JP2000209920A - Controller of digging depth in harvester of root vegetables - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a digging apparatus from deeply slipping into a ridge and being broken when the digging apparatus is lowered. SOLUTION: The range between a high-ranking point (X3) at the specified value upper than a grounding point (X2) detected by a digging up height sensor 24 for detecting the digging up height for digging up root vegetables by a digging up apparatus, and the maximum digging up depth point (X5) is set as the digging range (L). The lifting and lowering of the digging apparatus is controlled by the controller within the set digging range (L).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavation device for excavating root crops by using an excavation height sensor and an excavation height sensor for detecting an excavation height and an upper point having a predetermined value higher than a ground point and a maximum excavation. A technique for controlling a digging device with a control device within the set digging range, and a digging depth control device for a root crop harvesting machine. Available as

[0002]

2. Description of the Related Art If root vegetables are, for example, ginseng, when the ginseng is harvested, the excavation setting means is operated to the ground contact point position before the root vegetable harvester enters the ridge of the field. Then, the digging depth position of the digging device is set at the ground contact point, and when the control start means is operated in the ridge portion, the digging device starts the descending control, and the digging device is set and stored. It is controlled to descend to the contact point position, and is stopped when the excavation height sensor detects contact. When the stop is completed, while the root crop harvesting machine is running in the field, the excavation setting means is operated again to set a predetermined lowering position, and the set lowering position is excavated, and the height sensor detects the set lowering position. The excavator is controlled to descend until the ginseng is excavated.

[0003]

When the excavation setting means is operated to the contact point position, the excavator is controlled to descend to the set and stored contact point, thereby causing an error in the operating range of the machine and excavation. In the case of errors in the height sensor and soft soil, the tip of the excavator digs deep into the ridge and breaks the tip, but this invention solves this problem. It is something to try to eliminate.

[0004]

To this end, the present invention provides a digging setting means 9 for setting a digging height for digging root crops A with a raising device 5, and detecting a digging height. A root vegetable harvesting machine provided with a digging height sensor 24, a non-volatile memory 11c for storing a ground point (X2) detected by the digging height sensor 24, a maximum digging depth point (X5), and the like. In the above, the excavation range (L) is set between the upper point (X3) having a predetermined value higher than the contact point (X2) and the maximum excavation depth point (X5), and the set excavation is performed. A control device 11 for controlling the excavating device 5 is provided within the range (L), which is a configuration of a excavating depth control device for a root crop harvesting machine.

[0005]

When the ginseng (a) is harvested, the excavation setting means 9 is operated to the ground contact point position before the root vegetables are harvested to enter the ridges of the field. The raised depth position is excavated between the upper point (X3) set and stored in the nonvolatile memory 11c higher than the ground point (X2) by a predetermined value and the maximum excavated depth point (X5). The upper point (X3) set as the range (L) is set, and when the control start means is operated in the ridge, the lowering control of the excavating device 5 is started by the control device 11, and the excavating device 5 is set. It is lowered to the upper point (X3) and stopped. When the stop is completed, while the root crop harvesting machine is running in the field, the excavation setting means 9 is operated again to set a predetermined lowering position. Until is detected, the excavating device 5 is controlled to descend, and the excavating device 5 excavates ginseng (a).

[0006]

When the excavation setting means 9 is operated at the ridge,
The ground point (X) set and stored in the nonvolatile memory 11c
From 2), the excavator 5 is automatically controlled to descend to the position of the upper point (X3), which is higher than the predetermined value, so that there is no relation with the operating range error of the machine or the error of the excavation sensor 24, The tip of the device 5 can be prevented from digging deep into the ridge, and the tip can be prevented from being damaged.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. In the figure, root vegetables (a)
Assuming that the ginseng was (a), the ginseng (a) was dug out of the field, and while the excavated ginseng (a) was being transported, a predetermined position of the leaves and the lower part of the root was cut off and temporarily stored. The root vegetable harvesting machine 1 that performs the above-described operations is illustrated and described, and the excavation depth control device is illustrated and described.

