JP2019170169A - Combine - Google Patents

Abstract

To provide a combine capable of accurately positioning a grass dividing body so as to become an appropriate positional relationship to a grain culm column and traveling automatically.SOLUTION: A combine includes a grass dividing body 33, multiple grain culm detection levers 52L, 52R, potentiometer 75L, 75R, a control value acquisition unit, and a control device. The grain culm detection levers 52L, 52R are provided at the outside and the inside of the grass dividing body 33, and rotate according to the contact with the grain culm. The potentiometer 75L, 75R detect a rotation angle of each of the grain culm detection levers 52L, 52R. The control device controls traveling so that the position of the grass dividing body 33 may become the target position to the grain culm column positioned in the left and right of the grass dividing body 33, based on the rotation angle detected by the potentiometer 75L, 75R.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a combine that performs threshing while harvesting cereal grains.

  2. Description of the Related Art Conventionally, there is known a combine that includes a sensor that detects contact with cereal grains on the left and right sides of a herbaceous body, and a control device that controls a traveling direction based on a detection result of the sensor. Patent document 1 discloses this kind of combine.

  The combine disclosed in Patent Document 1 is a herbage body provided with an ON-OFF switch type left / right direction sensor for detecting napped cereals on both left and right sides, and a left and right body based on the detection result of the left / right direction sensor. And a control device that performs straight traveling control of the aircraft by steering. More specifically, the left direction sensor pivotally supports a left detection rod that protrudes to the left by a predetermined length so as to detect a nap flour. The right direction sensor pivotally supports a right detection rod that protrudes to the right by a predetermined length so as to detect a nap flour.

  Accordingly, the left / right detection sensor is turned on when the left / right detection basket rotates in contact with the grain basket. Then, based on ON / OFF of the left / right direction sensor, the control device controls the left / right operation clutch to “ON”-“OFF”, and the aircraft is controlled to travel straight ahead.

Japanese Patent Laid-Open No. 2005-12

  Although the structure of the said patent document 1 can be made to drive a combine automatically according to the direction where a grain candy is arranged, the specific position of the weeding body with respect to the grain candy on both right and left sides cannot be specified. Therefore, it was not possible to automatically drive the combine so that the herbaceous body accurately passes through the optimum position between the culm rows. In other words, there was room for improvement in terms of control accuracy related to stock leveling.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a combine that can automatically travel with a herbaceous body positioned accurately so as to have an appropriate positional relationship with respect to the culm row. There is to do.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to the viewpoint of this invention, the combine of the following structures is provided. That is, this combine is provided with a weed body, a plurality of cereal detection members, a displacement amount detection unit, a control value acquisition unit, and a control unit. The said cereal detection member is provided in the outer side and the inner side of the said weed body, and is displaced according to a contact with a cereal. The displacement amount detection unit detects a displacement amount of each of the corn straw detection members. Based on the amount of displacement, the control unit controls traveling so that the position of the weed body is a target position with respect to the culm row located on the left and right of the weed body.

  Thereby, it is possible to quantitatively control the position of the herbaceous body by quantitatively detecting the amount of displacement of each cereal detection member with a simple configuration. Therefore, automatic traveling control can be performed with high accuracy so that the weeds pass between the rows of culm at an appropriate position.

  The above combine is preferably configured as follows. That is, the displacement amount detection unit is disposed in an accommodation space that is a space formed inside the weed body. A protective wall that covers the lower side of the accommodation space is attached to the weed body.

  Thereby, since the displacement amount detection part is arrange | positioned in the space provided inside the weed body, it is possible to prevent the cereals and the like from colliding with the displacement amount detection part from the front side during cutting. Moreover, it is possible to prevent the splashing muddy water or stones or the like from colliding with the displacement amount detection unit from the lower side by the protective wall portion. Therefore, effective protection of the displacement amount detection unit can be realized.

  The above combine is preferably configured as follows. That is, the combine includes a case that houses at least a part of the displacement amount detection unit. The displacement amount detection unit is disposed in the accommodation space together with the case.

  Thereby, the mechanical protection of the displacement amount detection unit can be reliably performed.

  The above combine is preferably configured as follows. That is, a guide portion for guiding the cereals backward is attached to the outer side and the inner side of the weed body. The guide portion is disposed so as to cover the outer side and the inner side of the accommodation space.

