JP2002000009A - Traveling direction-controlling apparatus in combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to surely control a traveling direction in its automatic control during reaping harvesting work of standing grain culms. SOLUTION: When either of the right and left actuators 7a, 7b of a direction controlling sensor 6 for detecting standing grain culms becomes not to detect any grain culm, the traveling direction of the traveling apparatus 11 is changed and controlled. On this occasion, the output time to a direction controlling apparatus 30 which changes the traveling direction is controlled among a long time, a medium time and a short time by a controller 23 according to the speed of a traveling vehicle detected by a vehicle speed sensor 10 for detecting the traveling speed of the traveling apparatus 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling direction control device for controlling the traveling direction of a combine, for example, detection of a direction control sensor for detecting a pilgrim culm and detection of a vehicle speed sensor for detecting a traveling speed of the traveling device. Accordingly, the output time outputted to the direction control device for correcting the traveling direction of the traveling device is changed and controlled.

[0002]

2. Description of the Related Art In a harvesting operation for harvesting and threshing of erected cereal culm by a combine, when the traveling direction of the traveling device is automatically controlled along the left and right strips of the erected cereal culm, the traveling is performed. When the automatic switching means for switching the traveling direction of the device to the automatic control is operated to be turned on, and the traveling is performed, one of the left and right actuators on the left and right sides of the direction control sensor provided on the herbaceous body does not contact the grain culm. And the potentiometer on the non-contact side is turned off, and this OF
F is input to the control device, and by this OFF, it is detected that the vehicle is traveling with the combine approaching the other potentiometer on the ON side.

Based on this detection, a signal is output from the control device to a direction control device for correcting the traveling direction of the traveling device for a fixed time period regardless of the traveling speed of the traveling device. The traveling direction is changed and controlled by the direction control device, the herbaceous body advances along the left and right strips, the combine is normally driven, and the harvesting operation is performed.

[0004]

At present, the output time of the change of the traveling direction from the control device to the direction control device is a fixed time, so that the control of the change of the traveling direction is not effective depending on the working speed at the time of the harvesting operation. However, the present invention is intended to solve this problem.

[0005]

For this purpose, the present invention provides a direction control sensor 6 comprising left and right left and right actuators 7a, 7b for detecting standing culm, potentiometers 8 and the like, and a traveling device. A vehicle speed sensor 10 for detecting the traveling speed of the traveling device 11, automatic switching means 22 for switching the traveling direction of the traveling device 11 to automatic control,
When the automatic switching means 22 and the direction control sensor 6 are in the ON state and the traveling vehicle speed detected by the vehicle speed sensor 10 is detected as a low speed in a combine provided with the direction control device 30 or the like for correcting the traveling direction of the vehicle, The direction control device 3
The output time to 0 is set to long-term control, and when it is detected that the speed is high, the output time is set to short-time control. Further, when it is detected that the speed is medium, the output time is approximately halfway between the low speed and the high speed. A control device 23 for controlling the output time is provided.
The right actuators 7a and 7b are the herd 4 that separates the culm.
And the front end portions of the left and right actuators 7a and 7b are located at substantially the same position in the front-rear direction.

[0006]

In the harvesting operation for cutting and threshing the erected cereal culm with a combine, when the traveling direction of the traveling device 11 is automatically controlled along the strips on both the left and right sides of the erected cereal culm, the cultivation is carried out. When the automatic switching means 22 for switching the traveling direction of the traveling device 11 to the automatic control is turned ON, and the traveling is performed,
Left and right actuators 7a and 7b on the left and right sides of a direction control sensor 6 provided on a weeding pipe 5 of a weeding body 4 for separating culms.
When one of the left and right actuators 7a and 7b provided at the front end of the left and right actuators 7a and 7b does not come into contact with the grain culm, the potentiometer 8 on the non-contact side is turned off. OFF is the control unit 23
When the combine is approaching the potentiometer 8 which is on the other side, it is detected that the vehicle is traveling.

