JP2019162067A - Crop row detection device and crop harvester using the same - Google Patents

Abstract

To provide a crop row detection device that facilitates assembly, reduces cost, lessens malfunction and also easy to repair.SOLUTION: A crop row detection device includes a sensor rod 10, a shaft 30, a case 50, and a rotational displacement sensor 70. The shaft 30 is connected to the root side of the sensor rod 10. The shaft 30 is encased in the case 50 while being rotatable by the displacement of the sensor rod 10. The rotational displacement sensor 70 is provided at the outside of the case 50, and the rotational displacement of the shaft 30 is detected. The sensor rod 10 is displaced by coming into contact with crops and ridges. The rotational displacement sensor 70 detects the rotational displacement of the shaft 30 by the displacement of this sensor rod 10. The severe position adjustment at the assembly as before becomes needless. The shaft 30 is encased to the case 50, soil and clart are hard to be deposited, and thereby false detection and malfunction are hard to be caused. The rotational displacement sensor 70 is present at the outside of the case 50, and therefore the replacement and repair are easy.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a crop row detection device for detecting a row of crops planted in a row in a field and a crop harvester using the same in agriculture.

In agriculture, crops are planted in rows in a field and automatically harvested by a crop harvester. For example, root vegetables such as beets are harvested by a crop harvester called a beet harvester.
Such a crop harvester is towed by a tractor and moves along a row of crops planted in rows. At this time, the crops planted in the reeds are dug out and harvested at the pit.

  Such a crop harvesting machine is provided with a scissor alignment mechanism that swings the excavation port to the left and right by hydraulic and electric control, and adjusts the position of the excavation port according to the rod. In the above-described kneading mechanism, a sensor device that detects a crop row or a knot itself is used. The row of crops planted in the reed is not necessarily straight, but rather meanders from side to side. The crop row and culm are detected by the sensor device, and the left and right positions of the digging opening are adjusted according to the meandering. Thereby, the worker only needs to drive the tractor without worrying about the meandering of the crop row, and the work is reduced.

  As prior art documents related to the sensor device in such a crop harvester, the present applicant grasps the following Patent Documents 1 to 3.

JP 2004-041017 A JP 2006-345835 A JP 2007-319049 A

Patent Document 1 relates to “beat train sensor of beat harvester” and has the following description.
[012]
[Embodiment of the Invention]
Embodiments of the present invention will be described below with reference to the accompanying drawings.
The beat train sensor 1 has a switch box 2 surrounded by a frame, and a cam rotation shaft 7 integral with the switch cam 6 can rotate in a through-hole 5 of a boss 4 formed integrally with the bottom plate 3 of the switch box 2. Is fitted.
[016]
In this type of beat train sensor, a switch 11 is installed in the vicinity of the switch cam 6 so that an ON-OFF signal can be obtained by contact / separation between the contact of the switch 11 and the cam surface of the switch cam 6. In the present invention, the adjusting plate 12 is installed around the cam rotation shaft 7 so as to be independently rotatable, and the switch 11 is mounted on the surface of the adjusting plate 12.
[019]
In the illustrated embodiment, a bolt support rod 16 is fixed to the frame of the switch box 2 toward the coupling bracket 15 of the adjustment plate 12, and a laterally long hole 17 is formed in the coupling bracket 15. The bolt support rod 16 is engaged with the hole 17 by a nut 18 so that the position thereof can be adjusted.
With this configuration, the adjustment plate 12 can be rotated around the cam rotation axis by adjusting the nut 18 and fixed to the support rod 16 at a desired position, and the ON-OFF positional relationship between the switch 11 and the switch cam 6 is adjusted. be able to.
[021]
The cam rotating shaft 7 is supported via the elastic support means 20 so as to rotate when the tine 9 comes into contact with the beat train and receives a predetermined resistance and returns to the original position when the resistance disappears. .
The elastic support means 20 of the embodiment shown in the drawing is configured such that a rotating plate 22 having a support shaft 21 fixed at an eccentric position is coupled to the cam rotation shaft 7 so as to be integrally rotatable, and between the support shaft 21 and the frame of the switch box 2. The spring member 23 (return spring) is interposed, and the rotation and return functions of the predetermined resistance as described above can be obtained.
[022]
In the illustrated embodiment, the spring member 23 has a pair of left and right springs 26, 26 interposed between a plate 24 engaged with the support shaft 21 and a block 25, and is inserted into the switch box 2 from the outside to the inside. The bolt 27 is screwed into the block 25, and the block 25 can be moved back and forth by forward and reverse rotation with the bolt to adjust the spring pressure.