The root crop harvesting machine 1 is provided with a harvesting operation device 3 on one side outside of the traveling vehicle 2, and the harvesting operation device 3 is provided with a pulling device 4 and a digging device 5 at the front. , And a root vegetable transport device 6 at the rear. A pair of left and right traveling rollers 7a for traveling on the soil surface are stretched under the chassis 7 of the traveling vehicle 2, and a traveling operation and various control operations are performed on one side of the upper portion of the chassis 7. A device 8 and a cockpit 9a on which an operator rides to perform various operations are provided, and a prime mover (engine) 7 is provided below the cockpit 9a.
b etc. are mounted. The driving rollers 7a, 7a are driven by a motor 7b through a transmission mechanism 7d in a traveling gear case 7c.
a is configured to rotate.

The operating device 8 is formed in a box shape, and a digging height of a digging device 5 to be described later is dial-operated by an ON-OFF switch type operating position on a surface plate of the box body. ON-OFF for starting the digging device 5 to control the digging setting means 9 to be set and the digging height to be set.
Switch type control start means 10, direction start means 10a
And so on.

FIG. 3 shows the operating position of the excavation setting means 9 of the operating device 8, the control starting means 10, the starting operation of the direction starting means 10a to be described later, and the detection of the left and right direction sensors 10b and 10c. Thus, the configuration is such that the input is made to the CPU 11a of the control device 11 built in the operation device 8. In response to these inputs, the CPU 11a of the control device 11 controls the up and down rotation of the excavating device 5 to the same height as the excavation height set by the excavation setting means 9 and the operation device 8
The alarm is issued from the buzzer 8a provided on the front plate.

The control device 11 is provided with a memory 11b as shown in FIG. 3, and this memory 11b is set and stored in a nonvolatile memory 11c. Excavation range (X3) between the upper point (X3) higher than the predetermined value and the maximum excavation depth point (X5) from the earthing point (X2) of the 24 earthing plates 25b that touches the field scene. L) is a configuration that is set and stored in the nonvolatile memory 11c and is not controlled to descend to a position below the upper point (X3), and a digging device is set within the set digging range (L). 5 is the CPU 11a of the control device 11.
Is used to control the vertical rotation.

As shown in FIG. 1, the excavated height sensor 24 is arranged such that the rotation of the grounding plate 25b of the excavated height sensor 24 causes the lower free position of the lower portion of the grounding plate 25b. Between the point (X1) and the upper free position point (X6) above the ground plate 25b, the excavation free range (L1) in which the ground plate 25b rotates up and down is defined. is there.
If the set value position set by operating the excavation setting means 9 is the point (P), the detection accuracy range (L2) of the excavation height sensor 24 is higher than the point (P1). The configuration is a range from the position to the lower (P2) point position.

The period (T) and the on-time (t) of the ascending control and the descending control of the excavator 5 are 150 msec as shown in FIG. 45 msec, and the lowering control is 40 msec. The circuit is configured as shown in FIG. The operation device 8 is provided with left and right side clutch levers 8b and 8c for changing the traveling direction of the traveling vehicle 2 as shown in FIG.
An excavation setting means 9 for setting the excavation height of the excavation device 5 by a dial-type operation position of an ON-OFF switch system may be provided on the upper end surface of b. On the upper end surface of the right side clutch lever 8c, ON for starting the excavating device 5 to control the excavation height to the set excavation height is set.
A configuration may be adopted in which the control start means 10 of the -OFF switch type is provided.

Thus, while the left and right side clutch levers 8b and 8c are being operated to align the ridges (alignment),
An operation of changing the excavation height can be performed, and the operation and malfunction can be prevented. As shown in FIG. 1, the excavating device 5 sets and stores a predetermined value higher than the contact point (X2) at which the contact plate 25b of the excavation sensor 24 contacts the field scene and an upper point (X3). The digging device 5 is configured to prevent the digging device 5 from digging deep into the ridge as the digging range (L) set and stored between the maximum digging depth point (X5).

The detection accuracy range (L2) of the excavated height sensor 24 is widened when operated to a shallow side, and narrowed when operated to a deep side. This allows
The control accuracy could be improved by making it narrow on the deep side where accuracy is required. When the rotation speed of the prime mover 7b is a low rotation speed, the rising control time of the excavating device 5 is set such that the rising output time from the contact point (X2) or the upper setting point (X3) is long, and the high rotation speed is high. In this case, the rising output time from the ground point (X2) or the higher-order point (X3) is set to a short time.

