JP2002186322A - Height detection sensor for vegetable harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such a problem that, since a conventional height detection sensor has a constitution of arrangement of vertical installation position in the vertical direction, when the position is adjusted downwardly, the sensor is separated backward from the transportation starting end part of a nipping transportation apparatus and follow-up property of control (responsiveness) is deteriorated. SOLUTION: In a vegetable harvester having a constitution that in order to solve the problem, the transportation starting end part 2a of the nipping transportation apparatus 2 constituted of a pair of right and left nipping belts 1 and 1' is supported adjustably in height relatively to the ground, a height detection sensor having a constitution that the sensor vertically adjustable along the inclination direction of a stem and leaf causing apparatus 3 is made as the height detection sensor 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensor for detecting the height of a vegetable harvester, and belongs to the technical field of agricultural machinery.

[0002]

2. Description of the Related Art In a conventional vegetable harvester, root vegetables, for example, carrots and radish foliage, which are planted in a field, are clamped on a vehicle body equipped with a traveling device by a pair of left and right clamping belts.
A pull-out type root vegetable harvesting machine that forcibly pulls out and harvests from the field by the cooperative action of the running car body and the holding belt that is rotationally driven, and vegetables that are manually harvested from the field by an auxiliary worker Vegetable harvesting machine of the type of collecting and transporting it to the car body side by collecting it on a harvesting conveyor device, and growing vegetables in the soil such as onions and potatoes, There is a harvester configured to harvest while digging by a digging machine that progresses.

[0003] The pull-out type root vegetable harvesting machine,
In order to maintain the nipping and conveying start ends of the pair of left and right nipping belts at a predetermined height from a field scene, a technique of controlling a height by providing a height detection sensor is used.

[0004]

In the above-mentioned conventional vegetable harvesting machine, the holding and conveying device having a structure in which a pair of right and left holding belts hold and excavate the roots and foliage of root crops planted in a field is provided. It is necessary to properly maintain the distance (height) between the section (transfer start end) and the surface of the field, and the height is always detected by the height detection sensor and the height is controlled based on the detection information. I have.

[0005] In order to change and adjust the height reference according to the actual condition of the field (soil conditions, differences in varieties, etc.), this kind of conventional pinching and conveying apparatus moves the height detection sensor up and down to the height position. , But the adjustment direction is vertically adjusted vertically. Therefore, the detection sensor, particularly when the mounting position is adjusted downward in order to increase the distance between the transport start end of the nipping transport device and the field surface (to increase the reference), from the transport start end of the nipping transport device There is a problem that the follow-up (response) of the control is deteriorated due to the backward separation.

[0006]

SUMMARY OF THE INVENTION The present invention takes the following technical means in order to solve the above-mentioned problems. First, the invention of claim 1 constitutes the nipping and conveying device 2 by a pair of left and right nipping belts 1 and 1 ′ provided with the starting end facing the field scene and the ending end positioned above the rear and inclined. In a vegetable harvesting machine constructed such that the transport start end 2a of the nipping and transporting device 2 is supported on the ground so that the height can be adjusted, a lower portion is forward and an upper portion is backward in front of the nipping and transporting device 2. The foliage raising device 3 is provided by inclining, and the height detection sensor 4 arranged behind the starting end of the foliage raising device 3 can be adjusted up and down along the inclination direction of the foliage raising device 3. It is a height detection sensor of the vegetable harvester configured.

[0007] Next, according to a second aspect of the present invention, a pair of left and right holding belts 1 and 1 'are provided with the start end facing the field scene and the end end positioned above the rear end. The transport start end 2a of the nipping transport device 2 is
In a vegetable harvester constructed so as to be height-controllable with respect to the ground, a foliage raising device 3 is provided in front of the nipping and conveying device 2 by inclining the lower portion forward and the upper portion rearward. The virtual extension line connecting the tip 5a of the weeding rod 5 provided on the front side of the starting end of the foliage raising device 3 and the ground contact 4a of the rear height detection sensor 4 is approximately 10 degrees with respect to the ground surface. It is a height detection sensor of a vegetable harvester configured to hold a slight inclination angle.

[0008]

Since the present invention is constructed as described above, the first aspect of the present invention is to set the height of the transport start end of the nipping transport device to a shallow (high) reference. When the position of the detection sensor is adjusted downward, although slightly, the sensor moves to the front side (along the inclination direction of the foliage raising device) and the detection timing is advanced, so that the follow-up (response) in the control operation is improved. There are features that can be improved.