The above-mentioned patent document 2 relates to “root vegetable array detection device of root vegetable harvesting machine”, and has the following description.
[0018]
As shown in FIG. 1, the root vegetable row detection apparatus 1 </ b> A according to the first embodiment is provided in front of the moat entrance 22 in the traveling direction of the root vegetable harvester 2. Then, as shown in FIGS. 2 to 4, the root vegetable row detection apparatus 1A mainly includes a pair of contact arms 3 disposed on the left and right sides of the root vegetable row such as beets, and the contact arms 3 under a predetermined lower position. It has a Y-shaped bracket 4 that is supported on the body 21 with a directional inclination angle, and a displacement sensor 5A that detects the displacement of the contact arm 3 via the Y-shaped bracket 4.
[0021]
As shown in FIGS. 2 and 4, the Y-shaped bracket 4 is formed in a substantially Y shape. The Y-shaped bracket 4 fixes the contact arm 3 to the bifurcated tip portions 41, 41, and the base end portion 42 is the body 21. Is supported so as to be swingable in the left-right direction. The displacement sensor 5A is composed of a potentiometer or a rotary encoder. The displacement sensor 5A outputs a pulse having a different phase in accordance with the rotation amount and the rotation direction of the rotary shaft 51. This pulse signal is shown in FIG. The information is transmitted to the direction control means 15.
[0022]
In the first embodiment, as shown in FIGS. 2 and 3, the rotation transmission pin 43 is projected from the vicinity of the base end portion 42 of the Y-shaped bracket 4, and the rotation transmission pin 43 and the displacement sensor are provided. The rotating shaft 51 of 5A is connected by the rotation transmission bracket 53. The rotation angle and the rotation direction of the Y-shaped bracket 4 are transmitted to the rotation shaft 51 of the displacement sensor 5A through the rotation transmission bracket 53.

The above-mentioned patent document 3 relates to “a crop row detection device” and the like, and has the following description.
[0017]
As shown in FIG. 1, the crop row detection device 1 of the present embodiment is provided in front of the pit entrance 14 in the traveling direction of the root vegetable harvesting machine 3. As shown in FIGS. 2 to 4, the crop row detection device 1 mainly includes a vertical movement support member 4 that is supported by the root vegetable harvester 3 so as to be movable up and down, and a lower end of the vertical movement support member 4. The swing frame 5 provided in the part, the left and right parallel link 6 provided at one end of the swing frame 5, the pair of contact arms 7 and 7 provided in the left and right parallel link 6, and the contact arms 7 and 7 And a lateral displacement sensor 8 for detecting the lateral displacement.
[0024]
As shown in FIGS. 3 and 5, the left and right parallel links 6 are fixed to the other end of the swing frame 5, and are fixed to the left and right ends of the fixed bracket 61 so as to be pivotable. The pivot suspension brackets 62 and 62 are supported, and the pivot bracket 63 is pivotally supported by the pivot suspension brackets 62 and 62 and is swingably coupled in the left-right direction. And the base end part of a pair of contact arms 7 and 7 is being fixed to the lower end part of each rotation drooping brackets 62 and 62 with the volt | bolt etc.
[0029]
The left / right displacement sensor 8 detects the displacement of the contact arms 7 and 7 and is composed of an analog sensor, an absolute rotary encoder, or the like. In the present embodiment, as shown in FIGS. 3 and 5, the left / right displacement sensor 8 is provided on one of the rotating shafts 64 of the rotating hanging brackets 62, 62 with respect to the fixed bracket 61. Yes. Then, pulses having different phases are generated according to the rotation amount and rotation direction of the rotating shaft 64, and this pulse signal is output to a control means described later.

The beat train sensor of Patent Document 1 rotates a sensor rod (tine 9) in contact with the beat train. By this rotation, the cam rotation shaft 7 rotates, and the switch cam 6 operates to operate the switch 11. An ON-OFF signal is obtained by operating the switch 11.
Thus, in order to convert the rotation of the sensor rod (tine 9) into the operation of the switch 11, the cam rotating shaft 7 provided with the switch cam 6 is used. Such a cam rotating shaft 7 is complicated in shape and requires high machining accuracy, which increases the manufacturing cost.
Further, when the sensor rod (tine 9) is at a predetermined angle, the position of the switch cam 6 and the switch 11 must be adjusted severely to adjust the detection sensitivity so that the switch cam 6 operates the switch 11.
In addition, a spring member 23 is used to provide resistance to rotation of the sensor rod (tine 9) and to return the rotation. Since a large load is required for the operation of the switch 11, the spring member 23 requires two high-load dedicated tension springs. The occupied space is large, and the size of the entire sensor is increased.
In addition, a complicated structure including the above-described switch cam 6, switch 11, two spring members 23, and the like is contained in a limited space. For this reason, the above-described position adjustment operation is difficult to perform, the number of manufacturing steps is increased, and the cost is increased.
The switch cam 6 and the switch 11 which are the key elements of the sensor have a structure sealed in the switch box 2. When these are damaged or out of order, repairs on site are not easy, so the main body sensor must be replaced, which increases repair costs.

The root vegetable array detection device of Patent Document 2 detects the swing of the contact arm 3 with the displacement sensor 5A, and outputs pulses having different phases according to the rotation amount and the rotation direction of the rotation shaft 51.
However, in this apparatus, the transmission structure such as the Y-shaped bracket 4 for transmitting the swing of the contact arm 3 to the displacement sensor 5A is exposed. For this reason, if it is contaminated by the adhesion of soil or dust, the transmission structure portion will not operate smoothly. If this happens, misdetection or malfunction of root vegetable sequence detection will occur, causing damage to root vegetables or leaving behind moat.