Since the hydraulic pressure of the upper and lower cylinders 26a also changes according to the number of revolutions of the prime mover 7, the contact point (X2)
If the rising output is output for a fixed period of time from the time of detection, the rising position of the excavating device 5 at the time of the backup operation differs depending on the number of revolutions.
When the rotational speed of the prime mover 7b is high, the pulse width is reduced when the path output width for driving the hydraulic electromagnetic valve of the upper and lower cylinders 26a for controlling the excavating device 5 to be raised and lowered is not fixed. When the number of rotations is low, the pulse width is increased.

As a result, the elevating speed becomes substantially constant irrespective of the rotation speed of the prime mover 7b, so that the responsiveness to the working speed and the accuracy of excavation depth control are improved.
A leaf cutting device 12 to be described later is
The root portion of the ginseng (a) leaf is cut off by cutting, and a predetermined position of the lower portion of the root portion is cut by a ginseng lower cutting device 47 to be described later. A first transfer conveyor 13 provided with a transfer belt and the like driven to rotate in the lateral direction on the cockpit 9a side, and a second transfer conveyor 14 provided with a transfer belt and the like driven to rotate. These first and second transfer conveyors 13,
Reference numeral 14 is provided so as to be inclined upward toward the transfer end portion.
Under the transfer end of the second transfer conveyor 14, the chassis 7
On the upper side, a storage box 15 for receiving cut carrots (a) via both, storing the cut carrots, and temporarily storing them is placed.

On the left side of the rear of the chassis 7, there is provided a support plate 16 projecting upward and having a U-shaped cross section. On the upper portion of the support plate 16, a transmission case 17 containing a transmission mechanism 17a is provided. It is provided rotatably. The transmission case 17 is provided with a support plate 18 protruding downward at the front, and a front end of the support plate 18 is provided with a mounting plate 19b to which receiving plates 19a protruding downward at the front are fixed on both left and right sides. In addition, an auxiliary receiving plate 19c protruding downward and forward is fixed to the front end of each receiving plate 19a.

The raising devices 4 on both the left and right sides are configured such that the upper portion is supported by an upper receiving rod 20a having a transmission mechanism 20c projecting forward from the transmission case 17 and is driven to rotate. The lower part is supported by a lower receiving rod 20b projecting forward from the auxiliary receiving plate 19c. The raising device 4 is provided on both the left and right sides of the front portion of the root vegetable transporting device 6, and the raising device 4 is installed in the raising cases 21 and 21 on both the left and right sides and stretches a rotatable raising chain 22a. In the raising chain 22a,
At a predetermined interval, between the front lower end and the front upper end, the raising lugs 22b project from the raising cases 21 and 21 to serve as raising portions for raising the leaves of the ginseng (a), and do not raise at the rear side. The configuration is a non-working part.

On the rear side of each raising case 21 of each raising device 4, an ON-OF for detecting a carrot (a) planted in a row is provided.
This is a configuration in which left and right direction sensors 10b and 10c of the F type are provided. Turn ON the direction start means 10a provided in the operation device 8.
When the root vegetable harvesting machine 1 is operated and the left and right direction sensors 10b and 10c contact the carrot (A) and both of them are turned ON, the root vegetable harvesting machine 1 is turned on the ginseng (A).
It is detected that the vehicle is traveling along. The buzzer 8a issues a warning when one of the left and right direction sensors 10b and 10c is in the OFF state. The warning sound is configured so that the driver can easily determine which side to change the timbre to steer based on the OFF state of the left / right direction sensors 10b and 10c.

Thus, the driver can easily control the direction of travel. On the lower outer surface of the raising case 21, a weeding body 23 for separating the leaves of the ginseng (a) is provided so as to protrude forward, and as shown in FIG.
And a digging height sensor 24 for detecting the unevenness of the ridges is provided on the outer pulling case 21 on one side. The excavated height sensor 24 has a ground plate 25b mounted on a support plate 25a rotatably provided on the outer surface of the raising case 21 and a potentiometer which is in contact with the upper end of the support plate 25a. Meter 25
and a connection lot 25d for connecting the connection lot c.

The grounding plate 25b of the excavated height sensor 24 rotates according to the height up to the field, and also detects the unevenness of the field and rotates up and down. This detection is input to the CPU 111a of the control device 11 of the operating device 8 as shown in FIG. 3, and the input of this detection is the excavation height set at the operation position of the excavation setting means 9. Is a control reference value. In order to make the excavation height almost the same as the control reference value,
b, or the operation of the excavating part lowering solenoid 26c, the center position of the transmission case 17 is set as the vertical rotation center 26 position, and the vertical cylinder 26a operates to control the vertical rotation of the excavating device 5. The digging device 5 has a configuration in which the digging device 5 is always held at the set constant digging height position and the descent is controlled only to the upper point (X3) of the setting as described above. Is prevented from getting into the ridge to prevent breakage.