The traveling speed of the traveling device 11 is detected by a vehicle speed sensor 10 and input to a control device 23. When the detected vehicle speed is detected to be low speed by the detection of the direction control sensor 6 and the detection of the vehicle speed sensor 10, the control device 23 corrects the traveling direction of the traveling device 11 to the control device 23. Is controlled for a long time to correct the traveling direction. When it is detected that the detected vehicle speed is high, the output time is controlled to be short, and the traveling direction is corrected. Further, when the detected vehicle speed is detected to be a middle speed, the output time is controlled to an approximately intermediate time between the low speed and the high speed, and the traveling direction of the combine is changed and controlled by the direction control device 30,
The weeds 4 move along the left and right strips, and the combine is normally driven to perform the harvesting work.

[0008]

According to the first aspect of the present invention, the output time to be output to the direction control device 30 for correcting the traveling direction of the traveling device 11 is changed and controlled by the traveling vehicle speed of the traveling device 11, so that the running time can be reduced. Detachment can be prevented, and stable harvesting can be performed.

The effect of claim 2 is that, since the front end portions of the left and left actuators 7a and 7b of the direction control sensor 6 are located at substantially the same position in the front-rear direction, there is no deviation in control timing, and the detection accuracy is stabilized, and Detachment from the gap can be prevented.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. A mowing machine 3 is provided on the front side of the traveling platform 2 of the combine 1. The mowing machine 3 is provided on a weeding pipe 5 of a weeding body 4 that separates the pied cereal culm at the tip of the mowing machine 3, and is provided on the left and right side of the grain culm on both sides. Direction control including left and right actuators 7a and 7b on both left and right sides that detect the culm in contact with each other, and each potentiometer 8 of the ON-OFF type that is turned on and off by the left and right actuators 7a and 7b. Sensor 6
, A transmission case 9 containing a transmission mechanism 9a for traveling, and a vehicle speed sensor 1 contained in the transmission case 9
0 is illustrated and described.

A traveling device 11 having a pair of left and right traveling crawlers 11a traveling on the soil surface is disposed below the traveling platform 2 of the combine 1 as shown in FIG. Has a threshing machine 12 mounted thereon.
The reaping culm is cut by the reaper 3 on the front side of the traveling chassis 2,
The harvested culm is transferred by the harvester 3 and the threshing machine 1
The grain storage tank 14, which takes over and transports and threshes by the feed chain 13a and the holding rod 13b of the second threshing, collects the threshed and sorted kernels, and temporarily stores them, is mounted on the right side of the threshing machine 12. This is the configuration.

In front of the traveling platform 2 in front of the threshing machine 12, as shown in FIG. A raising device 16 for raising, a raking device 17a for raking the raised grain stalk, a cutting blade device 18 for cutting the stalked grain culm, and a threshing machine 1 for nipping and transferring the harvested grain stalk.
The reaper 3 provided with a cereal culm transfer device 17b and the like for transferring the culm to the feed chain 13a and the holding rod 13b is configured to be able to move up and down on the soil surface by a telescopic cylinder 19 driven by hydraulic pressure. .

The weeding body 4 comprises a front weeding plate 5a and a weeding pipe 5. As shown in FIGS. 2 to 5, the weeding pipe 5 of the weeding body 4 on the left outside on one side is provided with a direction control sensor 6 that is in contact with the grain culm of one side streak on both the left and right sides.
Boss 7c provided at the base of left actuator 7a
Is configured to be rotatably mounted on a rear support pin 5b provided on the rear side of the weeding pipe 5. A rotating boss 7d provided at the base of the right actuator 7b that contacts the grain stalk of the other side is provided with a front support pin 5 provided on the weeding pipe 5.
This is a configuration in which it is rotatably mounted on the c. These left and right actuators 7a and 7b are provided at predetermined intervals to be provided vertically, and the front side surface of the front end portion is provided at substantially the same position in the front-rear direction in plan view, and the timing of contact with the grain culm is provided. The timings are almost the same.