The crop row detection device of Patent Document 3 detects the swing of the contact arms 7 and 7 with the left / right displacement sensor 8 and outputs pulses having different phases according to the amount and direction of rotation of the rotating shaft 64.
However, in this apparatus, the transmission structure such as the left and right parallel links 6 for transmitting the swing of the contact arms 7 and 7 to the left and right displacement sensor 8 is exposed. For this reason, if it is contaminated by the adhesion of soil or dust, the transmission structure portion will not operate smoothly. If this happens, misdetection or malfunction of root vegetable sequence detection will occur, causing damage to root vegetables or leaving behind moat.

The objective of this invention is providing the crop row detection apparatus which solved the said subject, and the crop harvester using the same.
That is, the present invention provides a crop row detection apparatus and a crop harvester using the same, which have a small number of parts, are easy to assemble, reduce costs, are less likely to malfunction, and are easy to repair.

In order to achieve the above object, the crop row detection apparatus according to claim 1 employs the following configuration.
A sensor rod that is displaced by contact with the crop planted in the cocoon or the cocoon, and
A shaft to which the base side of the sensor rod is coupled;
A case for housing the shaft in a state where the shaft can be rotated by displacement of the sensor rod;
A rotational displacement sensor that detects the rotational displacement of the shaft is provided outside the case.

The crop row detection device according to claim 2 employs the following configuration in addition to the configuration according to claim 1.
On the shaft,
A cam for performing at least one of initial position setting of the shaft and recovery of rotational displacement of the shaft is provided.

The crop row detection device according to claim 3 employs the following configuration in addition to the configuration according to claim 2.
The case is provided with initial position setting means for setting an initial position of the shaft in contact with the cam,
The initial position setting means is configured to adjust the initial position outside the case.

The crop row detection apparatus according to claim 4 employs the following configuration in addition to the configuration according to claim 2 or 3.
The case is provided with rotational displacement recovery means that contacts the cam and recovers rotational displacement of the shaft,
The rotational displacement recovery means is configured to be able to adjust the recovery strength of the rotational displacement outside the case.

The crop row detection device according to claim 5 employs the following configuration in addition to the configuration according to claim 4.
The rotational displacement recovery means is
A compression spring that biases the cam in a direction to recover the rotational displacement;
A cylindrical portion for accommodating the compression spring;
A contact member that contacts the cam at one end of the compression spring;
And an urging force adjusting means for adjusting the urging force of the compression spring on the other end side of the compression spring.

The crop harvester of claim 6 employs the following configuration in order to achieve the above object.
The crop row detection device according to any one of claims 1 to 5,
An inlet to harvest the crops planted in the fence,
And a control means for controlling the left and right positions of the intake so as to follow the crop row detected by the crop row detection device.

The crop row detection device according to claim 1 includes a sensor rod, a shaft, a case, and a rotational displacement sensor. The shaft is coupled to the base side of the sensor rod. The shaft is accommodated in the case in a state where it can be rotated by the displacement of the sensor rod. The rotational displacement sensor is provided outside the case and detects the rotational displacement of the shaft. The sensor rod is displaced by contact with a crop planted in the cocoon or the cocoon. The shaft is rotated by the displacement of the sensor rod, and the rotational displacement is detected by the rotational displacement sensor outside the case.
In this way, the detection of crops and straws using the sensor rod uses a rotational displacement sensor rather than ON / OFF of the switch. For this reason, adjustment of detection sensitivity becomes possible on the program of the electric control system, and severe position adjustment at the time of assembly as in the conventional case is not necessary. Moreover, the accuracy of the shaft can accept a more gradual standard than before. For this reason, the cost is greatly reduced. In addition, since the number of parts is small and the overall structure is simplified, a necessary mechanism can be realized in a space-saving manner, so that the detection device itself is made compact. Furthermore, since the shaft for transmitting the displacement of the sensor rod to the rotational displacement sensor is housed in the case, dirt and dirt are less likely to adhere to the sensor, and erroneous detection and malfunction are unlikely to occur. In addition, since the rotational displacement sensor is located outside the case, it can be easily replaced or repaired even if it is damaged or goes wrong.

  In the crop row detection device according to the second aspect, the cam is provided on the shaft. Since the cam sets the initial position of the shaft, the initial position of the shaft is unlikely to be distorted. Further, since the cam recovers the rotational displacement of the shaft, the trouble that the rotational displacement does not recover is prevented. Since the cam is in the case, dirt and dirt are less likely to adhere, the set initial position is unlikely to be out of order, and malfunction of recovery of rotational displacement is prevented.

  The crop row detection device according to claim 3 is provided with an initial position setting means in the case. The initial position setting means is configured to be able to adjust the initial position outside the case, and sets the initial position of the shaft in contact with the cam. Thus, the initial position can be easily adjusted from the outside of the case. Since the cam is in the case, dirt and dirt are less likely to adhere, and the set initial position is unlikely to go wrong.