With the vertical rotation control of the excavating device 5,
The raising device 4 on both the left and right sides and the root vegetable transport device 6 are also configured to simultaneously perform vertical rotation control. The digging device 5 is provided on the left and right auxiliary receiving plates 19c so as to be vertically adjustable. The excavating device 5 is provided with a support rod 27 projecting obliquely to the lower front.
In the configuration, a digging plate 27b of a predetermined length is attached to the front end of the digging device 5b in the vertical direction, and the digging plates 27b of the digging devices 5 on both the left and right sides dig the left and right sides of the ginseng (a). is there.

A front support plate 16a is provided at a front portion of the support plate 16 of the chassis 7, and a support rod 16b is provided on the front support plate 16a so as to project forward, and a front end of the support rod 16b is provided at the front end of the support rod 16b. The L-shaped rotating plate 16c is provided so as to be rotatable, and the lower end of one side of the rotating plate 16c and the front end of the upper and lower cylinder 26a are connected to each other. Has a structure in which one end of the support rod 16d is attached and provided, and the other end of the support rod 16d is connected to the vicinity of the front end of the receiving plate 19a.

By the operation of the upper and lower cylinders 26a, the rotation plate 16c, the support rod 16d, the receiving plate 19a, the auxiliary receiving plate 19c, and the later-described position are set around the vertical rotation center 26 of the transmission case 17 as the rotation center. In this configuration, the raising device 4, the excavating device 5, the root vegetable transport device 6, and the like are automatically controlled to rotate vertically through the connecting plate 29 and the like. FIG.
As shown in the figure, the marker 23a is inserted into the support 23b so as to be freely movable up and down, and is attached by bolts or the like, and is moved up and down according to the length of the ginseng (a) leaf and the digging situation. , So that the driver can easily confirm the position of the weeding body 23.

Thus, even if the cutting position of the leaves of the carrot (a) and the digging depth are changed, the driver can always easily confirm the position of the weeds 23. As shown in FIGS. 11 and 12, a grounding device 44 is provided below the weeding body 23 so as to be vertically rotatable inserted into a support plate 23c provided below the weeding body 23. The grounding device 44 has a structure in which a grounding plate 44b is fixed to a rotating shaft 44a, and the rotating shaft 44a is rotatably inserted into an insertion hole 23d of the supporting plate 23c. 44
b, a pressing spring 44c for pressing the ground plate 44b against the soil surface is provided.

A support pin 44d is fixedly provided on the grounding plate 44b of the grounding device 44, and the support pin 44e is turned ON and OFF by contacting the ginseng (a) to be harvested.
An N-OFF switch type direction sensor 45 is provided, and this direction sensor 45 is turned on / off by ginseng (a) to determine whether the traveling vehicle 2 is traveling along the ginseng (a). Thus, the traveling direction is controlled.

[0028] Thus, if the ridges are aligned when the vehicle enters the ridge, the operation in the traveling direction is no longer necessary.
Harvesting work is easy. Also, the number of workers can be reduced. Further, by providing the direction sensor 45 to the grounding device 44,
The vertical position of the direction sensor 45 is always a fixed position above the soil surface, and the detection is stable. The transfer device 28 of the root vegetable transport device 6 is provided on both the left and right sides of the rear portion of the raising device 4, and the transfer end portion of the upper end of the transfer device 28 is provided on the rear side of the transmission case 17 via a connecting plate 29. It is supported by a transmission mechanism 32a provided inside a transmission case 32 provided above a support case 31 provided with a transmission mechanism 31a provided therein with a transmission mechanism 31a inclined and protruding forward and upward in a transmission case 30 provided therein with a transmission mechanism 30a. In addition, it is configured to rotate. The transmission case 30 is simultaneously rotated up and down via the connecting plate 29 by the rotation of the transmission case 17.

The transfer device 28 is provided with upper and lower pulleys 28b and 28c rotatably supported at upper and lower ends.
8a. The leaves of the carrot (a) excavated by the excavation device 5 are sandwiched between the transport belts 28a and 28a and transported upward, and are transferred to the neck alignment transport device 33 during the transport. It is because of this.