Next, according to the second aspect of the present invention, even in a harvesting operation on a slope (climbing), the height detection is performed while the height detection sensor works properly without the tip of the weeding rod sticking into the field scene. There is a feature that the height of the nipping transport device can be controlled.

[0010]

Embodiments of the present invention will be described below. First, as shown in FIGS. 3 to 6, the vehicle body 6 is mounted on a pair of left and right driving sprockets 9 of a wheel shaft 8 provided on both sides from a traveling transmission device 7 provided at a low position at the front. Is provided.

The traveling transmission device 7 is communicably connected to an engine mounted on the vehicle body 6 and includes a transmission, a side clutch, a side brake, and the like.
The transmission is performed while the crawler 10 is steered. Then, as shown in FIG. 3 to FIG.
A control seat 11 is provided on the front right side, and a later-described holding / conveying device 2 (holding belts 1 and 1 ') and a series of devices (shoulder alignment belt 12, leaf cutting cutter, -13), the conveyor 14 and the storage container are arranged to constitute a ginseng harvester.

Therefore, first, as shown in FIGS. 4 to 6, the holding and conveying device 2 is composed of a pair of left and right holding belts 1 and 1 '. When,
It is wound around the drive pulley 16 at the end.
As shown in FIGS. 4 to 6, the nipping and conveying device 2 is inclined on the left side of the vehicle body 6 with the start end facing the ground at the lower front and the end located at the upper rear. , A transmission frame 17 supporting the drive pulley 16,
Further, power is transmitted through a transmission path connected to the transmission cylinder 18 and the transmission case 19 connected below.

In the case of the embodiment, the nipping and conveying device 2 has a structure shown in FIG.
As shown in FIG. 6, the transmission case 19 is pivotally connected integrally to a transmission support device 20 of the vehicle body 6, and is firmly connected to and supported by a body frame 21 extending forward and downward.
The rear part of the body frame 21 is vertically rotated about a rotation fulcrum so that it can be freely moved up and down.

As shown in FIGS. 5 and 6, an airframe 21 is provided with a lifting device 22 provided between the vehicle body 6 and the vehicle body 6. As shown in FIG.
The vertical movement can be adjusted up and down. The lifting device 22 is connected to the hydraulic cylinder 23 and the lifting link 2.
4 and is configured to move up and down.

As described above, the nipping and conveying device 2 has the start end supported by the front of the body frame 21 and the end end provided with the transmission case.
From a gear 19 via a transmission cylinder 18 and a transmission frame 17 to a transmission support device 20 of the vehicle body 6 and vertically move up and down. Although not specifically shown, the elevating device 22 is capable of performing an elevating operation by a switch operation from the cockpit 11, and furthermore, is controlled by a control signal to be output based on the detection of the height detecting sensor 4 described later. The height can be automatically controlled.

The holding and conveying device 2 configured as described above
Is a pair of left and right sandwiching belts 1 at the transport start end,
1 ′, the base of the carrot foliage (portion near the shoulder of the ginseng pulp) is sandwiched and pulled out from the field scene by the forward action of the car body 6 and the upward conveying force, and suspended in the upward and backward directions. And harvesting.

The nipping / conveying device 2 can adjust the nipping force at the position where the ginseng is extracted from the field at the starting end of the nipping belts 1 and 1 '. The necessary tension was secured. As shown in FIGS. 5 and 6, the shoulder alignment belt 12 is disposed below the end portions of the holding belts 1 and 1 ′ and provided substantially horizontally. The foliage cutting cutter 13 is composed of a pair of left and right disc cutters, and is provided on the shaft immediately after the shoulder alignment belt 12 (lower side), and is supplied while being sandwiched by the upper tapping belt 25. The base of the carrot foliage is cut off.

A leaf discharge belt 26 is provided above the tapping belt 25, as shown in FIGS. 5 and 6, to pinch the foliage cut from the flesh portion and discharge it from the terminal end to the outside of the machine. It has a configuration. Next, as shown in FIGS. 1, 3, and 4, the foliage raising device 3 is a horizontal raising device in which the raising lugs 27 project laterally with respect to the traveling direction of the vehicle body 6 and rotate. In front of the start end of the holding / conveying apparatus 2 already described, the start end is raised to the lower front, and the end is raised to the rear upper to be inclined rearward and supported on the body frame 21 side. I have. In the case of the embodiment, as shown in FIGS. 3 and 4, the foliage raising device 3 is provided to be disposed on the right side in the traveling direction, and on the left side, the lug is raised on the traveling side (front side). A vertical raising device 29 that protrudes and rotates 28 is provided. As described above, the foliage raising device 3 first raises the ginseng foliage separated from the adjacent foliage by the vertical raising device 29 and engages with the lugs 276 to elongate the ginseng, thereby performing the action of growing the ginseng. The neck portion is arranged at a position where the neck portion is supplied to the starting end side of the holding and conveying device 2.