  In the crop row detection device according to a fourth aspect, the case is provided with a rotational displacement recovery means. The rotational displacement recovery means is configured to be able to adjust the recovery strength of the rotational displacement outside the case, and contacts the cam to recover the rotational displacement of the shaft. Thus, the recovery strength can be easily adjusted from the outside of the case. Since the cam is in the case, dirt and dirt are less likely to adhere, and malfunction of recovery of rotational displacement is prevented.

According to a fifth aspect of the present invention, the rotational displacement recovery means includes a compression spring, a cylindrical portion, an abutting member, and an urging force adjusting means. A compression spring is accommodated in a cylindrical portion provided in the case, and an abutting member abuts on the cam on one end side of the compression spring. Thereby, the compression spring urges the cam in a direction to recover the rotational displacement of the shaft. Further, the biasing force adjusting means adjusts the biasing force of the compression spring on the other end side of the compression spring.
Thus, by changing the spring to be used from conventional tension to compression, a general-purpose high-load compression spring can be used, which is advantageous for cost reduction. Further, when adjusting the urging force of the compression spring, the workability is improved because it can be performed from the outside of the case.

The crop harvester of Claim 6 is provided with the crop row detection apparatus as described in any one of Claims 1-5.
The crop row detection device uses a rotational displacement sensor to detect crops and straws using a sensor rod, instead of turning the switch on and off. For this reason, adjustment of detection sensitivity becomes possible on the program of the electric control system, and severe position adjustment at the time of assembly as in the conventional case is not necessary. Moreover, the accuracy of the shaft can accept a more gradual standard than before. For this reason, the cost is greatly reduced. In addition, since the number of parts is small and the overall structure is simplified, a necessary mechanism can be realized in a space-saving manner, so that the detection device itself is made compact. Furthermore, since the shaft for transmitting the displacement of the sensor rod to the rotational displacement sensor is housed in the case, dirt and dirt are less likely to adhere to the sensor, and erroneous detection and malfunction are unlikely to occur. In addition, since the rotational displacement sensor is located outside the case, it can be easily replaced or repaired even if it is damaged or goes wrong.

It is a side view which shows one Embodiment of the crop harvester of this invention. It is a figure explaining the state which attached the crop row detection apparatus of this invention to the body. It is a disassembled perspective view which shows one Embodiment of the crop row detection apparatus of this invention. It is a disassembled perspective view which shows the main parts of the said crop row detection apparatus, and is the figure which looked down from the sensor rod side. It is a perspective view of the said crop row detection apparatus. It is sectional drawing explaining the internal structure of the said crop row detection apparatus. It is a cross-sectional perspective view explaining the internal structure of the said crop row detection apparatus. It is a figure explaining operation | movement of the said crop row detection apparatus.

  1-8 is a figure explaining one Embodiment of this invention.

◆ Crop Harvester FIG. 1 is a side view showing a crop harvester 100 according to this embodiment. The present embodiment is an application example to a beet harvester for harvesting beet that is a kind of root vegetable.

  The crop harvester 100 is pulled by a tractor (not shown). An intake 101 for harvesting crops planted in the reed is provided at the bottom of the machine body 103. By running the intake 101 in accordance with the crop row, the beet is dug up and harvested.

  In the crop harvesting machine 100, a pair of left and right crop row detection devices 1A and 1B are arranged in front of the intake port 101 below the machine body 103. In the figure, only the left crop row detection device 1B is visible).

  In the crop harvesting machine 100, a hitch 102 connected to a tractor projects in front of the machine body 103. On the left and right sides of the hitch 102, hydraulic cylinders 104 as direction changing devices are arranged (only the left side is visible in the figure). By the expansion and contraction of the hydraulic cylinder 104, the traveling direction of the machine body 103 is changed to the left and right.

  The crop harvesting machine 100 extends the hydraulic cylinder 104 to change the travel of the machine body 103 to the left and right by extending and contracting the hydraulic cylinder 104 so as to follow the crop row detected by the crop row detection devices 1A and 1B. It comes to control. Therefore, the hydraulic cylinder 104 functions as part of the control means of the present invention.

◆ Crop row detector (outline)
FIG. 2 is a diagram for explaining a state in which the crop row detection devices 1 </ b> A and 1 </ b> B of the present embodiment are attached to the body 103.
The right crop row detection device side 1A and the left crop row detection device 1B are attached to the right and left of the support frame 105 arranged at the lower part of the machine body 103, respectively.

  In the pair of left and right crop row detection devices 1A and 1B, the sensor rod 10 extends from the left and the right toward the inside. When the sensor rod 10 is in contact with a crop planted in a cocoon or the cocoon, the crop row is detected.

  3-7 is a figure explaining 1 A of crop row detection apparatuses of this embodiment. Of the pair of left and right crop row detection devices 1A and 1B, the right crop row detection device 1A will be described as a representative. The left crop row detection device 1B is the same in structure and operation as that for the right, except that the left and right sides are reversed.