The neck alignment transfer device 33 of the root vegetable transfer device 6,
The tapping transfer device 34, the leaf transfer device 35, and the leaf cutting device 12 are configured such that the ginseng (a) is provided in a state substantially parallel to a field scene when in a harvesting operation state. The transfer device 2
8, the upper part is formed in a substantially parallel state as shown in FIGS. The transfer belt 28a has a configuration in which the cross-sectional shape is formed in a substantially circular shape and is stretched over upper and lower pulleys 28b and 28c, and a plurality of tension rollers 28d are provided in an upper bent portion. Configuration.

As a result, the ginseng (a) is transferred without being replaced, so that the transfer is smooth, and the tapping transfer device 34 can be eliminated to reduce the cost and reduce the weight and the structure. Be simple. Below the transfer start end of each transfer device 28, pull-out auxiliary transfer devices 49 are provided on both left and right sides as shown in FIGS. 13 to 15, and the pull-out auxiliary transfer devices 49 are upper and lower pulleys 49a, 49.
b, a transfer belt 49c is stretched over the transfer belts, and the transfer devices 28, 28 on the upper and lower sides and the pull-out auxiliary transfer devices 49, 49 hold and extract the ginseng (a) and upward. It is a configuration to transfer.

As a result, the ginseng (a) can be securely clamped, and the transfer performance is improved. Each transfer device 2
As shown in FIGS. 16 and 17, a stay 50 made of an elastic member is provided in an inclined state toward the lower front side on the left and right sides above the transfer start end of No. 8 and cannot be separated by lifting upward with the weeding body 23. The leaves of the ginseng (a) are lifted up and separated by the pair of stays 50.
Further, the stay 50 has a structure in which a spring 50a to cope with the excavation height is provided.

As a result, the carrot (A)
The leaves, which could not be lifted upward, are lifted upward by the stays 50, 50, so that the nipping and transferring by the transfer devices 28 is ensured, and the cutting performance and the excavation work are also ensured. it can. The head alignment transfer device 33
Are provided on the right and left sides of the rear side of the transfer device 28 at a predetermined distance below the transfer end. The transfer end portion of the neck alignment transfer device 33 is connected to an upper transmission case 38 provided on the upper side of a lower support case 37 provided with a transmission mechanism 37a provided in the transmission case 30 so as to protrude upward. -S 38a
It is configured to be supported by a transmission mechanism 38b housed inside and driven to rotate.

The front and rear pulleys 39a and 39b rotatably supported at the front and rear ends of the support plates 39 on both the left and right sides, respectively, as shown in FIG. A plurality of bases of a plurality of V-shaped support plates 40 are rotatably provided between the front and rear pulleys 39a and 39b. La 40
a and 40a are rotatably supported, and these front and rear pulleys 39a and 39b and each tension pulley 4
The transport belt 39c is stretched over Oa and 40a.

The front pulley 39a mounted on the front ends of the support plates 39 on both the left and right sides has a long hole 39e in the left and right direction provided on the support plate 39, which can be moved left and right. In this configuration, the takeover angle at the transfer start end of the transfer belt 39c can be changed from (θ1) to (θ2).
A predetermined gap is provided between the linear portions of the transfer belts 39c, 39c, and the leaves of the ginseng (a) are held and transferred between the transfer belts 39c, 39c. It is configured to be weaker than the clamping force of the transfer belts 28a, 28a.

The support plate 40 has support pins 40b, 4
The support plate 39 is provided with a substantially V-shaped spring plate 39d made of an elastic material. One end of the spring plate 39d is connected to the support pins 40b and 40b.
40b, and each tension roller 40
a are resilient to each other and restored to the neutral position. Each of the head alignment transfer devices 33 holds the ginseng (a) leaf between the transfer belts 28a of the transfer devices 28 and transfers the ginseng to the upper portion. The leaves of the ginseng (a) are sandwiched and handed over between the respective transfer belts 39c. The leaves of the ginseng (a) are sandwiched between the two and are further transported upward by the respective transfer belts 28a. As a result, the transfer belt 39c is moved upward to the lower end position until the upper part of the root of the ginseng (a) abuts, and the necks are aligned.