  Thereby, it is possible to prevent the cereal grains on the side portion of the weed body from colliding with the displacement detection unit by the guide unit. Therefore, the displacement amount detection unit can be well protected.

The side view which shows the whole structure of the combine which concerns on one Embodiment of this invention. The top view of a combine. The perspective view which shows a mode that the weed body arrange | positioned at the left end of a mowing apparatus was seen from the back side. The vertical sectional view showing the composition of a gap detection part. The perspective view which shows the state which removed the clearance gap detection part from the weed body. The block diagram which shows the electrical structure regarding the automatic traveling control of a combine. The plane enlarged view which shows a mode that a combine drive | works automatically, detecting the position of the herb body with respect to the left and right grain row.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view showing an overall configuration of a combine 100 according to an embodiment of the present invention. FIG. 2 is a plan view of the combine 100.

  In the following description, “front” means the direction in which the combine 100 proceeds during cutting, and “rear” means the opposite direction. "Left" and "right" mean left and right as viewed from the operator sitting on the driver's seat.

  The combine 100 of this embodiment shown in FIG.1 and FIG.2 is comprised as what is called a self-desorption type combine. The combine 100 includes a traveling machine body 1 supported by a pair of left and right traveling apparatuses 2 and a reaping device (reaping part) 3 disposed at a front portion of the traveling machine body 1 as main components.

  The traveling machine body 1 is supported by a traveling device 2 arranged in a pair of left and right. The traveling machine body 1 supports an unillustrated engine as a drive source. A driving seat for an operator to sit and perform a driving operation is disposed at the front of the traveling machine body 1.

  The traveling device 2 is configured by using an endless crawler, and is provided at a lower portion of the traveling machine body 1. When the traveling device 2 is driven by the engine, the traveling machine body 1 can travel in the field.

  The traveling machine body 1 can be moved straight forward by driving the pair of left and right traveling devices 2 in the forward direction at the same speed. By driving the traveling device 2 in the forward direction at different speeds, the direction in which the traveling machine body 1 moves forward can be changed.

  The reaping device 3 is attached to the front portion of the traveling machine body 1 through the reaping frame 30 so as to be movable up and down. In this embodiment, the reaping device 3 is intended for 6-line cutting and can simultaneously harvest 6 lines of cereal. The reaping device 3 includes a cutting blade device 31, a culm raising device 32, a culm conveying device 5, and a weed body 33.

  The cutting blade device 31 is disposed below the cutting frame 30. The cutting blade device 31 has a cutting blade that reciprocates in order to cut the stock of uncut grain culm in the field.

  The grain raising device 32 is arranged in front of the harvesting frame 30 and causes an uncut grain meal in the field, and the rear side of the stocked side of the raised uncut grain meal is pushed back. Then, the stock side of the chopped uncut grain cocoon is cut by the cutting blade device 31.

  The weed body 33 is attached to the lower front part of the grain raising device 32 in a convex shape, and weeds the uncut grain meal in the field. In the present embodiment, seven weed bodies 33 are arranged side by side in the left-right direction of the fuselage at appropriate intervals so that six rows of uncut grain can be weed one row (one row) at a time.

  As shown in FIG. 2, each weed body 33 has a bilaterally symmetric shape with a front pointed in a plan view. Further, as shown in FIG. 1, the weed body 33 has an inclined shape so that the height increases from the front to the rear. As a result, when the weed body 33 scoops up the uncut grain culp that has fallen over, the pulling up operation by the culm pulling device 32 is facilitated.

  The corn straw transporting device 5 is arranged between the corn straw raising device 32 and a front end portion of a feed chain 11 described later. The cereal carrying device 5 holds the harvested cereal that has been cut by the cutting blade device 31 and conveys it toward the feed chain 11.

  With this configuration, the combine 100 can drive the reaping device 3 and drive the reaping device 2 continuously by the engine while driving the traveling device 2 to move the uncut cereals on the field.

  The traveling machine body 1 includes a threshing device 12 having a feed chain 11 and a Glen tank 13 for storing grains after threshing. The threshing device 12 and the glen tank 13 are provided side by side, and the threshing device 12 is arranged on the left side and the glen tank 13 is arranged on the right side. The grain tank 13 is provided with a grain discharge auger 14 that discharges the grain stored inside to the outside of the machine body.