〔Basic structure〕
The crop row detection device 1 </ b> A includes a sensor rod 10, a shaft 30, a case 50, and a rotational displacement sensor 70.

  The shaft 30 is coupled to the base side of the sensor rod 10. The shaft 30 is accommodated in the case 50 in a state where the shaft 30 can be rotated by the displacement of the sensor rod 10. The rotational displacement sensor 70 is provided outside the case 50. The rotational displacement sensor 70 detects the rotational displacement of the shaft 30. The sensor rod 10 is displaced by contacting the crop planted in the cocoon or the cocoon. The shaft 30 is rotated by the displacement of the sensor rod 10, and the rotational displacement sensor 70 outside the case 50 detects the rotational displacement.

[Sensor rod 10]
The sensor rod 10 is a steel rod that has an elastic coil portion 11 in the middle and is bent so that the tip side faces rearward. The sensor rod 10 is provided with a bent portion 12 bent in an L shape at the root portion.
The sensor rod 10 is coupled to the first end of the shaft 30 via a coupling block 20.

[Coupling block 20]
The coupling block 20 is a member serving as a medium when the sensor rod 10 is coupled to the first end of the shaft 30. The coupling block 20 is formed at its center with a fitting hole 21 in which the first end of the shaft 30 is fitted and can rotate integrally. On the outside of the fitting hole 21, there is formed a restriction groove 22 for fitting the bent portion 12 of the sensor rod 10 to restrict its position.

The fitting hole 21 is fitted with the shaft 30 so as to be integrally rotatable.
In this embodiment, the male side taper surface 32 formed at the first end of the shaft 30 and the female side taper surface 23 formed on the inner surface of the fitting hole 21 are joined and fitted. Yes. Thereby, the shaft 30 and the coupling block 20 are fitted together so as to be integrally rotatable only by fitting the first end portion of the shaft 30 into the fitting hole 21 of the coupling block 20.

  The restriction groove 22 includes two horizontal grooves 22b provided on both sides of the fitting hole 21 and one vertical groove 22a that intersects the horizontal groove 22b at a right angle. The laterally curved portion on the distal end side of the bent portion 12 is fitted into the lateral groove 22b. The main body side of the sensor rod 10 is fitted into the vertical groove 22a. Thereby, the overhang length and the inclination angle of the sensor rod 10 with respect to the case 50 are regulated to be constant. It should be noted that two lateral grooves 22b are provided in order for the right crop row detection device 1A and the left crop row detection device 1B to share components.

  With such a structure, when the sensor rod 10 is displaced in contact with a crop or a basket, the shaft 30 rotates around the axis.

[Shaft 30]
As described above, the shaft 30 is formed with the male tapered surface 32 at the first end portion, and the coupling block 20 is fitted so as to be integrally rotatable.

  The shaft 30 is provided with a cam 31 for performing at least one of the initial position setting of the shaft 30 and the recovery of the rotational displacement of the shaft 30. The cam 31 is a plate-like portion formed so as to project like a ridge in the middle of the shaft 30.

  As shown in FIG. 6, the cam 31 is formed in a cam shape having a first contact portion 31a and a second contact portion 31b. The first abutting portion 31a abuts on an initial position setting means 40 described later and functions as a cam. The second contact portion 31b contacts a rotational displacement recovery means 60 described later and functions as a cam.

  A shaft hole 33 into which the rotation shaft 71 of the rotational displacement sensor 70 is inserted is formed in the end surface of the second end portion of the shaft 30. A rotary shaft 71 is inserted into the shaft hole 33 via a rubber bush 33a. Thereby, when the shaft 30 rotates about the axis, the rotation shaft 71 of the rotation displacement sensor 70 is rotationally displaced.

  Accordingly, when the sensor rod 10 is displaced in contact with a crop or a basket, the shaft 30 rotates about the axis, and the rotational displacement sensor 70 detects the rotational displacement.

[Rotational displacement sensor 70]
As the rotational displacement sensor 70, for example, a displacement sensor such as a potentiometer can be used.

[Case 50]
The case 50 is a box made of steel plate, and the shaft 30 is accommodated in a state where the shaft 30 can rotate around an axis by the displacement of the sensor rod 10.

  As shown in FIG. 7, the case 50 is provided with a first holding cylinder 51 for holding the shaft 30 on one wall surface thereof. Bearings 52a and 52b are fitted into the upper and lower parts of the first holding cylinder 51, respectively. The shaft 30 is supported by the two bearings 52a and 52b so as to be rotatable. In this state, the first end portion of the shaft 30 protrudes outside the case 50. The sensor rod 10 is coupled to the protruding first end.

  The case 50 is provided with a square opening 53 on the wall surface facing the first holding cylinder 51. The opening 53 is used when the shaft 30 is assembled in the case 50. The opening 53 is closed with a lid member 54. The lid member 54 supports the second end portion side of the shaft 30 and is attached with the rotational displacement sensor 70.

  The lid member 54 is a rectangular plate-like material that is slightly larger than the opening 53, and a second holding cylinder 55 for holding the shaft 30 is provided in the middle of the plate surface. A bearing 52 c is fitted into the second holding cylinder 55. A second end portion of the shaft 30 is supported by the bearing 52c so as to be rotatable.

