JP2020115839A - Rhizome crop harvester - Google Patents

Abstract

To provide a rhizome crop harvester capable of simplifying a structure of a machine body, suppressing cost, reducing a load related to an operation, and properly harvesting crops.SOLUTION: A rhizome crop harvester comprises: a travel part 18 being provided on each of both sides of a vehicle body A in an advance direction and having a travel unit 181 which can travel in a state of striding over a ridge; pulling transport parts 9 which can be vertically rotated by a coupling shaft 23 coupled on the travel part 18, and comprise conveyor belts 20 for holding lateral both sides to an advance direction of a stem of a rhizome crop on the ridge and pulling the rhizome crop to a rear upper oblique side and transporting the rhizome crop to the rear side; a stem position detection part 22 being provided on a front side of the pulling transport parts 9 and detecting lateral positions in the advance direction of the stem of the rhizome crop on the ridge to the pulling transport parts 9; and a travel clutch operation part 16 for operating a travel clutch which can transmit intermittently to the travel unit 181 by detection of the stem position detection part 22.SELECTED DRAWING: Figure 1

Description

The present invention relates to an apparatus for harvesting rhizome crops. More specifically, the present invention relates to a device for harvesting rhizome crops that pulls up rhizome crops planted in ridges upward by a pulling and conveying unit and conveys them backward and upward.

Patent Document 1 "Harvesting device for rhizome crops" discloses a harvesting device for rhizome crops as a harvesting device that pulls up rhizome crops planted in a ridge upward by a pulling and conveying unit and conveys them backward and upward. The device is a device for pulling out underground rhizomes by a harvesting device for underground crops attached to the traveling machine body, and a pulling conveyor provided in the machine frame can be moved to the left and right in the traveling direction of the traveling machine body relative to the traveling machine body.
Further, Patent Document 2 "Automatic steering device for self-propelled agricultural work machine" discloses an automatic steering device for self-propelled agricultural work machine as a device that follows the ridges.

JP, 2013-31381, A JP, 03-183404, A

Since the "harvesting device for underground crops" described in Patent Document 1 can relatively move the pulling conveyor to the left and right in the traveling direction of the traveling machine body, the position can be adjusted regardless of the traveling position of the traveling machine body with respect to the ridges. However, there is a problem that the traveling machine body and the pulling conveyor need to be operated respectively.

If the mechanism of Patent Document 2 "Automatic steering device for self-propelled agricultural work machine" is adapted to Patent Document 1, it is possible to automatically run in parallel with the ridges, but the operation of the pull-out conveyor is still required, and the operator Will be a burden to
Further, in this configuration, since the steering mechanism of the traveling unit and the operation mechanism of the pull-out conveyor are required, there is a problem that the structure of the machine body becomes complicated and the size of the machine body becomes large.
This issue must be avoided as it also affects the relevant materials associated with the harvester. For example, increasing the size of vehicles that transport harvesters, increasing consumables for maintenance, and securing storage locations. In addition, the complexity and size increase deteriorate the cost performance of manufacturing the harvester itself, and there is a problem that it cannot be provided to consumers at a low price.

Further, since the positional relationship of crops in the width direction of the ridges is not always constant, there is a problem that crops cannot be properly harvested by working only on the side shape of the ridges. In addition, the ridge at the time of harvest has been several months since the time of sowing and planting, and since the ridge shape is often deformed by the weather and weather that is exposed during that time, the ridge and the crop that grows from the ridge are becoming more numerous. The relative positions of the stems are not constant and the crops cannot be harvested properly.
The present invention has been made in view of the above problems, and provides a rhizome crop harvesting machine capable of controlling crops at low cost without complicating the configuration of the machine, reducing the burden of operation, and properly collecting crops. The purpose is to do.
Regarding the structure in which the traveling portion is moved by the stalk position detecting portion, it is known that a sensor is used to engage and disengage a meshing clutch (dog clutch) in the reduction gear transmission to turn the traveling portion left and right (Japanese Patent Laid-Open No. 7-8018). ). It is also known to operate a clutch in a speed reducer using an electric motor (Japanese Patent Laid-Open No. 2007-137289).

Further, there is a combine harvester as a harvesting device for transporting the crops backward. However, the combine does not sandwich the stem of the crop on the ridge on both the left and right sides with respect to the traveling direction and pull it out obliquely upward and rearward. Only the reaper moves horizontally but not vertically. Therefore, there is no synergistic effect of horizontal movement and vertical movement. There is no root cutting part.
As a combine, Japanese Unexamined Patent Application Publication No. 2018-186756 "Combin" is known.
The pretreatment unit 2 is configured to be slidable in the left-right direction along a pretreatment support frame 10 installed on the front of the machine body.
In this configuration, the number of parts related to the slide is increased, which complicates the cost and increases the cost.

Japanese Unexamined Patent Application Publication No. 2004-261060 "Mowing Harvester" is also known. The publications [0012] to [0021] describe the arrangement of sensors. [0021] describes that the cutting unit 2 is automatically moved up and down according to the detection value of the height sensor.
Further, it is described that the position sensor 29 connected to the laterally extending contact arm 28 operates the right and left side clutches 11 to the transmission side and the blocking side to automatically advance along the grain stem A.