  The threshing device 12 includes a handling cylinder 21 for threshing threshing, a swing sorter 22, a red pepper fan 23, a processing cylinder 24, and a dust exhaust fan 25. The rocking sorter 22 is configured as a rocking sorting mechanism that sorts the degranulated material falling below the handling cylinder 21. The Kara fan 23 supplies the sorting wind to the swing sorter 22. The processing cylinder 24 reprocesses the threshing discharge taken from the rear part of the handling cylinder 21. The dust exhaust fan 25 discharges dust at the rear part of the swing sorter 22 out of the machine.

  With the above-described configuration, the stock side of the harvested cereal mash that has been sent from the reaping device 3 by the culm transporting device 5 is inherited by the front end side of the feed chain 11. Then, by feeding the feed chain 11, the tip side of the grain culm is introduced into the threshing device 12 and threshed by the handling cylinder 21.

  A waste chain 26 is disposed on the rear end side (feed end side) of the feed chain 11. The waste inherited from the rear end side of the feed chain 11 to the waste chain 26 is discharged to the rear of the traveling machine body 1 in a long state or by a waste cutter 27 provided on the rear side of the threshing device 12. After being cut to a suitable short length, it is discharged to the rear lower side of the traveling machine body 1. In addition, a slag means the cocoon from which the grain was threshed.

  Below the rocking sorter 22 is a first conveyor 28 for picking up the grain (the first sort) selected by the rocking sorter 22 and a second sorter such as a grain with branches and branches. A number conveyor 29 is provided. In the present embodiment, the traveling body 1 is arranged in the left-right direction on the upper surface side of the traveling body 1 in a side view in order of the first conveyor 28 and the second conveyor 29 from the front side in the traveling direction.

  The swing sorter 22 is configured to swing sort (specific gravity sort) the cereal grains that have fallen below the handling cylinder 21. The grains (first sorted matter) that have fallen from the swing sorter 22 are removed by the sorting wind from the tang fan 23 and fall onto the first conveyor 28. A first cereal cylinder 40 extending in the vertical direction is connected to a terminal portion of the first conveyor 28 that protrudes outward from one side wall (in the embodiment, the right side wall) of the threshing device 12 near the grain tank 13. . The grain taken out from the first conveyor 28 is carried into the Glen tank 13 by the first cereal conveyor (not shown) in the first cereal cylinder 40 and stored.

  The rocking sorter 22 carries out second sorting such as grain with branches and branches (reduction-reprocessed product for resorting in which grain and sawdust are mixed) by rocking sorting (specific gravity sorting). 29 is configured to be dropped. The second sorted product taken out by the second conveyor 29 is returned to the upper surface side of the swing sorting board 22 via the second reduction conveyor 41 and the second processing unit 42 and re-sorted. Further, sawdust, dust and the like in the crushed material from the handling cylinder 21 are discharged toward the farm field from the rear part of the traveling machine body 1 by the sorting wind from the Kara fan 23.

  Next, based on FIG. 3, the structure around the weeding body 33 that weaves the leftmost strip among the six strips will be specifically described. The leftmost weeding body 33 plays a role of separating a row to be cut and a row not to be cut out of the rows of cereals. FIG. 3 is a perspective view showing the weed body 33 arranged at the left end of the reaping device 3 as seen from the back side.

  As shown in FIG. 3, a pair of plate-like guide plates (guide portions) 44 are attached to the left and right sides of the leftmost weed body 33 as a pair. The guide plate 44 is disposed so as to extend downward from the left and right side surfaces of the weed body 33 and is fixed to the weed body 33 by welding. The guide plate 44 is provided from the front end portion to the intermediate portion of the weed body 33.

  From the lower part of the rear of the left guide plate 44, a cereal detection lever (a cereal detection member) 52L protrudes diagonally to the left rear. From the lower part of the rear of the right guide plate 44, a cereal detection lever (a cereal detection member) 52R protrudes obliquely rearward to the right. Since the weed body 33 in FIG. 3 is located on the leftmost side of the cutting device 3, the left side of the weed body 33 can be referred to as the outer side, and the right side of the weed body 33 can be referred to as the inner side.

  The guide plate 44 is disposed so as to cover the lower part of the side of the weed body 33 in front and above the part where the cereal detection levers 52L and 52R protrude left and right from the weed body 33. The guide plate 44 is configured in a flat plate shape, and when the combine 100 is moved forward to harvest the cereal, the guide plate 44 is guided so that the uncut cereal that contacts the surface of the guide plate 44 slides relatively backward. can do.