Next, as shown in FIGS. 1, 3 and 4, the height detecting sensor 4 is made up of a wide-width, grounding-type detecting plate. It is configured as a grounding section 4a. And adjustment plate 3
1, as shown in FIG. 1, the sensor box 30 is fixed to the lower side, and a plurality of adjustment holes 32, 32'32 "are provided;
With the adjusting screw 33, it can be mounted on the mounting plate 35 provided in the middle part of the supporting device 34 of the weeding rod 5 so that it can be freely adjusted up and down. In the case of the embodiment, the adjustment plate 31 is located below the foliage raising device 3 and, when adjusted vertically, moves obliquely along the inclination direction of the foliage raising device 3,
The height detection sensor 4 can be adjusted obliquely.

As described above, the height detection sensor 4 moves obliquely along the inclination direction of the foliage raising device 3 when the mounting position is changed upward and downward, and thus, it moves slightly back and forth. The position is adjusted up and down while doing so. In the nipping and conveying device 2, the ground height is detected by the ground contact portion 4a of the height detection sensor 4, and a control signal is output from the control means to the elevating device 22 based on the detected information, and the height control is performed. Configuration.

As shown in FIG. 2, the height detection sensor 4 has an imaginary extension line aa connecting the tip 5a of the weeding rod 5 and the grounding portion 4a. Thus, the inclination angle is maintained at about 10 degrees. The mounting angle between the two is effective when climbing up a slope and traveling without climbing the tip 5a of the weeding rod 5 into the soil.
The followability of the control can be improved. The sub-soiler 36 is provided so as to be capable of vibrating on both the left and right sides of the transport start end 2a of the nipping transport device 2, and the sub-soiler is vibrated while traveling in the soil to plant ginseng. The soil on both sides is softened to facilitate excavation.

The operation of the vegetable harvester configured as described above will be described. First, the vegetable harvester positions the height detection sensor 4 in order to set the excavating height of the sandwiching belts 1 and 1 'according to the field conditions, and then starts the engine and rotates the machine. While driving the respective parts, the crawler 10 is transmitted to advance the vehicle body 6 into the field, and the ginseng harvesting operation is started.

Then, as shown in FIG. 4, the ginseng planted in the field includes the weeding rod 5 which is traveling at a low position while contacting the ground at the front, and the vertical raising device 29 on the corresponding side.
Is induced between. And one of the carrots is a weeding rod 5
The left and right intertwined stems and leaves are vegetated, and the other is protruded in the forward direction and is rotated upward.
9, the foliage portion is guided and guided by reaching the working area of the raising lug 28, and is further raised by receiving the action of the foliage raising device 3 in which the lug 27 is rotated laterally.

Subsequently, the subsoiler 36 reaches the side of the ginseng as the vehicle body 6 advances while oscillating in the soil,
The surrounding soil is softened by vibration to make it easy to pull out, and the ginseng is pulled up by the starting ends of the holding belts 1, 1 'while holding the ginseng.

In this manner, the ginseng is nipped by the pair of left and right nipping belts 1 and 1 'and conveyed upward, and when reaching the end portion, is replaced by the shoulder alignment belt 12 and the conveying direction is changed rearward. Then, the foliage is cut off by the foliage cutting cutter 13 while being transferred to the tapping belt 25.

The ginseng is transferred to the conveyor 14 and conveyed to the side of the vehicle body 6 and continuously conveyed to the storage container for harvesting. As described above, during the ginseng harvesting operation, the nipping and conveying device 2 includes the foliage raising device 3
Is controlled based on the detection information of the height detection sensor 4 arranged below the hydraulic cylinder 23 and the lifting link 2.
4. The ginseng is continuously excavated while being adjusted up and down through the body frame 21. In this case, the holding and conveying device 2
As shown in FIGS. 5 and 6, the transmission support device 20 at the rear of the vehicle body 6 is connected to the rear of the body frame 21 and the transmission cable.
The end of the screw 19 is rotatably supported, and the lifting and lowering device 22 keeps ascending and descending from this point as a base point.