However, in the case of rice for which combine harvesters are used, lodging occurs immediately above the ground. In this state, if the detection unit is located at the forefront end, normal detection by the detection unit becomes impossible. Therefore, the rice is first scraped off by the divider, and the direction is cured so as to follow the traveling direction. After that, the position is detected by the detection unit. Then, the rice is erected by the raising device, and is cut and conveyed by the cutting blade and the conveying device behind the raising device.
(Example of rice lodging work: (1) https://youtu.be/k2C89ZOncNs (2) https://youtu.be/Vafw32eXE6U)

In the case of combine harvesters, the tip of the divider may be between the rice stocks, and then the rice stocks are cut near the surface of the ground by a blade part having a width almost the same as the cutting part. In other words, in the case of combine harvester, there is no step of directly sandwiching or grasping the plant in a state where it grows from the ground, and strict control over the rice plant is not necessary.
In the combine, only the reaper moves to the left and right, but this has a problem that the number of parts increases.
As described above, there is a fundamental difference between the combine harvester for cutting rice and the rhizome crop harvester related to the rhizome crop harvesting device.

This invention is
A traveling unit having a traveling device that is located on both sides in the traveling direction of the vehicle body and can travel across the ridges,
It has a conveyor belt that can be turned up and down by a connecting shaft that connects on the running part, and that pulls the stems of the subterranean crops on the ridges on both the left and right sides with respect to the traveling direction and pulls them backward and obliquely to the rear side. Withdrawal transport section,
Located in front of the pull-out transport unit, a stem position detection unit for detecting the left and right positions of the stem of the rhizome on the ridge with respect to the pull-out transport unit,
A traveling clutch operating unit for operating a traveling clutch capable of connecting and disconnecting transmission to the traveling device by detection of the stalk detecting unit;
A rhizome crop harvesting machine, characterized in that
Consists of.

The invention further comprises
The stalk position detection unit is a fixed arm with the tip directed forward, located in front of a conveyor frame that supports the conveyor belt,
A stalk detection arm that is rotatable about the vertical direction by providing a fulcrum on the front side of the fixed arm,
A stem detection switch for detecting the rotation of the stem detection arm,
An elastic body that urges in the direction of the stem of the underground stem crop that holds the stem detection arm,
A rhizome crop harvesting machine, further characterized by
Consists of.

The invention further comprises
The traveling clutch operation unit includes an actuator that is a drive source, and a rod that transmits the power of the actuator to the traveling clutch,
By driving the actuator, the traveling clutch is intermittently operated,
A rhizome crop harvester, which is further characterized by
Consists of.

The invention further comprises
At least one of transmission mechanisms for driving the conveyor belt rotates coaxially with the connecting shaft,
A rhizome crop harvester, which is further characterized by
Consists of.

The invention further comprises
A plurality of the pulling and conveying parts are provided on the left and right with respect to the traveling direction, and below the rear side of the pulling and conveying part, a stem cutting part for cutting the stems of the extracted underground stem crops, and a rear side of the pulling and conveying part. A leaf discharge portion for sending the stem of the underground rhizome crop cut above by the stem cutting portion to the rear from the pulling and conveying portion,
A rhizome crop harvesting machine, further characterized by
Consists of.

The invention further comprises
A traveling unit having a traveling device that is located on both sides in the traveling direction of the vehicle body and can travel across the ridges,
It has a conveyor belt that can be turned up and down by a connecting shaft that connects on the running part, and that pulls the stems of the subterranean crops on the ridges on both the left and right sides with respect to the traveling direction and pulls them backward and obliquely to the rear side. Withdrawal transport section,
Located in front of the pulling and conveying section, along with cutting the roots, a root cutting section for expanding and softening the soil,
A ridge upper surface detection unit that is located in front of the pulling and conveying unit and that detects the height of the upper surface of the ridge with respect to the pulling and conveying unit,
A first elevating and lowering drive unit for vertically moving the pulling and conveying unit and the root cutting unit by detection of the ridge upper surface detection unit;
A second elevating and lowering drive unit that is located above the pull-out transport unit and that allows the relative angle of the pull-out transport unit with respect to the root cutting unit to be changed;
A rhizome crop harvesting machine, characterized in that
Consists of.

The invention further comprises
The ridge top surface detection unit is a ridge detection that is rotatable about a fixed plate located in front of a conveyor frame that supports the conveyor belt and a fulcrum on the front side of the fixed arm and that is rotatable about the left-right direction with respect to the traveling direction. An arm, a ridge detection switch that detects rotation of the ridge detection arm, and an elastic body that biases the ridge detection arm toward the ridge side,
A rhizome crop harvesting machine, further characterized by
Consists of.

The invention further comprises
The root cutting portion has a link mechanism that suppresses an angle within a range set by vertical movement by the first lifting drive unit,
At least one of the mechanisms for driving the conveyor belt is a transmission mechanism that rotates coaxially with the connecting shaft,
One end of at least one frame constituting the link mechanism is provided so as to be coaxial with the connecting shaft, and is rotated by power transmitted from a power unit provided on the traveling unit to swing the root cutting unit. Generation mechanism,
A rhizome crop harvesting machine, further characterized by
Consists of.

The invention further comprises
Working speed of the rhizome crop harvester is 0.4~1.2Km/h,
Consists of.

According to the present invention, it is possible to provide a rhizome crop harvesting machine capable of controlling the cost at a low cost, reducing the burden on the operation, and appropriately harvesting a crop without complicating the structure of the machine body.