  The rotational displacement sensor 70 is attached to the outside of the lid member 54. At this time, the rotation shaft 71 of the rotational displacement sensor 70 is inserted into the shaft hole 33 formed in the end surface of the shaft 30 via the rubber bush 33a. Thereby, when the shaft 30 rotates about the axis, the rotation shaft 71 of the rotation displacement sensor 70 is rotationally displaced. With such a structure, the rotational displacement sensor 70 is provided outside the case 50.

  The rotational displacement sensor 70 provided outside the case 50 is covered with a protective cover 56 and protected from soil, mud, water and the like.

[Initial position setting means 40]
The case 50 is provided with an initial position setting means 40 that contacts the cam 31 and sets the initial position of the shaft 30.

  The initial position setting means 40 is configured by screwing a bolt 42 with a locking nut 43 into a screw hole 41 formed in the wall surface of the case 50. In this state, the initial position of the shaft 30 is determined by the tip of the bolt 42 coming into contact with the first contact portion 31 a of the cam 31. That is, when the sensor rod 10 is not in contact with the crop or the cocoon, the first contact portion 31a of the cam 31 is in contact with the tip of the bolt 42, and this state is the initial position.

  When adjusting the rotation angle position of the shaft 30 that is the initial position, the locking nut 43 is loosened, the bolt 42 is screw-rotated, and the tip is advanced and retracted. When the adjustment is finished, the loosening nut 43 is tightened to fix the position of the bolt 42. That is, the adjustment of the initial position setting means 40 determines the rotation angle position of the shaft 30 as the initial position (the rotation angle position of the sensor rod 10 as the initial position).

  With such a structure, the initial position setting means 40 is configured to be able to adjust the initial position outside the case 50.

[Rotational displacement recovery means 60]
The case 50 is provided with a rotational displacement recovery means 60 that contacts the cam 31 and recovers the rotational displacement of the shaft 30.

  The rotational displacement recovery means 60 includes a compression spring 61, a cylindrical portion 62, an abutting member 63, and an urging force adjusting means 64.

  The compression spring 61 biases the cam 31 in a direction to recover the rotational displacement. The cylindrical portion 62 accommodates the compression spring 61. The contact member 63 contacts the cam 31 on one end side of the compression spring 61. The urging force adjusting means 64 adjusts the urging force of the compression spring 61 on the other end side of the compression spring 61.

  The cylindrical portion 62 is joined to the wall surface so as to penetrate the wall surface of the case 50, and the internal space of the cylindrical portion 62 and the internal space of the case 50 communicate with each other. The compression spring 61 is accommodated in the cylindrical portion 62. The abutting member 63 is arranged at the end of the compression spring 61 located inside the case 50. The contact member 63 has a shaft portion inserted into the compression spring 61 and a head portion that is in contact with the second contact portion 31 b of the cam 31. An internal thread portion is provided inside the cylindrical portion 62 at a portion near the outside of the case 50. The biasing force adjusting means 64 is screwed into the female screw portion.

  The biasing force adjusting means 64 is a headless screw that can be screw-rotated with a hexagon wrench. By adjusting the screwing amount of the urging force adjusting means 64, the urging force of the compression spring 61 against the cam 31 can be adjusted. Increasing the screwing amount increases the urging force, and decreasing the screwing amount decreases the urging force.

When the urging force is increased, the resistance when the shaft 30 rotates from the initial position increases. That is, the rotational resistance when the shaft 30 rotates from the initial position due to the displacement of the sensor rod 10 in contact with the crop or the basket increases. At the same time, the recovery force of the rotational displacement when the sensor rod 10 is no longer in contact with the crops and the straw is also increased.
On the contrary, when the urging force is decreased, the resistance when the shaft 30 rotates from the initial position is decreased. That is, the rotation resistance when the shaft 30 rotates from the initial position is reduced by the displacement of the sensor rod 10 in contact with the crop or the basket. At the same time, the recovery force of the rotational displacement when the sensor rod 10 is no longer in contact with the crop or the straw is also reduced.

  With such a structure, the rotational displacement recovery means 60 is configured to be able to adjust the recovery strength of the rotational displacement outside the case 50.

[Stopper pin 80]
A stopper pin 80 that contacts the displaced sensor rod 10 is provided outside the case 50. The stopper pin 80 comes into contact with the connecting block 20 when the sensor rod 10 is displaced in contact with a crop or a cocoon. After contact with the stopper pin 80, when the sensor rod 10 is displaced further, only the distal end side is displaced due to elastic deformation of the elastic coil portion 11. That is, the shaft 30 does not rotate any more. Thus, when an unexpected external force is applied to the sensor rod 10, the shaft 30 is prevented from over-rotating and the urging force adjusting means 64 and the cam 31 are prevented from being damaged.

[Crop row detection operation]
FIG. 8 is a diagram for explaining the crop row detection operation of the crop row detection device 1A.