The ON-OFF operation is performed by turning the left and right actuators 7a and 7b of the direction control sensor 6.
The OFF-type potentiometers 8 and 8 are individually provided within the rotation operation range of the left and right actuators 7a and 7b, and these left and right actuators 7a and 7b are pushed by the grain stem and rotated. And the potentiometers 8, 8
Is turned on, and in this ON state, the traveling device 11 of the combine 1 travels normally along the strip, and the harvesting operation is performed normally. When the left or right actuator 7a, 7b on one side is not turned and the non-rotating potentiometer 8 is in the OFF state, the traveling device 11 of the combine 1 is connected to the rail. This is a configuration in which the vehicle travels to one side without following the road. In this case, the traveling direction is corrected.

By providing the front side surfaces of the front ends of the left and right actuators 7a and 7b at substantially the same position, there is no shift in the timing of contact with the grain culm, and the grain culm can be detected accurately. , And can be prevented from running off the strip. At the front of the threshing machine 12, as shown in FIG. 7, an operating device 20 for performing operations such as starting, stopping, and adjusting each part of the combine 1, and a cockpit 20 a on which an operator who performs these operations is mounted. An engine 21 is mounted below the cockpit 20a and above the traveling chassis 2, and a grain storage tank 14 is disposed behind the engine 21. The traveling device 11, the reaper 3, and the threshing machine 12
And the engine 21 and the like, the body 1a of the combine 1
Is formed.

On the surface plate of the operation device 20, there is provided an O which is operated when the traveling direction of the traveling device 11 is switched to automatic control.
The configuration is such that an N-OFF switch type automatic switching means 22 is provided and a control device 23 is provided inside. In the grain culm transfer path formed by the grain culm transfer device 17b of the mowing machine 3, the presence or absence of the supply of the grain culm to the threshing machine 12 is detected by contacting the grain culm to be cut and transferred. This is a configuration provided with a grain culm sensor 3a.

In the transmission path of the transmission mechanism 9a in the traveling transmission case 9 mounted on the front end of the traveling chassis 2, a potentiometer system for detecting the traveling vehicle speed based on the output rotation speed is provided. This is a configuration in which a vehicle speed sensor 10 is provided. The vehicle speed detected by the vehicle speed sensor 10 is 0.4 km /
h or less, it is detected that the speed is low, and 0.4 km / h
When the speed is equal to or higher than 0.8 km / h, it is detected that the vehicle is at the middle speed.

A transmission mechanism 9a in the transmission case 9
As shown in FIG. 6, axles 25, 25 are provided on the left and right ends of the lowermost end at the left and right ends, and a driving sprocket 25a is provided on the outer ends of these axles 25. The traveling crawler 11a is stretched over the driving sprocket 25a and the driven sprocket 26 provided at a rear portion outside the traveling chassis 2. A running gear 25b is pivotally supported at the inner end of the axle 25.

As shown in FIG. 6, a clutch shaft 27 of a direction control device 30 is provided on the upper side of the axle 25, and a center gear 27a is provided on the clutch shaft 27 so as to be supported by the center gear 27a. The left and right sides of the inner diameter portion are provided with side clutch gears 27b fitted to the inner diameter portion.
The side clutch gears 27b are configured to mesh with the traveling gears 25b of the respective axles 25.

Each of the side clutch gears 27b is configured to "ON" and "OFF" by slidingly moving the respective side clutch gears 27b by the operation of the right and left shifters 28. ”, The left and right brake plates 29
Are operated to cut power transmission and apply a braking force.
Each of these shifters 28 is configured to be operated by the solenoid 24 that moves backward.

As shown in FIGS. 1 and 7, the control device 23 of the operating device 20 will be described with reference to FIGS. 1 and 7. Automatic switching means for switching the traveling direction of the traveling device 11 to automatic control. 22 and the traveling vehicle speed detected by the vehicle speed sensor 10, and the left and right actuators 7a and 7b of the direction control sensor 6 are pushed by the grain stalks to be pivotally operated. Meter 8,
8 is an ON-OFF operation. The ON-OFF operation means that the input circuit 23a inputs the data to the CPU 23b, and these inputs allow the CPU 23b to output the left and right directions of the direction control device 30 through the output circuit 23c. The left and right side shifters 28, 28 for "on" and "off" of the side clutch gears 27b, 27b on both sides are output to the left and right solenoids 24, 24 for rotating and operating.