It is a front view of the example which concerns on embodiment of this invention. It is a front view of a working state of an example concerning an embodiment of the invention. It is a side view of the Example which concerns on embodiment of this invention. It is a top view of the example which concerns on embodiment of this invention. It is a rear view of the example which concerns on embodiment of this invention. It is a top view of a stem position detection part of an example concerning an embodiment of the invention. The stalk position detectors are bilaterally symmetric, and the detection arms on the left and right in the traveling direction are shown in a non-operating state in the figure. It is a side view of a stem position detection part of an example concerning an embodiment of the invention. It is a top view of the ridge upper surface detection part of the example which concerns on embodiment of this invention. It is a side view of a ridge upper surface detection part of an example according to an embodiment of the present invention. FIG. 3 is a plan view showing a power transmission path of an example according to the embodiment of the present invention. FIG. 4 is an enlarged plan view showing a transmission path of rocking power of the root cutting portion of the example according to the embodiment of the present invention. It is a top view of a pulling-out conveyance part conduction part of an example concerning an embodiment of the invention, and a running clutch operation part. It is a front view of the running clutch operation part of the example which concerns on embodiment of this invention, and is a left clutch operation part. It is a front view of the state which shortened the 1st lift drive part from the operational state of the example concerning an embodiment of this invention. It is a front view of the state which shortened the 2nd lift drive part from the operational state of the example concerning an embodiment of this invention. It is a side clutch mechanism figure of the clutch disengaged state of the example concerning an embodiment of the invention. It is an operation|movement state figure of the Example which concerns on embodiment of this invention. It is an operation|movement state figure of the Example which concerns on embodiment of this invention. It is an operation|movement state figure of the Example which concerns on embodiment of this invention. It is a conceptual diagram of the control part of the Example which concerns on embodiment of this invention.

A is a rhizome crop harvester. An example of the rhizome crop W that is a target to be harvested by the rhizome crop harvester A is garlic. In this embodiment, the left side is the front in the traveling direction, the right side is the rear in the traveling direction, the upper side is the upper side, and the lower side is the lower side. And the lower side are shown as the left side of the traveling direction.
1 shown in FIG. 1 is a fulcrum shaft. The fulcrum shaft 1 serves as an axis of rocking by the root cutting part 4 of the rhizome crop harvester A. A swing cam 201 is built in the inside. The rocking cams 201 are provided on the right and left sides of the rhizome crop harvester A, respectively.
In FIG. 1, FIG. 10 and FIG. 11, 2 is a first link and 3 is a second link. The second link 3 is installed below the first link 2.
4 is a root cutting part (soiler). The root cutting portion 4 forms a 4-node link by the first link 2 and the second link 3, and these constitute the link mechanism C. As shown in FIG. 3, the root cutting portion 4 is a U-shaped member whose opening portion is directed upward, and is formed in an offset manner so that the lower central portion is located above. By forming in this way, the lower part of the root cutting part 4 is arrange|positioned so that it may follow the shape of a ridge and a ridge which continues from a ridge. Moreover, the upper part of the root cutting part 4 is arrange|positioned so that the 1st link 2 and the 2nd link 3 which are arrange|positioned respectively at the advancing direction left and right of the rhizome crop harvesting machine A may be connected.

In FIGS. 10 and 11, 201 is a swing cam, 202 is a left/right interlocking shaft, and 203 is a bearing. The first link 2 is provided coaxially with the fulcrum shaft 1, and as shown in FIG. 11, has a swing cam 201 built therein.
The swinging cam 201 is provided at the end of the left-right interlocking shaft 202, and is united with the left-right interlocking shaft 202 to generate a swinging motion at one end of the first link 2 as a result. A swinging (vibrating) motion is generated in the cut portion 4. The rotation fulcrum of the pulling-out and conveying unit 9 is one end side of the link of the root cutting portion 4, and the swing generation mechanism D coaxial with the rotation fulcrum is provided at this one end.

Reference numeral 5 is a first lift drive unit. The first elevating/lowering drive unit 5 includes a cylinder. The first elevating and lowering drive unit 5 elevates and lowers the second link 3 by expanding and contracting the cylinder. As the second link 3 moves up and down, the root cutting portion 4 moves up and down via the first link 2. By raising and lowering the root-cutting section 4, the pulling and conveying section 9 also rises and lowers in conjunction with the third link 6 and the fourth link 7. Further, the root cutting portion 4 rises by pulling the lower end portion toward the rear side. By doing so, the overhang angle in front of the traveling unit 18 can be increased. Further, when the root cutting part 4 descends at the start of the work, the root cutting part 4 can descend so as to cut obliquely with respect to the ground, so that the root cutting part 4 can be smoothly arranged in the ground.
Reference numeral 6 is a third link. The lower end portion of the third link 6 is attached to a fulcrum portion provided on the second link 3, and the third link 6 is provided so as to be rotatable in the front-rear direction. Reference numeral 23 is a connecting shaft. As shown in FIG. 11, the connecting shaft 23 is a member having a cylindrical member directed in the left-right direction orthogonal to the traveling direction of the machine body, and is fixed to the base plates 27 arranged on both left and right sides in the traveling direction. A bearing 203 is disposed on the base plate 27 in addition to the connecting shaft 23. The bearing 203 is coaxial with the cylindrical member of the connecting shaft 23, and the left and right interlocking shaft 202 is passed through the bearing 203.