  The lower portions of the left and right guide plates 44 have a shape that gently rises from the front to the rear. Therefore, the lower end portion of the rear portion of the guide plate 44 is higher than the front end of the weed body 33. As a result, a vertical gap is formed between the rear portion of the guide plate 44 and the ground. Thereby, pushing down of the cereal by the guide plate 44 can be suppressed.

  The weed body 33 is provided with a base plate (base member, protective wall) 45 horizontally so as to connect the pair of guide plates 44 to each other in the left-right direction. The base plate 45 is fixed to each guide plate 44 by welding. In the rear part of the base plate 45, a through groove 45a that opens to the rear is formed in the left and right central part.

  The space above the base plate 45 is a housing space 46 surrounded by the weed body 33 and a pair of guide plates 44. The accommodation space 46 has a shape with the rear opened.

  The rear end of the guide plate 44 is located behind the rear end of the base plate 45. Thereby, mud etc. are prevented from entering the accommodation space 46 from the side.

  Next, the gap detection unit 51 will be described. FIG. 4 is a vertical sectional view showing the configuration of the gap detection unit 51. FIG. 5 is a perspective view illustrating a state where the gap detection unit 51 is removed from the weed body 33.

  The gap detection unit 51 includes a case 85, detection shafts 55L and 55R, cereal detection levers 52L and 52R, and potentiometers (displacement amount detection units and rotation angle detection units) 75L and 75R.

  The case 85 mechanically protects the detection shafts 55L and 55R, the potentiometers 75L and 75R, and the like. The case 85 has such a shape that two cylindrical portions adjacent to each other in the front-rear direction are integrated. Each cylinder part is hollow, and the upper side and the lower side are opened.

  The case 85 is disposed inside the aforementioned accommodation space 46. The case 85 is fixed to the base plate 45 with bolts 47 as fixing members. The case 85 is arranged such that the position of the lower opening of each cylindrical portion coincides with the through groove 45 a formed in the base plate 45.

  The case 85 is disposed so as to cover the lower surface of the base plate 45, and the rear end of the base plate 45 is located behind the case 85. Therefore, the base plate 45 can effectively prevent the muddy water or the like splashed downward from being applied to the case 85.

  The front tube portion houses a detection shaft 55L for detecting a gap between the weed body 33 and the left uncut grain culm, and a movable portion of a potentiometer 75L. The rear cylinder portion houses a detection shaft 55R for detecting a gap between the weed body 33 and the right uncut grain culm, and a movable portion of the potentiometer 75R.

  The front and upper sides of the accommodation space 46 in which the potentiometers 75L and 75R are arranged are covered with the weeding body 33, the left and right sides are covered with the guide plate 44, and the lower side is covered with the base plate 45. Thereby, the potentiometers 75L and 75R can be well protected from collisions with cereal grains, mud, stones and the like. Moreover, the movable parts of the potentiometers 75L and 75R are housed in the case 85. Therefore, since the mechanical protection of the potentiometers 75L and 75R can be reliably performed, breakage, malfunction, and the like can be effectively prevented.

  As shown in FIG. 4, the detection shafts 55L and 55R are arranged so as to face in the vertical direction, and are rotatably supported through bearings. Lower portions of the detection shafts 55L and 55R protrude from the case 85, pass through the through groove 45a, and protrude downward from the base plate 45.

  The cereal detection levers 52L and 52R are provided so as to protrude to the left and right sides from the weed body 33 in plan view. The cereal detection levers 52L and 52R are disposed below the base plate 45.

  As shown in FIG. 3, small rectangular cutouts 44 a are formed at lower portions of the rear ends of the left and right guide plates 44. Thereby, it can avoid that the guide plate 44 and the grain candy detection levers 52L and 52R interfere.

  The left cereal detection lever 52L protrudes obliquely from the left side surface of the weed body 33 toward the rear left side. The base of the cereal detection lever 52L is fixed to the lower end of the detection shaft 55L. Accordingly, the cereal detection lever 52L rotates integrally with the detection shaft 55L.