A transfer terminal 41 of the tapping transfer device 34 is provided with a transmission mechanism 41 housed in an upper support case 41 which is vertically protruded from an upper transmission case 38a of an upper transmission device 38.
a, and is driven to rotate. The tapping transfer device 34 includes a head alignment transfer device 34.
The transfer start end is located substantially at the center in the front-rear direction of the neck alignment transfer device 33, and the front end is rotatably supported at the front and rear ends. The rear pulleys 42a and 42b have a structure in which a transfer belt 42c is stretched over the transfer belts 42c and 42b.
The transfer belt 39c of the neck-alignment transfer device 33 is configured to hold and transfer the leaves of the carrot (a) between the transfer belts 39c.
The transfer belt 42c is sandwiched between the transfer belts 42c, and the transfer belt 42c is transferred to the transfer belt 42c from the middle thereof.

The transfer end of the leaf transfer device 35 is supported by an upper portion of a transmission mechanism 41a housed in an upper support case 41 and is driven to rotate. The leaf transfer device 35 is provided in parallel with a predetermined interval above the tapping transfer device 34, and the transfer start end is located a predetermined distance behind the transfer start end of the tapping transfer device 34.

The leaf transfer device 35 has a structure in which a transfer belt 43c is stretched around front and rear pulleys 43a, 43b rotatably supported at front and rear ends, and the transfer belt 43c on both left and right sides. , 43c, the leaves of the ginseng (a) are sandwiched and transported. Each transport belt 42c of each tapping transport device 34 and each transport belt 4
3c, it is configured to be conveyed while being held by both. Further, from the rear side of the leaf cutting device 12 described later, only the cut leaves cut by the leaf cutting device 12 are transferred, and are transferred to the end portions of both the tapping devices 34 and the leaf transfer devices 35. Then, the cut leaves are discharged from the terminal end into the field.

The leaf cutting device 12 projects downward from an upper transmission case 38a of an upper transmission device 38, and a cutting blade 46a is attached to a shaft end of a rotatable rotary shaft 46. The leaf cutting device 12 has a vertical rotation center 26.
It is provided close to the position of the transmission case 17 and close to the rear end of the transfer end of the neck alignment transfer device 33.
The cutting blade 46 a is configured to be located below the tapping transfer device 34 at a predetermined position below the neck alignment transfer device 33. With this cutting blade 46a, the neck alignment transfer device 3
This is a configuration in which a predetermined position of the leaf portion of the ginseng (a) whose neck is aligned in 3 is cut.

The ginseng lower cutting device 47 is provided with a digging device 5.
The ginseng lower part cutting device 47 is provided on the upper rear portion in an inclined state from the lower front portion to the rear portion.
a are provided in a plurality, and in these two mountain shapes,
Each rotating tool 48c having a plurality of cutting blades 48b mounted on a rotating outer peripheral portion is rotatably supported at predetermined intervals vertically.

The ginseng lower cutting device 47 is sandwiched between the transfer belts 28a of the respective transfer devices 28, and the tip of the root portion of the short length of ginseng (a) being transferred to the upper portion has a lower mountain-shaped guide rod. The carrot (a) is cut at a predetermined position at the tip of the root of the carrot (a) by the lower cutting blade 48b. In addition, the ginseng (a) having a long overall length that is being transported to the upper portion passes through the lower chevron guide rods 48a, and is located between the upper chevron guide rods 48a, 48a. The tip of the cutting blade 4 enters the predetermined position of the tip of the root.
8b. A predetermined position at the tip of the root of the carrot (a) is cut by the total length of the root.

As shown in FIG. 18, the transfer conveyor device 51 is provided in an inclined state from the lower left portion to the upper right portion of the chassis 7 of the traveling vehicle 2 in plan view.
Crosses the chain 52c on the left and right sides of the sprockets 52a and 52b which are supported vertically.
A transfer belt 52d is stretched between c, and a transfer plate 52e is attached to the transfer belt 52d at predetermined intervals in the transfer direction. The carrot (a) is supplied with a cut ginseng (a) in which the leaves at the upper end of the root of the root and a predetermined position at the tip of the root are cut off, and the transfer plate 52e of the transfer belt 52d moves to the transfer end portion. The container is transported, dropped from the terminal end into a storage box 15 provided below, and stored. A drop plate 53a made of a soft material is provided below the transfer end portion, and mud and the like transferred by the transfer belt 52d are moved downward between the transfer belt 52d and the drop plate 53a. It is a configuration to release.