Reference numeral 7 is a fourth link. The lower end of the fourth link 7 is provided coaxially with the connecting shaft 23 and is rotatable in the front-rear direction. The fourth link 7 and the first link 2 are separate bodies. The fourth link 7 connects the middle part to the end of the third link 6. The fourth link 7 is provided on each of the left and right sides of the rhizome crop harvesting machine A, and a beam member is attached to the upper end of each fourth link 7 so as to be bridged in the left-right direction, and a cylinder is attached to the center of the beam member. The part 71 is provided. The fourth link 7 rotates in association with the raising and lowering of the root cutting portion 4.
Reference numeral 8 is a transport unit rotating frame. The conveyor rotating frame 8 is formed of a triangular frame body in a side view, and one end thereof is coaxial with the connecting shaft 23. The conveyor rotation frame 8 is formed separately from the first link 2 and the fourth link 7.

Reference numeral 9 is a pulling and conveying section. A conveyor belt 20 is provided in the pulling and conveying section 9. The conveyor belt 20 is supported by the pulley 204. On the back surface of the conveyor belt 20, the stems of the subterranean crops W made of garlic or the like on the ridges are sandwiched on both the left and right sides with respect to the traveling direction, pulled out to the upper rear diagonal side, and conveyed to the rear side. A plurality of pulling-out and conveying sections 9 are arranged side by side in the left-right direction with respect to the traveling direction, and in this embodiment, four rows are provided as shown in FIG.
The pull-out transport unit 9 is attached to the transport unit rotating frame 8, and the root cutting unit 4 and the fulcrum shaft 1 are common, and the pull-out transport unit 9 can be vertically rotated by a connecting shaft 23 that is connected on the traveling unit 18 that is the traveling device 181. is there.

In FIGS. 10 and 12, reference numeral 901 denotes a pulling and conveying section chain. The pull-out and transport unit 9 is driven by the pull-out and transport unit chain 901.
902 is a sprocket for driving the conveyor. The conveyor belt 20 of the pulling/conveying unit 9 is driven by the sprocket 902 for driving the conveyor.
903 is a traveling drive sprocket. The traveling device 181 of the traveling unit 18 is driven by the traveling drive sprocket 903.
As shown in FIG. 12, the transport conveyor driving sprocket 902 is arranged coaxially with the left/right interlocking shaft 202, but is not connected to the left/right interlocking shaft 202 which is a root cutting portion connecting shaft. Reference numeral 904 shown in FIGS. 1 to 5 denotes a chain case for allocating the amount of drawn conveyance. The pull-out transport amount allocation chain case 904 accommodates a pull-out transport amount allocation chain 904b. The drive of the pulling/conveying portion chain 901 is converted from the left/right direction to the front upper diagonal direction by the gear case 905 located below the pulling/conveying portion allocating chain case 904, and is transmitted to the pulling/conveying portion allocating chain 901b. To do. Inside the pulling/conveying portion allocation chain case 904, a plurality of sprockets (not shown) having a shaft for the pulling/conveying portion 9 attached to the rotary shaft are arranged in the same number as the conveyor belt 20. It is driven by the chain 901b. By this drive, a plurality of conveyor belts 20 arranged are driven.
Further, sprockets (not shown) having shafts attached to the rotary shafts for the pulling and conveying unit 9 support the rotary shafts by pipes 904c attached below the pulling and conveying amount allocating chain case 904, respectively. Further, the pipe 904c fixes a plurality of pull-out and transport units 9, and the pull-out and transport units 9 can integrally rotate back and forth around the connecting shaft 23. That is, the pulling/conveying portion allocating chain case 904 and the pipe 904c rotate together with the pulling/conveying unit 9. In the embodiment, eight pipes 904c are arranged.

Reference numeral 13 shown in FIG. 4 is a stem cutting portion. The stem cutting portion 13 is a member having a blade portion on a circumferential end surface thereof, which rotates coaxially below a pulley 204 arranged behind the conveyor belt 20 with the center of the disk surface as a rotation axis, and the advancing and conveying portion 9 advances. Plural units are provided on the left and right of the direction. The stem cutting unit 13 rotates below the rear side of the pulling and conveying unit 9 together with the conveyor belt 20 driving pulley 204, and cuts the stems of the pulled out underground stem crops.
Reference numeral 12 shown in FIGS. 3 and 4 denotes a leaf discharge unit. The leaf discharge unit 12 is provided on the rear side above the pulling-out and conveying unit 9 provided on the left and right with respect to the traveling direction. The leaf-discharging section 12 sends the stems of the underground stem crop W cut by the stem cutting section 13 to the rear of the pulling-out and conveying section 9.

Reference numeral 10 is a fixed frame of the transport unit. The conveyance unit fixing frame 10 is a frame member having a comb shape in side view, and fixes a plurality of (four rows in this embodiment) pull-out conveyance units 9 from the upper side. As a result, the plurality of pulling-out and conveying units 9 arranged are fixed in position, and can be integrally rotated about the fulcrum shaft 1 as a fulcrum.
Reference numeral 11 is a second lifting drive unit. The second elevating/lowering drive unit 11 includes a cylinder. The second lifting drive unit 11 connects the upper portion of the fourth link 7 and the transport unit fixing frame 10 via the cylinder mounting unit 71. The second elevating and lowering drive unit 11 is capable of expanding and contracting and elevating and lowering only the pulling and conveying unit 9 with respect to the root cutting unit 4. If the ridge upper surface detection unit 21 which is a sensor located in front of the pull-out transport unit 9 senses and lowers it too much, the height position of the root cutting portion 4 remains the same, and only the pull-out transport unit 9 is driven by the second lifting drive unit 11. Rise. On the other hand, if it rises too much, only the pull-out and transport unit 9 is lowered by the second lifting drive unit 11.