  The right cereal detection lever 52R protrudes obliquely from the right side surface of the weed body 33 toward the right rear. The base of the cereal detection lever 52R is fixed to the lower end of the detection shaft 55R. Therefore, the cereal detection lever 52R rotates integrally with the detection shaft 55R.

  The two cereal detection levers 52L and 52R rotate independently of each other. Each of the cereal detection levers 52L and 52R is disposed so as to come into contact with an uncut cereal culm that passes through the side of the weed body 33 relatively rearward as the traveling machine body 1 travels at the time of cutting.

  The cereal detection levers 52 </ b> L and 52 </ b> R can rotate so as to retract backward and to the center in the width direction of the weed body 33 by being pushed from the front. The culm detection levers 52L, 52R are pushed by the culm and displaced obliquely rearward until the tips of the culm detection levers 52L and 52R pass through the culm. Therefore, the rotation angle (displacement amount) of the cereal detection levers 52L and 52R is set to the size of the gap between the weed body 33 and the uncut cereal rice cake that passes through the side of the weed body 33 relatively backward. Will change accordingly.

  As shown in FIG. 4, torsion coil spring-like return springs 56L and 56R are attached to the detection shafts 55L and 55R, respectively. The two return springs 56 </ b> L and 56 </ b> R are disposed inside the case 85. Each return spring 56L, 56R is arranged such that its spring wire connects the case 85 and the detection shafts 55L, 55R. The return springs 56L and 56R act on the detection shafts 55L and 55R with a spring force that resists rotation of the cereal detection levers 52L and 52R to the rear.

  The potentiometers 75L and 75R detect the rotation angle of the cereal detection levers 52L and 52R to the rear through the rotation of the detection shafts 55L and 55R. The potentiometers 75L and 75R include a housing that houses a movable part. Each of the potentiometers 75L and 75R is attached so that its housing closes the upper opening of each cylindrical portion of the case 85.

  The movable parts of the potentiometers 75L and 75R are fixed to the upper ends of the corresponding detection shafts 55L and 55R so as not to rotate. The potentiometers 75L and 75R can output an electrical signal corresponding to the rotation angle of the movable part (that is, the rotation angle of the cereal detection levers 52L and 52R).

  A harness (not shown) is connected to the housings of the potentiometers 75L and 75R. The potentiometers 75L and 75R output an electric signal indicating the rotation speed of the movable portion to the control device 91 described later via the harness.

  Next, the control device (control unit) 91 will be described. FIG. 6 is a block diagram showing an electrical configuration related to the automatic travel control of the combine 100. FIG. 7 is an enlarged plan view showing a state in which the combine 100 automatically travels while detecting the position of the weed body 33 with respect to the left and right grain rows.

  The control device 91 shown in FIG. 6 is provided at an appropriate position of the traveling machine body 1 and controls the pair of left and right traveling devices 2. The control device 91 basically controls the traveling device 2 according to a forward / reverse operation or a steering operation performed by an operator using an operation member around the driver's seat.

  However, when the operator performs a predetermined operation, the control device 91 shifts to a stock cruising mode that is a special mode. In this stock cruising travel mode, the two travel devices 2 are controlled so that the travel vehicle 1 travels in a row of uncut cereal grains growing in the field. By setting the stock traveling mode at the time of cutting, the operator does not need to adjust the traveling direction of the traveling machine body 1 in accordance with the row of uncut grain culms, and convenience can be improved.

  In the stock cruising mode, when attention is paid to two rows of uncut grain culm positioned on the left and right sides of the leftmost weed body 33, the position that has a predetermined positional relationship with the two rows of culm Automatic traveling of the traveling machine body 1 is performed so that the weed body 33 passes.

  As shown in FIG. 6, the control device 91 includes a position acquisition unit 92, a target position storage unit 93, a control value acquisition unit 94, and a travel control unit 95.

  More specifically, the control device 91 is configured by a known computer and includes a CPU, a ROM, a RAM, and the like. The ROM stores a program for performing travel control during automatic operation as well as a program for performing travel control during manual operation. The above-described hardware and software cooperate to allow the control device 91 to operate as the position acquisition unit 92, the target position storage unit 93, the control value acquisition unit 94, and the travel control unit 95.

  The position acquisition part 92 acquires the magnitude | size of the clearance gap formed between the weed body 33 and the left and right kernels based on the rotation angle of each left and right kernels detection lever 52L, 52R. Usually, since the interval between the culm rows is constant at a predetermined value, obtaining the left and right gaps is substantially equivalent to obtaining the relative position in the width direction of the herb body 33 with respect to the left and right culm rows. Is the same.