In some cases, the vegetable harvester performs a harvesting operation in a field with an ascending slope. At this time, as shown in FIG. A virtual extension line (aa) connecting the sensor 4 to the ground part 4a
However, since the inclination angle of about 10 degrees is maintained with respect to the ground surface (bb), the tip of the weeding rod 5 does not penetrate into the soil, and the control followability is improved. Can be.

The height detecting sensor 4 adjusts the position of the transport start end 2a of the nipping transport device 2 to a shallow (high) reference when the position thereof is adjusted downward.
Therefore, the vehicle moves slightly to the front side and the detection timing of the ground height is advanced, so that the responsiveness (responsiveness) in the control operation can be improved.

Another Embodiment 1 Next, another embodiment 1 will be described with reference to FIGS. 7 and 8 while referring to the above description and FIGS. 1 to 6 of the accompanying drawings. Another embodiment 1 relates to a mounting position of the height detection sensor 4 and the subsoiler 36 (a front-rear position in a side view).

First, the height detection sensor 4 is usually
As shown in FIG. 7, the sub-soiler 36 is provided in front of the sub-soiler 36 so as to prevent the plowed soil mass from falling into the front side of the ground contact portion 4a due to the vibration of the sub-soiler 36 during forward running. ing. As described above, if the height detection sensor 4 has a configuration in which the ground contact portion 4a is located at the front position of the subsoiler 36 and moves forward while detecting the height, the height detection sensor 4 does not pass through the upper surface of the earth mass and has a stable height. There is an advantage that can be detected.

Next, when the height of the first planting row (first line) on the ridge is harvested, the height detecting sensor 4 is structured such that the grounding portion 4a passes behind the subsoiler 36 as shown in FIG. And In this case, the height detection sensor 4 passes along the edge (shoulder) of the ridge, but soil often collapses to the groove side, and stable height detection cannot be performed. Therefore, the configuration of the embodiment shown in FIG. 8 is intended to allow the grounding portion 4a of the detection sensor 4 to pass over the groove buried by the soil mass collapsed by the subsoiler 36.

As described above, the height detection sensor 4 according to another embodiment 1 is provided on the front side of the subsoiler 36 as necessary, as shown in the two embodiments of FIGS. The harvesting operation can be performed by selectively replacing the rear side. Another Embodiment 2 Next, another embodiment 2 will be specifically described based on FIGS. 9 to 12 with reference to the above specification and FIGS. 1 to 6 of the accompanying drawings.

Another embodiment 2 relates to the auxiliary sensor 40 of the height detecting sensor 4.
The aim of this is to create a height control device which is capable of sufficiently responding and which is excellent in follow-up performance by utilizing 0. First, in the case of the embodiment, the auxiliary sensor 40 is configured to be able to roll in a roller type at a position in front of the height detection sensor 4 so that an interlocking arm 41 is provided.
, So that irregularities on the ground surface can be detected at a position in front of the detection sensor 4. And the detection sensor 4
In the case of the embodiment, the control operation is immediately switched to the auxiliary sensor 40 side when the auxiliary sensor 40 operates beyond the preset operation range and detects the operation.

In other words, in the second embodiment, as shown in FIG. 11, the height control is performed based on the detection information of the height detection sensor 4 in the normal working state, but as shown in FIG. When the auxiliary sensor 40 operates beyond a preset range (set value) due to severe unevenness in the field scene, the control operation is immediately switched to the detection information based on the auxiliary sensor 40, and the control is performed. The sensor 4 side is configured to pause during that time.

As described above, in the second embodiment, by providing the auxiliary sensor 40 in addition to the height detection sensor 4, height control can be sufficiently performed even in a field with severe unevenness in the field scene, and damage and the like can be prevented beforehand. There are features that can be prevented. Third Embodiment Next, a third embodiment will be described in detail with reference to FIGS. 13 to 16 with reference to the description of the above specification and FIGS. 1 to 6 of the accompanying drawings.

Another embodiment 3 relates to a device for preventing the weeding rod 5 from being pushed in beforehand. First, as shown in FIG. 14, the vegetable harvester is equipped with a height detection sensor 4 and controls the holding and conveying device 2 including the holding belts 1 and 1 ', and the height control of each device attached to the holding device. It has a configuration that can be used. The weeding rod 5 is located at a low position at the front of the vegetable harvester, and is connected to the front of the weed supporting rod 50 so as to be vertically rotatable.