14 is a container. The container 14 has a box shape or the like, is installed in the lower rear portion of the leaf discharge part 12, and stores the cut subterranean crops W such as garlic.
Reference numeral 15 is an engine that is a power unit, and 18 is a traveling unit. As shown in FIGS. 10 and 11, the engine 15 projects the output shaft from both sides and outputs the output shaft. The engine 15 drives the traveling unit 18 with one output shaft, and the rhizome crop harvester A travels. The rotational driving force of the other output shaft of the engine 15 is transmitted to the root cutting portion 4 via the left-right interlocking shaft 202, and the root cutting portion 4 swings. The engine 15 is provided above the traveling unit 18 and on the left side rearward of the pulling and conveying unit 9.

The traveling unit 18 includes a pair of crawlers that are traveling devices 181 that are wound in the front-rear direction. The traveling devices 181 can be located on both left and right sides in the traveling direction of the vehicle body, which is the rhizome crop harvester A, and can travel across the ridges. From the front to the upper part of the traveling unit 18, the pulling/conveying unit 9 and the leaf discharging unit 12 are arranged.
25 is a hydraulic pump. The hydraulic pump 25 generates hydraulic pressure used for the first elevating/lowering drive unit 5, the second elevating/lowering drive unit 11, and the like. From the engine 15 to the left/right interlocking shaft 202, and from the engine 15 to the HST 24 via the hydraulic pump 25, a pulley, a belt and the like are used for driving.
Reference numeral 26 is a traveling drive shaft which is an axle. The traveling drive shaft 26 receives the rotational power of one output shaft of the engine 15 and is connected to a gear box 171 for decelerating or accelerating, and drives the traveling device 181. The gearbox 171 is connected to the HST 24, and acquires power from the engine 15 via the HST 24. Reference numeral 27 denotes a base plate, which is arranged in front of the engine 15.

Reference numeral 16 is a traveling clutch operation unit. As shown in FIG. 12, the traveling clutch operation unit 16 includes a traveling clutch operation unit for right turn 16A and a traveling clutch operation unit for left turn 16B, and they are respectively located in front of the gear box 171. .. The right turning traveling clutch operating unit 16A and the left turning traveling clutch operating unit 16B have common parts.
Reference numeral 17 is a traveling clutch. 171 is a gear box. The traveling clutch 17 is installed in the gear box 171. Two traveling clutches 17 are provided in the gear box 171 for the left and right traveling devices 181 in order to disconnect and connect the driving of the respective traveling devices 181 of the rhizome crop harvester A. The traveling clutch 17 disengages and connects the driving power transmitted from the engine 15 to the traveling device 181, thereby causing straight traveling in the front-rear direction and turning traveling in the left-right direction. Further, a conveyor clutch (not shown) is installed in the gear box 171 as a separate body from the traveling clutch 17, and the disconnecting connection for driving the conveyor belt 20 is independent of the disconnecting connection operation for driving the traveling device 181. Then do.
The traveling clutch that can be intermittently transmitted to the traveling device 181 is operated 17 times by the detection of the stem position detection unit 22.
The traveling clutch operating unit 16 includes an actuator 162 that is a drive source, and a clutch connecting rod 163 that transmits the power of the actuator 162 to the traveling clutch.

12, 164 is a rod, 165 is a gear rotation fulcrum, 166 is a motor, 167 is a gear, and 168 is a pinion gear. In the embodiment, the actuator 162 is the motor 166, and the motor 166 is an electric motor. The motors 166 are provided on the left and right sides of the gear box 171 in the traveling direction, respectively, and operate the left and right traveling clutches 17 to connect and disconnect the driving to the left and right traveling devices 181 respectively. The rotational power of the motor 166 rotates the pinion gear 168 attached to the output shaft of the motor 166. The pinion gear 168 rotates the meshing gear 167 with the gear rotation fulcrum 165 as a rotation axis. The gear 167 is a member having a tooth surface on a part of the edge of the side of the polygonal plate.
Reference numeral 169 shown in FIG. 13 is a limit switch. The limit switch 169A operates when the clutch 17 is disengaged. The limit switch 169B operates when the clutch 17 is connected. The limit switch 169A is arranged at one end of the gear 167 in the circumferential direction, and the limit switch 169B is arranged at the other end of the gear 167 in the circumferential direction.

The motors 166 respectively engage and disengage the traveling clutch 17, which is a meshing clutch in the speed reducer (gear box) 171, and cause the traveling portion 18 to turn left or right. The rotational power of the motor 166 is transmitted to the gear 167 via the pinion gear 168. The gear 168 rotates about a gear rotation fulcrum and is transmitted to a rod 164 connected to a position different from the tooth surface of the gear 168. In the embodiment, the rod 164 is movable in the front-rear direction which is the axial direction of the rod. The movement of the rod 164 in the front-rear direction is transmitted to the clutch connecting rod 163 by converting the operation direction to the left-right direction through the L-shaped direction changing member 174 provided on the side portion of the gear box. The clutch connecting rod 163 is connected to the traveling clutch 17 in the speed reducer 171.
When the clutch connecting rod 163 is pulled out of the gear box 171, the clutch 17, which is a dog clutch installed inside the gear box 171, stops transmission. The traveling clutch operating unit 16 drives the actuator 166 (motor 162) to intermittently operate the traveling clutch 17.