FIG. 8A shows the initial positions of the sensor rod 10 and the shaft 30.
At the initial position, the initial position setting means 40 has the tip of the bolt 42 in contact with the first contact portion 31 a of the cam 31. In the rotational displacement recovery means 60, the head of the contact member 63 contacts the second contact portion 31 b of the cam 31, and the urging force of the compression spring 61 acts on the shaft 30.

  FIG. 8B shows a state where the sensor rod 10 is displaced and the shaft 30 is rotationally displaced accordingly. When the sensor rod 10 is displaced in contact with a crop or a basket, the shaft 30 is rotationally displaced accordingly. At this time, the rotational displacement recovery means 60 increases the strength with which the biasing force of the compression spring 61 acts on the shaft 30 and acts as rotational resistance. Further, when the sensor rod 10 is separated from the crop or the basket from this state, the urging force of the compression spring 61 acts on the cam 31 to recover the rotational displacement of the shaft 30.

  When the shaft 30 is rotationally displaced in accordance with the displacement of the sensor rod 10, the rotational displacement of the rotational shaft 71 of the rotational displacement sensor 70 is caused by the rotational displacement, and the rotational displacement sensor 70 detects the rotational displacement. In other words, when the sensor rod 10 is displaced in contact with a crop or a basket, the rotational displacement sensor 70 detects the degree of the rotational displacement.

[Crop harvesting operation]
As shown in FIGS. 1 and 2, the crop harvester 100 is attached with a pair of left and right crop row detection devices 1A and 1B. The crop harvesting machine 100 is pulled by a tractor (not shown) and travels an intake 101 provided at a lower portion of the machine body 103 in accordance with a crop row.

When the sensor rod 10 is displaced in contact with a crop or a basket in the right crop row detection device 1A, the rotational displacement is detected by the rotational displacement sensor 70, and the left and right hydraulic cylinders 104 are expanded and contracted to move the body 103 forward. Change to
When the sensor rod 10 is displaced in contact with a crop or a basket in the left crop line detection device 1B, the rotational displacement is detected by the rotational displacement sensor 70, and the left and right hydraulic cylinders 104 are expanded and contracted to advance the body 103 to the left. Change.

  The crop harvesting machine 100 extends the hydraulic cylinder 104 to change the travel of the machine body 103 to the left and right by extending and contracting the hydraulic cylinder 104 so as to follow the crop row detected by the crop row detection devices 1A and 1B. Control, harvest and harvest beet and other crops.

[Effect of the embodiment]
The apparatus of this embodiment has the following effects.

The crop row detection device 1 </ b> A of this embodiment includes a sensor rod 10, a shaft 30, a case 50, and a rotational displacement sensor 70. The shaft 30 is coupled to the base side of the sensor rod 10. The shaft 30 is accommodated in the case 50 in a state where the shaft 30 can be rotated by the displacement of the sensor rod 10. The rotational displacement sensor 70 is provided outside the case 50 and detects the rotational displacement of the shaft 30. The sensor rod 10 is displaced by contacting the crop planted in the cocoon or the cocoon. The shaft 30 is rotated by the displacement of the sensor rod 10, and the rotational displacement sensor 70 outside the case 50 detects the rotational displacement.
As described above, the rotation displacement sensor 70 is used for detecting crops and straws by the sensor rod 10 instead of turning the switch on and off. For this reason, adjustment of detection sensitivity becomes possible on the program of the electric control system, and severe position adjustment at the time of assembly as in the conventional case is not necessary. Also, the accuracy of the shaft 30 can accept a more gradual reference than before. For this reason, the cost is greatly reduced. In addition, since the number of parts is small and the overall structure is simplified, a necessary mechanism can be realized in a space-saving manner, so that the detection device itself is made compact. Furthermore, since the shaft 30 that transmits the displacement of the sensor rod 10 to the rotational displacement sensor 70 is housed in the case 50, dirt and dirt are less likely to adhere to it, and erroneous detection and malfunction are unlikely to occur. In addition, since the rotational displacement sensor 70 is outside the case 50, it can be easily replaced or repaired even if it is damaged or goes wrong.

  In the crop row detection device 1 </ b> A of the present embodiment, a cam 31 is provided on the shaft 30. Since the cam 31 sets the initial position of the shaft 30, the initial position of the shaft 30 is unlikely to be distorted. Further, since the cam 31 recovers the rotational displacement of the shaft 30, a trouble that the rotational displacement does not recover is prevented. Since the cam 31 is in the case 50, dirt and dirt are less likely to adhere, the set initial position is unlikely to be out of order, and malfunction of recovery of rotational displacement is prevented.

  In the crop row detection device 1 </ b> A of the present embodiment, an initial position setting unit 40 is provided in the case 50. The initial position setting means 40 is configured to be able to adjust the initial position outside the case 50, and contacts the cam 31 to set the initial position of the shaft 30. Thus, the initial position can be easily adjusted from the outside of the case 50. Since the cam 31 is in the case 50, dirt and dirt are less likely to adhere, and the set initial position is unlikely to go wrong.