The operation of the control device 23 will be described. The automatic switching means 22 is turned on and detected as being ON, and the traveling vehicle speed of the traveling device 11 detected by the vehicle speed sensor 10 is, for example, 0.4 km / h. When it is detected that the vehicle speed is lower than the vehicle speed, the left actuator 7a on either one of the left and right sides of the direction control sensor 6 is not operated, and the left potentiometer is not operated. When the controller 8 is detected to be in the OFF state, the controller 23 outputs the signal to the solenoid 24 on the left side. This output time is long. For example, 180 m. During the output, the left side clutch gear 27b is controlled to be in the “disengaged” state, and the left traveling crawler 11
a is in a stopped state, the traveling direction of the traveling device 11 is controlled to turn to the left, the potentiometers 8 on both the left and right sides are controlled to be in an ON state, and the weeding body 4 advances along the streak. It is a configuration to do.

The traveling vehicle speed of the traveling device 11 detected by the vehicle speed sensor 10 is, for example, 0.8 km / h or more.
If it is detected that the vehicle is at a speed of 1.0 km / h or less and the vehicle speed is high, the same as above if the left potentiometer 8 is detected to be in the OFF state as described above. Is output to the left solenoid 24. This output time is short. For example, 90m. During the output, the left side clutch gear 27b is controlled to be in the “disengaged” state, and the left traveling crawler 11
a is in a stopped state, the traveling direction of the traveling device 11 is controlled to turn to the left, the potentiometers 8 on both the left and right sides are controlled to be in an ON state, and the weeding body 4 advances along the streak. It is a configuration to do.

The traveling speed of the traveling device 11 detected by the vehicle speed sensor 10 is, for example, 0.4 km / h or more.
When it is detected that the vehicle speed is 0.8 km / h or less and the vehicle speed is a medium speed, it is output to the left solenoid 24 in the same manner as described above. This output time is approximately an intermediate time between the short time and the long time. For example, 135 m. During the output, the left side clutch gear 2 is output during this output.
7b is stopped, the traveling crawler 11a on the left side is stopped, and the traveling direction of the traveling device 11 is controlled to turn to the left, and the potentiometers 8, 8 on the left and right sides are controlled.
Is controlled to be in the ON state, and the weeding body 4 travels along the streak.

Contrary to the above, the right actuator 7b on the right
Is not operated, and when the right potentiometer 8 is detected to be in the OFF state, the control is performed in the opposite direction. The side clutches 27b, 27b on both the left and right sides of the direction control device 30 are determined by the low, medium, and high speeds of the traveling device 11 detected by the vehicle speed sensor 10.
By controlling the output time to the left, right and left solenoids 24 for turning the left and right shifters 28, 28 to "turn on" and "turn off" the long, medium, and short times, the weeding body 4 can maintain the distance between the strips. It is a configuration that can be advanced without deviating from

The grains stored in the grain storage tank 14 are discharged to the outside of the machine.
A discharge support cylinder 31 having a vertical transfer spiral 31a therein is rotatably mounted in a substantially vertical posture and provided on the upper end of the discharge support cylinder 31. In this configuration, a discharge auger 32 in which a discharge spiral 32a for discharging particles is provided so as to be extendable and retractable is disposed in a lateral direction so as to be extendable, retractable, and rotatable.

At a predetermined position in the front-rear direction of the weeding pipe 5 of the left outer weeding body 4, a left actuator 7a of the direction control sensor 6 is rotatably provided as shown in FIG. A potentiometer 8 is provided, and the weeding pipe 5 of the third weeding body 4 from the left is placed at the same position as the left outer weeding pipe 5 as shown in FIG. The right actuator 7b is rotatably provided and a potentiometer 8 which is turned on / off by the actuator 7b is provided.
Accordingly, each of these herbaceous bodies 4 is configured to advance between the strips.