B shown in FIGS. 10 and 12 is a transmission mechanism. The transmission mechanism B is a mechanism for driving the conveyor belt 20. The transmission mechanism B transmits the power output from the gear box 171 to the conveyor belt 20 via the right side in the traveling direction of the machine body while repeating increasing and decreasing sides using a plurality of chains and sprockets. At least one of the transmission mechanisms B for driving the conveyor belt 20 rotates coaxially with the connecting shaft 23. In this embodiment, a sprocket is provided in a portion that is transmitted from the rear of the traveling unit 18 to the front by using a plurality of chains and sprockets, and then changes the transmission direction upward toward the pulling and conveying unit 9 located above. It is coaxial with 23. By arranging in this way, it is possible to reduce the number of parts related to the mechanism for transmitting to the pulling-out and conveying section 9 having the conveyor belt 20 that rotates about the connecting shaft 23 or the left and right interlocking shaft 202 as an axis for simplification. That is, since the chain of the transmission mechanism B is not loosened or stretched by the rotation of the pulling/conveying unit 9, the tensioning device for the chain arranged around the rotating portion can be omitted.
Reference numeral 24 is an HST (Hydro-Static Transmission).
In this embodiment, the HST 24 introduces the power of the engine 15, which is a drive source, into a gear box 171 provided with a clutch 17 therein, so that the traveling device 181 travels straight in the front-rear direction and turns in the left-right direction. And the drive of the conveyor belt 20.

When either one of the two clutches 17 provided for the left and right traveling devices 181 in the gear box 171 is connected, in the rhizome crop harvester A, only the left or right traveling device 181 is driven. The entire aircraft turns to the left or right.
In the combine harvester, only the cutting unit moves to the left and right, but in the rhizome crop harvester A, which is an embodiment of the present invention, the entire body turns left and right, so the number of parts can be reduced.
One of the traveling parts 18 including the crawler and the crawler track is stopped and decelerated, and the entire rhizome crop harvester A is turned to the left and right.

4 is a root cutting part. The root cutting part 4 is located in front of the pulling and conveying part 9, cuts the root of the rhizome crop W, and softens the soil.
The root cutting part 4 suppresses the angle within the range set by the vertical movement by the first elevating and lowering drive part 5.
One end of at least one frame that constitutes the link mechanism C is provided coaxially with the connecting shaft 23 and is rotated by the power transmitted from the engine 15 which is a power unit provided on the traveling unit 18, and the root cutting unit 4 is provided. Since the swing generating mechanism D for swinging the shaft and the rotating shafts of the connecting shaft 23 and the link mechanism C are coaxial with each other, the structure is simple.

The first elevating/lowering drive unit 5 vertically moves the pulling and conveying unit 9 and the root cutting unit 4 according to the detection of the ridge upper surface detecting unit 21.
Reference numeral 11 is a second lifting drive unit. The second elevating and lowering drive unit 11 is located above the pulling and conveying unit 9 and makes it possible to change the relative angle of the pulling and conveying unit 9 with respect to the root cutting unit 4.

Reference numeral 22 is a stem position detection unit. The stalk position detection unit 22 is provided in front of the pulling and conveying unit 9, and detects the left and right positions of the stem of the underground stem crop W on the ridge with respect to the pulling and conveying unit 9 in the traveling direction.
FIG. 6 is a plan view of the stem position detection unit, and FIG. 7 is a side view of the same. The stem position detection unit 22 is bilaterally symmetric, and in FIG. 6, the detection arms 222 on the left and right in the traveling direction are shown in an operating state and a non-operating state. The detection arm 222 shown by the solid line on the right side in the traveling direction, that is, the upper side in FIG. 6 shows the operating state. The detection arm 222 represented by the solid line on the left side in the traveling direction, that is, the lower side in FIG. 6 represents a non-operating state.
The stalk position detection unit 22 is located in front of the conveyor frame 205 supporting the conveyor belt 20 and protrudes forward from between the conveyor belt 20 and the conveyor belt 20 of the transport unit fixing frame 10 with its tip facing forward. Install.

221 is a fixed arm. The fixed arm 221 is attached so as to protrude forward from between the conveyor belt 20 of the pulling and conveying section 9 and the conveyor belt 20.
227 is a pull-in guide member (divider). The pull-in guide members 227 are made up of a pair of right and left sides, and the tips are brought close to each other in front of the conveyor belt 20 and the conveyor frame 205 of the pulling and conveying section 9, and are attached to the conveyor frame 205 in a generally V-shape. The pull-in guide member 227 guides the stems of the underground stem crop W to the conveyor belt 20 of the pulling and conveying section 9.

222 is a stem detection arm. The stem detecting arm 222 has a fulcrum on the front side of the fixed arm 221, and is attached so as to be rotatable about a rotation fulcrum 223 about the vertical direction. The contact surface of the stem detecting arm 222 with the stem of the underground stem crop W is substantially J-shaped. The detection arms 222 on the left and right in the traveling direction are arranged in a C-shape with the front side being divergent as a whole, and the stem is positioned between them, and the position of the stem is detected to perform the harvesting work of the rhizome crop W.
Reference numeral 224 is a stem detection switch. The stem detection switch 224 detects rotation of the stem detection arm 222.
225 shown in FIGS. 6 and 7 is an elastic body. The elastic body 225 urges the stem detecting arm 222 in the direction of the stem of the subterranean crop W that holds the stem detecting arm 222.

