshing device (3), a driver's seat (A) arranged on the front side of the right side portion of the traveling vehicle body (2) and including a driver's seat (4) and a control tube (5), and a traveling vehicle body ( The front part of (A) is equipped with a cutting unit (C) that is mounted.

The cutting unit (C) includes a cutting unit (6) that raises and cuts grain culms, and a transport device (7) that supplies the cut grain culms to the feed chain (8) of the threshing device (3). Moreover, it is connected to the traveling vehicle body (2) so as to be able to move up and down. The carrier device (7) includes a tip locking carrier device (7A) and a stock holding device (7B).

The reaping section (6) comprises a weeding tool (9) juxtaposed in the width direction of the vehicle body, a pair of left and right raising devices (10), and a clipper-type cutter (11) for cutting the roots of the raised culms. ) And an auxiliary transfer device (12) for locking and transferring the stock of the harvested culm to the rear side.

A cylindrical cutting portion support frame (13) for connecting the cutting portion (6) to the traveling vehicle body (2) is provided with a mounting base (14) for the traveling vehicle body (2).
A reaper section lifting / lowering cylinder (15) for vertically moving the reaper section support frame (13) is provided.

The support frame (16) at the rear end of the transfer device (7) is pivotally supported around the same axis as the mowing part support frame (13) so as to be vertically swingable, and at the same time as the mowing part support frame (13). A hydraulic cylinder (17) for adjusting the handling depth is provided between the support frame (16). Therefore, the carrying device (7) is vertically moved integrally with the reaper (C), and is independently moved up and down to adjust the handling depth.

The transfer device (7) is swingably connected to the support frame (16) around an axis along the longitudinal direction of the support frame (16), and the cutting unit (6) is attached to the vehicle body as described later. As the position is adjusted in the width direction, it is swung.

The means (D) for changing and adjusting the position of the reaper (6) in the vehicle width direction will be described.

The position change adjusting means (D) basically adjusts the position by slidably supporting the cutting unit (6) at the tip of the cutting unit support frame (13).

That is, as shown in FIG. 4, a pair of front and rear elongated frames (18A) and (18B) are slid in the left-right direction on the cutting-section mounting frame (13A) at the tip of the cutting-section supporting frame (13). Freely supported and these long frames (18A), (1
8B), three weeding tool support frames (19a), (19b),
(19c) is installed. Although not described in detail, each of the raising device (10), the cutter (11), and the auxiliary transfer device (12) has a long frame (18A), (18B) and a weeding tool support frame ( 19a), (19b), and (19c) are used as a base frame while being mounted in a predetermined posture.

The rotary shaft (21) with a spiral groove that is rotated in the forward and reverse directions by the electric motor (20) is supported by the brackets (22) attached to the long frames (18A) and (18B), and the reaper is attached. The frame member (23) fitted to the rotary shaft (21) is fixed to the frame (13A), and thus the cutting unit (6), that is, the cutting processing unit (C) is rotated by the forward and reverse rotation of the electric motor (20). The position can be adjusted and adjusted to the set standard cutting position and the terminal cutting position where the set amount position is changed from that position to the uncut grain culm side.

The mowing section support frame (13) is also used as a case of a transmission shaft that transmits power from the traveling vehicle body (2) to the mowing section (6). And the power from the transmission shaft is
By using a transmission structure that allows the position of the reaper (6) to be changed,
It is adapted to be transmitted to various devices of the reaper (6).

Further, as shown in FIG. 5, the cutting section (6) is provided with a locking rod (24) for locking the transfer device (7),
The transport device (7) is swingably adjusted in accordance with the position adjustment of the reaper (6).

Next, as shown in FIG. 6, in the combine harvester, when performing counterclockwise cutting, the combine harvester moves toward the direction intersecting with the next work stroke at the end of one work stroke. A turn control device for automatically traveling to will be described.

First, the sensors and steering structure required for turn control will be described.

As shown in FIG. 5, an azimuth sensor (25) is provided on the upper portion of the traveling vehicle body (2) to detect a change in geomagnetic field to detect an absolute azimuth.
Is provided.

As shown in FIG. 2, the output from the engine (E) is configured to be transmitted to the traveling mission section (27) via the hydraulic continuously variable transmission (26). A rotation speed sensor (28) is provided to obtain information for detecting the traveling distance and vehicle speed of the traveling vehicle body (2) by detecting the rotation speed of the input shaft (27a) of the traveling mission unit (27). Has been.

A pair of left and right steering clutches with brakes that separately turn on and off the power transmission to the left and right traveling crawlers (1L) and (1R) in the traveling mission section (27), respectively, and brake continuously in the disconnected state. (29L), (29R) are provided, and a pair of left and right steering cylinders (30L), (30R) for operating these steering clutches (29L), (29R), and those cylinders (30L), (30R) ) Is provided for the control valve (31).

In the figure, (32) is a control valve for the reaper section lifting cylinder (15), (33a) is a limit switch (see FIG. 4) for detecting that the reaper section (6) is at the terminal reaping position, (33
b) is a limit switch (see Fig. 4) for detecting that the mowing unit (6) is in the standard mowing position, (34) is a drive circuit for the position adjusting motor (20), and (35) is a transmission (26). (36) is a drive circuit thereof.

Then, a controller (H) configured by using a microcomputer is provided, and this controller (H)
However, based on the information stored in the memory (M) and the detection information from the sensors, a command for performing turn control is output.

That is, the controller (H) is a main part, and various means described below are configured.