Since the left and right actuators 7a and 7b of the direction control sensor 6 are provided at substantially the same position in the front-rear direction, it is possible to eliminate the difference between the left and right detection timings. The left actuator 7a of the direction control sensor 6
For example, when the potentiometer 8 is turned off without being pushed by the grain stem and turned, the control device 23 determines the traveling mission by the control device 23 based on the traveling vehicle speed of the traveling device 11 detected by the vehicle speed sensor 10. The output time to be output to the left solenoid 24 that rotates the left shifter 28 that changes the running direction while being mounted in the case 9 is controlled as follows.

The vehicle speed sensor 10 determines that the running vehicle speed is 0.4 k.
When it is detected that the speed is less than m / h, it is detected that the speed is low,
The output time output at this low speed is configured to output continuously. Further, when it is detected that the speed is 0.4 km / h or more and 0.8 km / h or less, it is detected that the vehicle is at the middle speed, and the output time at this middle speed is 110 m. sec, or 135 m. The output is performed during sec. Further 0.8
If it is detected that the speed is not less than km / h and not more than 1.0 km / h, it is detected that the speed is high. The output is performed during sec.

Thus, by controlling the output time of the traveling vehicle speed to be changed, it is possible to prevent out-of-line and to prevent the remaining mowing. At the front of the raising device 16, an auxiliary raising device 33 is provided as shown in FIGS.
The auxiliary raising device 33 is provided at the upper and lower ends of the left and right auxiliary raising cases 34a, 34b on both the left and right sides so as to be pivotally supported.
The lower sprockets 34c and 34d are structured such that auxiliary raising chains 35 each having an auxiliary raising lug 35a mounted thereon are stretched at predetermined intervals. The auxiliary raising device 33 includes the raising device 16.
Is rotated by a transmission mechanism 36a housed in a gear case 36 that connects the front side of the auxiliary raising device 33 to the outer side. The upper surface of the gear case 36 is provided with a mounting boss 36b.

The auxiliary raising lug 35 of the auxiliary raising device 33
a is an action portion that protrudes from the left and right auxiliary raising cases 34a and 34b and is driven to rotate to raise the grain stalk between the front lower portion and the front upper portion. The auxiliary raising lug 35a is a configuration of a non-acting portion that is driven to rotate in the housed state and does not raise the grain stem.

A mounting stay 37 is provided inside the front raising case 16a of the raising device 16, and the mounting stay 37 is provided.
The upper end of the main stay 38 is mounted on the inner surface of the raising case 16a with bolts, nuts, and the like, and the lower end of the main stay 38 is mounted on the gear case 36a.
Is mounted on the upper surface of the mounting boss 36b with a bolt or the like. The main stay 38 is provided with the raising case 38.
And the auxiliary lug 35a is mounted at a position where the auxiliary raising lug 35a does not interfere with the rotation locus.

Thus, when attaching and detaching the auxiliary raising device 33, the auxiliary raising device 33 can be attached and detached without removing the front raising case 16a of the raising device 16, thereby facilitating attachment and detachment. The left and right raising cases 34a of the auxiliary raising device 33,
As shown in FIGS. 10 to 12, left and right mounting plates 39a and 39b are fixedly provided on the outer side surface of the left and right mounting plates 39a and 39b. Part 40
a, and a rear receiving portion 40b of the cutout portion is provided at the rear portion.

As shown in FIGS. 10 to 12, left and right receiving plates 41 are provided on the left and right sides of the forward portion of the weeding pipe 5 of the weeding body 4.
a and 41b are fixed, and a supporting bolt 42 is fixedly provided on both front and rear sides of the left receiving plate 41a. A support pin 43 for support is fixedly provided on both front and rear sides of the right receiving plate 41b.