As shown in FIG. 7, when the rod 226 on the stem detecting arm 222 touches the stem detecting switch 224, the stem detecting switch 224 operates.
The stalk position detection unit 22 is provided with the stalk position detection unit 22 on the center side of the conveyor belt 20 in four rows as shown in FIG. The stalk position detection unit 22 detects only one row out of four rows of underground stem crops. Since the rhizome crops W are planted at equal intervals at the time of planting, if the stem positions are detected in only one row, the positions of the rhizome crops W in other ridges can be specified.
Since the detection unit, particularly the stalk position detection unit 22, projects forward, it is possible to reduce the number of overhanging members from the tip of the belt conveyor by arranging only the stalk position detection unit 22 in front of the divider.

In the case of rice for which combine harvesters are used, lodging occurs immediately above the ground. In this state, if the detection unit is located at the forefront end, normal detection by the detection unit becomes impossible. Therefore, the rice is first scraped off by the divider, and the direction is cured so as to follow the traveling direction. After that, the position is detected by the detection unit. After that, the rice needs to be erected by the raising device and cut and conveyed by the cutting blade and the conveying device behind the raising device.
Rhizome crops W such as garlic almost never fall (although not absolutely), and the stems directly above the ground are in a state of standing vertically. The leaves grown from the stems extending from the ground may hang depending on the growth condition, but there is a gap between the stalks directly above the ground and the hanging leaves.
The stalk position detection unit 22 of the present invention advances by passing through this gap.

In the embodiment of the present invention, the stem position detecting unit 22 is arranged so as to sandwich the stem, and the traveling direction is controlled, so that the stem axis is positioned at the central portion of the conveyor belt 20 that reliably faces the conveyor belt 20. It can be pinched with.
By surely detecting the left and right positions with respect to the conveyor belt 20, the position where the stalk is clamped is displaced (for example, the tip of the stalk is clamped), whereby the stalk ruptures and defective extraction occurs, and the clamped stalk and the root of the garlic. It is possible to prevent variation in the cutting position due to the stem cutting portion 13 located at the rear portion of the conveyor belt 20 due to the positional relationship of the deviation.
Therefore, the stem position detection unit 22 is arranged so as to face the object to be extracted.

Reference numeral 21 shown in FIGS. 8 and 9 denotes a ridge upper surface detection unit. The ridge upper surface detection unit 21 is located in front of the drawing and conveying unit 9 and detects the height of the upper surface of the ridge with respect to the drawing and conveying unit 9.
The ridge upper surface detecting unit 21 includes a fixing plate 211, a ridge detecting arm 212, a ridge detecting switch 213, and an elastic body 214.
The fixing plate 211 is positioned and attached in front of the conveyor frame 205 that supports the conveyor belt 20. The ridge detection arm 212 is provided with a fulcrum on the front side of the conveyor frame 205 and is attached so as to be rotatable about the left-right direction with respect to the traveling direction. The ridge detection switch 213 detects the rotation of the ridge detection arm 212. The elastic body 214 biases the ridge detection arm 212 toward the ridge side.

Reference numeral 215 is a rotation fulcrum. Reference numeral 216 is a link. The link 216 connects the ridge detection switch 213 and a plate provided at one end of the ridge detection arm 212 that is rotatable by a rotation fulcrum 215 provided on the fixed plate 211.
The ridge detection switch 213 changes the electrical resistance inside the ridge detection switch 213 as the rotation of the ridge detection arm 212 is rotated via the link 216. Therefore, the amount of rotation can be detected by the change in the electric resistance value.

The ridge upper surface detecting unit 21 determines a contact point between the ridge detecting arm 212, which is a curved fixed arm, and the ridge upper surface at a front end of the pulling and conveying unit 9, that is, a front end that is a pulling start point of the conveyor belt 20 that pulls out the stems of the underground plant crop W. By positioning it just below the portion, a certain amount of height can be secured between the drawing start point and the upper surface of the ridge directly below it.
If the contact point is located at the front or the rear, the front end of the pulling/conveying unit 9 and the upper surface of the ridge cannot be properly tracked, and the stem of the rhizome crop W cannot be pulled out at a proper position. As in the embodiment of the present invention, by arranging the vicinity of the lowest point of the downwardly curved portion of the ridge detection arm 212 to be located directly below the tip of the conveyor belt 20, the relative bulb of the rhizome crop W can be obtained. The gripping position can be kept constant and proper harvesting work can be performed.

FIG. 20 is a conceptual diagram of a control unit (not shown) according to the embodiment of the present invention. An operation unit (not shown) is connected to the control unit. The operation unit includes an automatic switch, an extraction switch, a conveyor switch, a root cutting switch, and a height setting switch. By switching to the manual operation in the operation unit, the worker can run or turn at an arbitrary speed.
The automatic switch is an operation switch of the ridge top surface detection unit 21 which is a height sensor.
The pull-out switch is a switch for starting the digging work by the cooperation of the pull-out transporting section 9 and the root cutting section 4.

The conveyor switch is a switch for starting driving of the conveyor belt 20. The root cutting switch is a switch for the root cutting unit 4 to start cutting the root of the rhizome crop W.
The height setting switch is a switch that sets the tip position of the pulling and conveying section 9 that determines the height at which the stem is pulled out by the first elevating and lowering drive section 5 (cylinder).

The right clutch operation motor 166, the left clutch operation motor 166, the first lifting drive unit 5, the second lifting drive unit 11, and the engine 15 are further connected to the control unit.
The right stalk detection switch 224, the left stalk detection switch 224, the ridge detection switch 213, and the storage unit are further connected to the control unit.
The storage unit stores the current position as a reference position in the ridge upper surface detection unit 21.