At the transfer start end of the transfer belt 52d,
As shown in FIG. 18, a horizontal V-shaped guide plate 53b is provided at a predetermined interval so as to cover the upper side of the transfer plate 52e. This can prevent the supplied ginseng (a) from falling while being transferred to the upper portion, and can prevent the ginseng (a) from being transferred at the transfer start end.
Is no longer dropped.

The rear side of the undercarriage 7 of the traveling vehicle 2 is shown in FIG.
As shown in FIGS. 9 and 20, an auxiliary chassis 54b for mounting two spare storage boxes 15 for storing ginseng (a) is provided so as to be movable in the left-right direction in plan view and to be vertically foldable. On the right side of the undercarriage 7 in a plan view, the storage box 15 receiving the supply of the cut ginseng (a) transferred by the transfer conveyor device 51 and the cut ginseng (a) are full. In this configuration, a receiving platform 54a on which the storage box 15 is placed is provided at the right end of the chassis 7 in plan view.

Thus, since the auxiliary chassis 54b can be folded, it is compact except during the harvesting operation, and the moving operation can be easily carried. The carriage 54a is provided as shown in FIG.
As shown in FIG. 8, the carriage 54a can be moved up and down by a moving device 55, and at the upper end, the carriage 54a can be moved up and down by the supply amount of ginseng (a). It is configured to move and tilt to prevent the ginseng (a) from being damaged.

As a result, the ginseng (a) is no longer supplied to the storage box 15 from a high place, and the ginseng (a) is not damaged.

[Brief description of the drawings]

FIG. 1 is a diagram showing a relationship between an operation angle of a digging height sensor and a digging range.

Fig. 2 Pulse output specification

FIG. 3 is a block diagram.

FIG. 4 is a circuit diagram

FIG. 5 is an overall side view of the root crop harvester in a working state.

FIG. 6 is an overall side view of the root crop harvester in a non-working state.

FIG. 7 is an overall plan view of the root crop harvester.

FIG. 8 is a transmission configuration diagram of a root crop harvester.

FIG. 9 is an enlarged plan view of the neck alignment transfer device.

FIG. 10 is a view showing another embodiment, and is an enlarged plan view of an operation device section.

FIG. 11 is a view showing another embodiment, and is an enlarged side view of a digging device part.

FIG. 12 is a view showing another embodiment, and is an enlarged side perspective view of a grounding device.

FIG. 13 is a view showing another embodiment, and is an enlarged side view of a transfer device.

FIG. 14 is a view showing another embodiment, and is an enlarged front perspective view of a transfer device.

FIG. 15 is a view showing another embodiment, and is an enlarged sectional view taken on line AA of FIG. 13;

FIG. 16 is a view showing another embodiment, and is an enlarged side view of a transfer device.

FIG. 17 is a view showing another embodiment, and is an enlarged plan view of a transfer device section.

FIG. 18 is a view showing another embodiment, and is an enlarged side view of a transfer conveyor unit.

FIG. 19 is a view showing another embodiment, and is an enlarged plan view of a receiving chassis and an auxiliary chassis portion.

FIG. 20 is a view showing another embodiment, and is an enlarged side view of an auxiliary chassis part.

[Explanation of symbols]

 Reference Signs List 5 excavation device 9 excavation setting means 11 control device 11C non-volatile memory 24 excavation height sensor (a) root crop (carrot) (X2) ground point (X3) upper point (X5) maximum excavation depth point (L) Excavated area

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hajime, Stamp 1 Hatokura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Co., Ltd. (72) Inventor Seiichi Arima 1-Hachikura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Inc. Department F term (reference) 2B072 AA10 BA04 BA30 CA12 DA02 DA05 DA12 EA06 FA03 GA00

Claims (1)

[Claims] 1. A digging setting means 9 for setting a digging height for digging root crops A with a digging device 5, a digging height sensor 24 for detecting a digging height, In a root vegetable harvesting machine provided with a non-volatile memory 11c for storing a ground point (X2) detected by the raising height sensor 24, a maximum excavation depth point (X5), and the like, a predetermined value of the ground point (X2) Top higher point (X
3) a control device for setting the excavation range (L) between the maximum excavation depth point (X5) and controlling the excavation device 5 within the set excavation range (L) An excavation depth control device for a root crop harvesting machine, wherein 11 is provided.