That is, the electric motor (20) is limited in order to change the position of the cutting processing unit (C) from the set standard position to the uncut cutting end position where the set amount of position has been changed to a position before the terminal end of the work process. The position changing means (100) that operates until the switch (33a) detects and operates, and the traveling crawler (1) on the already cut side in order to turn the traveling vehicle body (2) to the uncut grain culvert side by a set angle after the work stroke is completed.
Steering clutches (29L), (29
R) for operating the primary turning means (101), and after the turning, the reverse moving means (102) for activating the speed change motor (35) so as to move the traveling vehicle body (2) backward by the set distance. , The steering clutches (29L), (29R) are operated so as to drive only the traveling crawler (1L) on the uncut side in order to turn the traveling vehicle body (2) toward the uncut grain culvert side. Turning means (103), and, after the turning, forward means (10) for operating a speed change motor (35) to move the traveling vehicle body (2) forward.
4), after completion of the work stroke and before the operation of the secondary turning means (103), an electric motor is provided immediately after the primary turning in order to return the cutting processing section (C) to the standard cutting position. (20)
Position detection means (105) for activating until the limit switch (33b) detects it, distance detection means (106) for detecting the traveling distance based on the detection information of the rotation speed sensor (28), and its distance detection The traveling vehicle body (2) based on the information of the means (106) and the length information of the work stroke stored in the memory (M).
Turn activation means (107) that detects that the vehicle has reached the end of the work stroke and activates the turn control, raises the mowing processing unit (C) to the set position before the first turning, and Elevating control means (108) for lowering the cutting processing section (C) to the set position before the forward movement after the next turn is configured.

The length of the work process is determined by inputting the length of each side of the square field. However, the fact that the turn is performed will be corrected based on the cutting width. The length of each side can be input using a keyboard or the like, but in general, teaching travel is performed on the outer peripheral portion of the field, and at that time, the distance detection means (106) detects the detected information. It is often made to input automatically based on.

Further, the detection information of the distance detecting means (106) is also used as information for determining the turning point of the first turning and the turning point of the second turning, and the detection information of the azimuth sensor (25) is It will be used to determine the end of turning in the primary turning and the secondary turning.

FIG. 3 is a flow chart showing the operation of the turn control, and the processing corresponding to each of the aforementioned means is sequentially executed.

In the flow chart, stopping traveling means turning off the left and right steering clutches (29L) and (29R) and operating the transmission (26) to a neutral state.

[Another embodiment]

INDUSTRIAL APPLICABILITY The present invention is applicable not only to combine harvesters but also to various harvesters. However, in the combine harvester, the mowing section (6) is inherently not provided with grain culms in the already trimmed side of the mowing band at the standard mowing position. Therefore, the mowing section (6) is not modified so much. it can.

Further, the present invention may be carried out in combination with a steering control means for automatically traveling along a work stroke.

In addition, various specific configurations required to carry out the present invention can be changed in various ways.

Further, in the above-described embodiment, the case where the counterclockwise cutting is performed has been described as an example, but the same can be applied to the case where the counterclockwise cutting is performed.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a turn control device for a harvesting and harvesting machine according to the present invention, and FIGS. 1 (a), (b), (c), and (d) are schematic plan views showing the turn traveling sequence, and FIG. Is a block diagram showing a control configuration, FIG. 3 is a flow chart showing a control operation, FIG. 4 is a schematic plan view of the position adjusting means with a part thereof cut away, FIG. 5 is a side view of a front portion of the combine, and FIG. FIG. 7 is a schematic plan view showing a running form of mowing, and FIG. 7 is a plan view showing a turn pattern. (1L), (1R) ... traveling crawler, (2) ... traveling vehicle, (100) ... position changing means, (101) ... primary turning means, (102) ... reverse traveling means, (103 ) ... Secondary turning means, (104) ... Advancing means, (105) ... Returning position changing means, (107) ... Turn starting means, (C) ... Mowing processing section.

Claims (3)

[Claims] 1. A mowing harvest comprising a traveling vehicle body (2) having a pair of left and right traveling crawlers (1L), (1R), and a mowing processing section (C) mounted on the front portion of the traveling vehicle body (2). A turn control device for automatically traveling the machine to the next work stroke in a direction intersecting the stroke with the completion of one work stroke, wherein the cutting control section (C) changes the position in the lateral direction of the vehicle body. A position changing means that is freely provided and that changes the position of the cutting processing section (C) from the set standard cutting position to the uncut grain culm side at the terminal cutting position at the end front side of the work process. (100), a primary turning means (101) for turning the traveling vehicle body (2) to the uncut grain side by a set angle after the end of the work stroke, and the traveling vehicle body (2) after the turning. Reverse means (102) for moving the vehicle backward by the set distance, and And the traveling vehicle body (2)
Secondary swivel means (10
3) and, after the turning, advance means (104) for moving the traveling vehicle body (2) forward, and after the end of the work stroke and before the operation of the second turning means (103), the reaping A turn control device for a harvesting harvester, comprising: a position changing means (105) for returning the processing section (C) to the standard cutting position. 2. The harvesting machine according to claim 1, further comprising turn activation means (107) for detecting that the traveling vehicle body (2) has reached near the end of a work stroke and activating turn control. Turn control device. 3. The first turning is for turning around a traveling crawler (1L) on an uncut grain culm side, and the second turning is a traveling crawler (1R) on a cut grain culm side. The turn control device for a reaper harvesting machine according to claim 1 or 2, wherein the turn control device is configured to rotate around the center.