The supporting bolts 42, 4 of the left receiving plate 41a
The front and rear receiving portions 4 of the left mounting plate 39a of the auxiliary raising device 33 at 2
0a and 40b are received and supported.
a and 42a are screwed and tightened. The support pins 43 of the right receiving plate 41b receive and support the front and rear receiving portions 40a, 40b of the right mounting plate 39b of the auxiliary raising device 33.

By tightening only one side of the auxiliary raising device 33 with the nuts 42a, 42a, even when a large load is applied to the auxiliary raising device 33, the auxiliary raising device 33 is not shifted and only one side is tightened. It is easy to attach and detach. The floating sprocket is provided at the outer periphery of a support shaft 45 that supports a floating sprocket 44 provided on the outer side below the upper sprocket 34c in the left and right auxiliary raising cases 34a and 34b of the auxiliary raising device 33. 4
As shown in FIGS. 13 and 14, the rotation locus of the auxiliary raising lug 35a is largely deformed inward on the left and right outer portions, and is made of a round bar material or a plate material for restricting the rotation driving. In this configuration, guides 46 are provided.

The rotation trajectory of the auxiliary raising lug 35a is regulated by each guide 46, so that the auxiliary raising lug 35a
It is possible to prevent the mechanical lock of the auxiliary raising chain 35 to which a is attached.

[Brief description of the drawings]

Fig. 1 Block diagram

FIG. 2 is an enlarged plan view of a direction control sensor.

FIG. 3 is an enlarged side view of the direction control sensor.

FIG. 4 is an enlarged plan view of the left and right actuators.

FIG. 5 is an enlarged side view of a mounting portion of the direction control sensor.

FIG. 6 is an enlarged front sectional view of a transmission case.

FIG. 7 is an overall side view of the combine.

FIG. 8 is a view showing another embodiment, and is an enlarged plan view of a mounting portion of the direction control sensor.

FIG. 9 is a view showing another embodiment, and is an enlarged side view of an upper mounting portion of the auxiliary raising device.

FIG. 10 is a view showing another embodiment, and is an enlarged side view of a lower mounting portion of the auxiliary raising device.

FIG. 11 is a view showing another embodiment, and is an enlarged front view of the lower portion of the auxiliary raising device.

FIG. 12 is a view showing another embodiment, and is an enlarged front view of a lower mounting portion of the auxiliary raising device.

FIG. 13 is a view showing another embodiment, and is an enlarged side view of a guide portion of the auxiliary raising device.

FIG. 14 is a view showing another embodiment, and is an enlarged front sectional view of a guide portion of the auxiliary raising device.

[Explanation of symbols]

 4 Weeding body 5 Weeding pipe 6 Direction control sensor 7a Left actuator 7b Right actuator 8 Potentiometer 10 Vehicle speed sensor 11 Traveling device 22 Automatic switching means 23 Control device 30 Direction control device

Claims (2)

[Claims] 1. A directional control sensor 6 comprising left and right actuators 7a and 7b on the left and right sides for detecting a pilgrim culm and potentiometers 8 and the like; a vehicle speed sensor 10 for detecting a traveling speed of a traveling device 11; In a combine provided with automatic switching means 22 for switching the traveling direction of the traveling device 11 to automatic control and a direction control device 30 for correcting the traveling direction of the traveling device 11, the automatic switching means 22 and the direction control sensor are provided. When the traveling speed detected by the vehicle speed sensor 10 is low when the vehicle speed sensor 6 is ON, the output time to the direction control device 30 is controlled for a long time. When the traveling speed is detected as high speed, the output time is controlled. For a short time,
A traveling direction control device for a combine, further comprising a control device (23) for controlling the output time at an intermediate time between the low speed and the high speed when detecting that the vehicle is at a middle speed. 2. The structure according to claim 1, wherein said left and right actuators 7a and 7b are provided on a weeding pipe 5 of a weeding body 4 for separating cereal culm, and said left and right actuators 7a and 7b are provided on said weeding pipe 5.
A traveling direction control device for a combine, wherein front end portions of a and 7b are provided at substantially the same position in the front-rear direction.