  In the crop row detection device 1 </ b> A of the present embodiment, the case 50 is provided with a rotational displacement recovery means 60. The rotational displacement recovery means 60 is configured to be able to adjust the recovery strength of the rotational displacement outside the case 50, and contacts the cam 31 to recover the rotational displacement of the shaft 30. Thus, the recovery strength can be easily adjusted from the outside of the case 50. Since the cam 31 is inside the case 50, dirt and dirt are less likely to adhere, and malfunction of recovery of rotational displacement is prevented.

In the crop row detection apparatus 1A of the present embodiment, the rotational displacement recovery means 60 includes a compression spring 61, a cylindrical portion 62, a contact member 63, and an urging force adjustment means 64. A compression spring 61 is accommodated in a cylindrical portion 62 provided in the case 50, and the contact member 63 contacts the cam 31 on one end side of the compression spring 61. As a result, the compression spring 61 biases the cam 31 in a direction in which the rotational displacement of the shaft 30 is recovered. Further, the urging force adjusting means 64 adjusts the urging force of the compression spring 61 on the other end side of the compression spring 61.
Thus, by changing the spring to be used from conventional tension to compression, a general-purpose high-load compression spring can be used, which is advantageous for cost reduction. Further, when adjusting the urging force of the compression spring 61, it can be performed from the outside of the case 50, so that workability is improved.

A crop harvester 100 according to this embodiment includes the crop row detection device 1A.
The crop row detection apparatus 1 </ b> A uses a rotational displacement sensor 70 for detection of crops and straws by the sensor rod 10, not on / off of a switch. For this reason, adjustment of detection sensitivity becomes possible on the program of the electric control system, and severe position adjustment at the time of assembly as in the conventional case is not necessary. Also, the accuracy of the shaft 30 can accept a more gradual reference than before. For this reason, the cost is greatly reduced. In addition, since the number of parts is small and the overall structure is simplified, a necessary mechanism can be realized in a space-saving manner, so that the detection device itself is made compact. Furthermore, since the shaft 30 that transmits the displacement of the sensor rod 10 to the rotational displacement sensor 70 is housed in the case 50, dirt and dirt are less likely to adhere to it, and erroneous detection and malfunction are unlikely to occur. In addition, since the rotational displacement sensor 70 is outside the case 50, it can be easily replaced or repaired even if it is damaged or goes wrong.

[Modification]
The above has described a particularly preferred embodiment of the present invention. However, the present invention is not intended to be limited to the illustrated embodiment, and can be implemented by being modified in various aspects, and the present invention includes various modifications. This is the purpose.

1A: Crop row detection device (for right)
1B: Crop row detection device (for left)
10: sensor rod 11: elastic coil portion 12: bent portion 20: coupling block 21: fitting hole 22: restriction groove 22a: longitudinal groove 22b: transverse groove 23: female side tapered surface 30: shaft 31: cam 31a: first contact Contact portion 31b: second contact portion 32: male side tapered surface 33: shaft hole 33a: rubber bush 40: initial position setting means 41: screw hole 42: bolt 43: locking nut 50: case 51: first holding cylinder 52a: bearing 52b: bearing 52c: bearing 53: opening 54: lid member 55: second holding cylinder 56: protective cover 60: rotational displacement recovery means 61: compression spring 62: cylindrical part 63: contact member 64: attached Force adjusting means 70: rotational displacement sensor 71: rotating shaft 80: stopper pin 100: crop harvesting machine 101: intake 102: hitch 103: machine body 104: hydraulic cylinder 105: Lifting frame

Claims (6)

A sensor rod that is displaced by contact with the crop planted in the cocoon or the cocoon, and
A shaft to which the base side of the sensor rod is coupled;
A case for housing the shaft in a state where the shaft can be rotated by displacement of the sensor rod;
A crop row detection device, characterized in that a rotational displacement sensor for detecting rotational displacement of the shaft is provided outside the case. On the shaft,
The crop row detection device according to claim 1, wherein a cam for performing at least one of initial position setting of the shaft and recovery of rotational displacement of the shaft is provided. The case is provided with initial position setting means for setting an initial position of the shaft in contact with the cam,
The crop row detection device according to claim 2, wherein the initial position setting means is configured to be able to adjust the initial position outside the case. The case is provided with rotational displacement recovery means that contacts the cam and recovers rotational displacement of the shaft,
The crop row detection device according to claim 2, wherein the rotational displacement recovery means is configured to be able to adjust the recovery strength of the rotational displacement outside the case. The rotational displacement recovery means is
A compression spring that biases the cam in a direction to recover the rotational displacement;
A cylindrical portion for accommodating the compression spring;
A contact member that contacts the cam at one end of the compression spring;
The crop row detection device according to claim 4, further comprising an urging force adjusting unit that adjusts an urging force of the compression spring on the other end side of the compression spring. The crop row detection device according to any one of claims 1 to 5,
An inlet to harvest the crops planted in the fence,
A crop harvester comprising: control means for controlling the left and right positions of the intake port so as to follow the crop row detected by the crop row detection device.

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