More specifically, as shown in FIG. 13, the weeding support rod 50 has an L-shape in plan view, and the weeding rod 5 is attached to a front end portion 50a protruding forward, and a laterally supported base. The fixed spring 52 is provided so as to be freely rotatable within a certain range by a fixed spring 52, so that the vertical movement of the distal end portion 50a can be detected by replacing it with the rotation of the base 50b. As shown in FIG. 13, the configuration of the embodiment detects the rotation of the base 50b of the weeding support rod 50 (the vertical rotation of the weeding rod 5) by the detection switches 51 and 51 'provided vertically. And

In this case, the detection switches 51 and 51 '
When the rotation of the base 50b of the weed supporting rod 50 is detected, FIG.
As shown in FIG. 5 and FIG. 16, it is determined that the tip of the weeding rod 5 is inserted into the convex surface, and the nipping and conveying device 2 is raised. In the embodiment, the control means detects that the detection switches 51 and 51 ′ are the height detection sensors 4.
And the control is performed prior to the detection information. Further, when the weeding rod 5 rotates beyond a preset range, it is determined that the weeding rod 5 has penetrated into the soil.

As described above, the third embodiment increases the function of following the weeding rod 5 by quickly detecting unevenness on the surface of the field,
There is a feature that can avoid rushing.

[Brief description of the drawings]

FIG. 1 is a side view of an essential part of an embodiment of the present invention.

FIG. 2 is an operation side view of a main part according to the embodiment of the present invention.

FIG. 3 is a front view of the embodiment of the present invention.

FIG. 4 is a plan view of the embodiment of the present invention.

FIG. 5 is a side view of the embodiment of the present invention.

FIG. 6 is a side view of the embodiment of the present invention.

FIG. 7 is a side view of another embodiment 1 of the present invention.

FIG. 8 is a side view of another embodiment 1 of the present invention.

FIG. 9 is a perspective view of another embodiment 2 of the present invention.

FIG. 10 is a side view of another embodiment 2 of the present invention.

FIG. 11 is an operational side view of another embodiment 2 of the present invention.

FIG. 12 is a side view of an operation of another embodiment 2 of the present invention.

FIG. 13 is a perspective view showing another embodiment 3 of the present invention.

FIG. 14 is a side view of another embodiment 3 of the present invention.

FIG. 15 is a side view of another embodiment 3 of the present invention.

FIG. 16 is a side view showing another embodiment 3 of the present invention.

[Explanation of symbols]

1, 1 'Nipping belt 2 Nipping / conveying device 2a Conveying start end of nipping / conveying device 3 Foliage raising device 4 Detection sensor 4a Grounding portion of detection sensor 5 Weeding rod 5a Tip of weeding rod.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takaaki Iwabe 1 Eighth-Yakura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Co., Ltd. Department F-term (reference) 2B072 AA04 BA02 BA04 BA28 DA05

Claims (2)

[Claims] 1. A pair of left and right holding belts 1 and 1 'having a starting end portion facing a field scene and an end portion being positioned above a rear portion and having an inclined shape to constitute a holding and conveying device 2. In the vegetable harvester constructed by supporting the transport start end 2a of the second harvester 2 so as to be height-adjustable with respect to the ground, in front of the sandwiching and transporting device 2, the lower part is forward and the upper part is inclined backward. A vegetable harvesting device which is provided with a foliage raising device 3, and a height detection sensor 4 arranged behind the start end of the foliage raising device 3 can be adjusted up and down along the inclination direction of the foliage raising device 3. Machine height detection sensor. 2. A pair of left and right sandwiching belts 1 and 1 'having a starting end facing a field scene and an ending end positioned above a rear end to constitute a sandwiching and conveying device 2; In the vegetable harvester constructed by supporting the transport start end 2a of the second harvester 2 so as to be height-adjustable with respect to the ground, in front of the sandwiching and transporting device 2, the lower part is forward and the upper part is inclined backward. A virtual extension line connecting the tip 5a of the weeding rod 5 provided on the front side of the starting end of the foliage raising device 3 and the grounding portion 4a of the rear height detecting sensor 4 is provided by: A height detection sensor for a vegetable harvester configured to hold an inclination angle of about 10 degrees with respect to the ground surface.