  The left cereal detection lever 52L can contact the left cereal row of the weeds 33. The left culm detection lever 52L is pushed by the culm row and rotates backward as the gap between the weed body 33 and the left culm row decreases.

  The right culm detection lever 52R can contact the right culm row of the weed body 33. The right culm detection lever 52R is pushed by the culm row and rotates backward as the gap between the weed body 33 and the right culm row becomes small.

  The position acquisition unit 92 detects the backward rotation angle of the left cereal detection lever 52L using the potentiometer 75L, and detects the backward rotation angle of the right cereal detection lever 52R using the potentiometer 75R.

  The potentiometers 75L and 75R function as rotational displacement sensors that output a voltage that monotonously increases or monotonously decreases in accordance with the rotation angle of the cereal detection levers 52L and 52R. Therefore, the position acquisition unit 92 can handle the rotation angle of the cereal detection levers 52L and 52R quantitatively.

  The position acquisition unit 92 outputs the acquired position of the herbaceous body 33 to the control value acquisition unit 94.

  The target position storage unit 93 stores in advance the position in the width direction (target position) through which the weeds 33 should pass with respect to the left and right grain rows. This target position can be rephrased as a position where a predetermined gap is formed with respect to the culm row located on the left and right of the weed body 33. In addition, although a target position is good also as a position which divides the space | interval of a grain basket row into two equal parts, it is good also as a position shifted | deviated to the left or right from it. The target position storage unit 93 outputs the stored target position of the herbaceous body 33 to the control value acquisition unit 94.

  The control value acquisition unit 94 calculates a control value for controlling the two traveling devices 2 so that the position of the herbaceous body 33 output from the position acquisition unit 92 approaches the target position output from the target position storage unit 93. To do.

  For example, when the position of the weed body 33 is biased to the left of the target position, a control value is given to each traveling device 2 so that the left traveling device 2 moves forward at a higher speed than the right traveling device 2. . On the other hand, when the position of the weed body 33 is biased to the right side from the target position, a control value is given to each traveling device 2 so that the right traveling device 2 moves forward at a higher speed than the left traveling device 2. . Thereby, the traveling machine body 1 can travel so that the weeding body 33 passes through the target position.

  It should be noted that the control value for controlling the left and right traveling devices 2 is determined so that the speed difference between the left and right traveling devices 2 becomes larger as the bias of the weed body 33 compared to the target position increases. Is preferred. An example of such control is PID control.

  The travel control unit 95 outputs the control value obtained by the control value acquisition unit 94 to the travel device 2.

  With the above configuration, the combine 100 of the present embodiment adjusts the traveling direction of the traveling machine body 1 while quantitatively detecting the position in the width direction of the weed body 33 with respect to the left and right grain rows by the potentiometers 75L and 75R. be able to. Therefore, it is possible to significantly improve the accuracy of running the stock.

  When combine 100 harvests uncut grain husks from the rightmost row (row cutting) and when harvesting the middle row to divide the row of uncut cereal halves (intermediate), 7 minutes It may be different how the grass body 33 should be positioned with respect to the culm row. In this regard, in the combine 100 of the present embodiment, the target position storage unit 93 stores different target positions for cutting and middle cutting, and selects one of the target positions according to the operation of the operator, thereby obtaining a control value acquisition unit. 94. Therefore, one gap detection unit 51 can be used for both the cutting and the middle cutting, and the configuration can be simplified.

  As described above, the combine 100 according to the present embodiment includes the weed body 33, the plurality of culm detection levers 52L and 52R, the potentiometers 75L and 75R, and the control device 91. The cereal detection levers 52L and 52R are provided on the outer side and the inner side of the weed body 33 and rotate in response to contact with the cereal. The potentiometers 75L and 75R detect the rotation angles of the respective cereal detection levers 52L and 52R. Based on the rotation angle detected by the potentiometers 75L and 75R, the control device 91 controls the traveling so that the position of the weed body 33 is a target position with respect to the culm row located on the left and right of the weed body 33. .

  Thereby, with a simple structure, the displacement amount (in other words, the magnitude | size of the clearance gap with respect to the left and right grain row | line | column of the weed body 33) is quantitatively detected, and the herb body 33 is detected. Can be quantitatively controlled. Therefore, automatic traveling control can be performed with high accuracy so that the weeds 33 pass through the rows of culm at an appropriate position.

  Moreover, in the combine 100 of this embodiment, the accommodation space 46 is formed inside the weeding body 33. The potentiometers 75L and 75R are disposed inside the accommodation space 46. A base plate 45 that covers the lower portion of the accommodation space 46 is attached to the inside of the weed body 33.

  Thereby, since the potentiometers 75L and 75R are arrange | positioned in the accommodation space 46 provided in the inside of the weeding body 33, it can prevent that a cedar etc. collide with the potentiometers 75L and 75R from the front side at the time of cutting. . Further, the base plate 45 can also prevent the splashing muddy water or stones from colliding with the potentiometers 75L and 75R from below. Therefore, effective protection of the potentiometers 75L and 75R can be realized.

  Moreover, the combine 100 of this embodiment is provided with the case 85 which accommodates a part of potentiometers 75L and 75R. The potentiometers 75 </ b> L and 75 </ b> R are arranged together with the case 85 in the accommodation space 46 provided inside the weeding body 33.

  Thereby, the mechanical protection of the potentiometers 75L and 75R can be reliably performed.

  Moreover, in the combine 100 of this embodiment, the guide plate 44 which guides a grain straw back is attached to the right-and-left both sides of the weeding body 33. As shown in FIG. The guide plate 44 is disposed so as to cover the outer side and the inner side of the accommodation space 46.

  Accordingly, the guide plate 44 prevents the culm located on the side of the weed body 33 from colliding with the potentiometers 75L and 75R from the side due to the reaction of the culm being scooped up by the front part of the weed body 33. be able to.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  At least one of the guide plate 44 and the base plate 45 may be omitted.

  The whole of the potentiometers 75L and 75R may be housed in the case 85 instead of a part thereof.

  The rotation centers of the left and right cereal detection levers 52L and 52R may be arranged at different positions in the left-right direction instead of being arranged at different positions in the front-rear direction. Further, the left and right cereal detection levers 52L and 52R may be arranged so that the rotation centers thereof coincide with each other.

  Instead of the potentiometers 75L and 75R, the rotation angle of the cereal detection levers 52L and 52R may be detected by, for example, a rotary encoder.

  In the above embodiment, the guide plate 44, the base plate 45, and the gap detection unit 51 are provided on the leftmost herbage body 33 among the seven herbage bodies 33 arranged side by side with the reaping device 3. However, these configurations may be provided in other herbaceous bodies 33. Moreover, the gap | interval detection part 51 grade | etc., May be provided in the some weeding bodies 33, and the gap | interval detection part 51 used for stocking travel may be switched as needed.

  Instead of being supported so as to be rotatable, the cereal detection levers 52L and 52R may be supported so as to be slidable so as to be retracted backward and toward the center in the width direction of the herbaceous body. In this case, the sliding movement amount (displacement amount) of the cereal detection lever can be detected by a linear potentiometer instead of a rotary type.

1 Combine 33 Divided plant body 52L, 52R Wheat kernel detection lever (wheat flour detection member)
75L, 75R potentiometer (displacement detection unit)
91 Control device (control unit)

Claims (4)

A herbaceous body,
A plurality of culm detection members provided on the outer side and inner side of the herbaceous body and displaced in response to contact with the culm;
A displacement amount detection unit for detecting a displacement amount of each of the cereal detection members;
Based on the amount of displacement, a control unit that controls traveling so that the position of the weed body is a target position with respect to the culm row located on the left and right of the weed body,
The combine characterized by comprising. The combine according to claim 1,
The displacement amount detection unit is disposed in a housing space that is a space formed inside the weed body.
The combine is characterized by attaching the protective wall part which covers the lower side of the said accommodation space to the said weed body. The combine according to claim 2,
A case for accommodating at least a part of the displacement amount detection unit;
The said displacement amount detection part is arrange | positioned in the said accommodation space with the said case, The combine characterized by the above-mentioned. The combine according to claim 2 or 3,
On the outer side and the inner side of the weed body, a guide part for guiding the cereals backward is attached,
The combine is characterized in that the guide portion is arranged so as to cover an outer side and an inner side of the accommodation space.

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