The height control according to the embodiment of the present invention will be described.
As shown in FIG. 18, in the ridge upper surface detection unit 21, it is necessary to set a pull-out position setting mode in advance as an item to be set before performing work. When the setting is started, it is determined in step S31 whether the memory switch is in the ON state. If the memory switch is not in the ON state, the process ends. The memory switch is the height setting switch in FIG. In step S31, if the storage switch is in the ON state, the current position is stored in the storage unit as the reference position. When the pulling/conveying unit 9 and the root cutting unit 4 are moved up and down, and especially when the pulling/conveying unit 9 is moved up and down, the ridge detecting arm 212 of the ridge upper surface detecting unit 21 rotates in contact with the ground to detect the height of the ridge upper surface. The rotation of the ridge detection arm 212 is transmitted to the ridge detection switch 213 via the link 216, and the resistance value detected by the ridge detection switch 213 is stored in the storage unit.

The vertically moving structure of this embodiment will be described.
According to the present invention, the excavation work is performed by the cooperation of the pulling and conveying section 9 and the root cutting section 4 arranged in front of the traveling section 18.
The ridge upper surface detecting unit 21 which is a height sensor sends the detected value to the control unit by detecting the changing ridge upper surface while keeping the height position of the root cutting portion 4 unchanged. The control unit compares the detected value detected and the resistance value of the reference position stored in the storage unit. As a result of comparison, if there is a difference between the stored value and the detected value, the pulling/conveying unit 9 is rotated in accordance with the expansion/contraction drive of the second elevating/lowering drive unit 11, and the stalk at a certain distance from the ground is placed on the conveyor belt. It is sandwiched by the back surfaces of 20 facing each other and pulled up diagonally upward and rearward. If the height to be clamped against the stalk is too high, the stalk will break and it will become impossible to pull out. If it is too low, the conveyor belt 20 comes into contact with the ground and damages the machine body. The configuration of the ridge upper surface detection unit 21 of the present invention eliminates the problems that may occur when these are extracted.
By the way, the reaping part on the front side of the combine used for the rice stock is located on the ground and moved up and down on the ground. This is different from the structure of the embodiment of the present invention in which only the portion 9 moves up and down.

The control in the left-right direction in the embodiment of the present invention will be described.
1. Constitution of the Front End of the Conveyor Belt 20 A pull-in guide member 227 (divider, guide rod) is attached to the front end of the conveyor belt 20. As a result, the stems of the subterranean crops W can be reliably positioned and held in the center of the conveyor belts 20 facing each other immediately after this. However, it does not overhang the front end significantly.

2. The overhang amount of the embodiment of the present invention will be described.
If the amount of overhang is long, the overhang part will pierce the ridge when the aircraft moves up and down by running, which will hinder the work. In addition, bulb vegetables such as garlic are often (rather often) cultivated by forming a ridge and then covering the ridge with a mulch film (vinyl film). When the front member of the conveyor belt 20 pierces the multi-film, the multi-film is wound around the conveyor belt 20 and the operation is interrupted.
Therefore, in order to perform stable and continuous harvesting work, the pull-in guide member 227 (divider, guide rod) that is a member located in front of the conveyor belt 20, the ridge upper surface detection unit 21 that is the detection unit, and the stem. It is desirable that the position detector 22 be as close to the conveyor belt 20 as possible. Therefore, the amount of forward projection of the divider (drawing guide member 227) that guides the stems of the underground stem crop W to the conveyor belt 20 of the pulling and conveying unit 9 is made as small as possible, and members necessary for detection (stem position detecting unit 22, ridges) are provided. Only the upper surface detector 21) is located in front of the conveyor belt 20 and the divider.

In the embodiment of the present invention, the electric motor 166 that operates according to the detection of the stem position detection unit 22 that is a sensor is used to disengage the traveling clutch 17 that is the meshing clutch in the reduction gear transmission 171 to turn the traveling unit 18 left and right. The electric motor (traveling clutch operating unit 16) is arranged separately from the reduction gear device (gear box 171). Therefore, the integrated speed reducer (gear box 171) can be reduced in size and can be set as a versatile speed reducer, and other necessary components of the harvester can be effectively arranged. I have to. In a configuration in which sensors such as the stem position detection unit 22 are used for automatic steering, by disposing the traveling clutch operation unit 16 as a separate body and operating the clutch, the manufacturing cost for the entire machine body can be reduced.
In the embodiment of the present invention, as shown in FIGS. 10 and 12, the traveling clutch operation unit 16 is arranged in front of the speed reducer (gear box 171). Thus, by disposing the container 14, which is one of various members, on the axle in the vicinity of the speed reducer (gear box 171), it is possible to effectively dispose various members without creating a wasted space. Can contribute to miniaturization of.

FIG. 16 which is a side clutch mechanism diagram in the clutch disengaged state of the example according to the embodiment of the present invention will be described. Since the mechanical diagram in FIG. 16 is bilaterally symmetric, the reference numerals used are given to one side clutch portion as a representative.
The dog clutch (meshing portion) 17 is a 175 return spring and is always biased in the joining direction. When the direction changing member 174 is activated, the clutch connecting rod 163 is activated to move the dog clutch (meshing portion) 17 in the sliding direction and join it to another joining portion. 176 is a clutch and speed change gear, which has a dog clutch 17 on the side surface in the axial direction and is slidable in the axial direction.
Reference numeral 173 is a front gear, 172 is a gear meshing with another gear, 177 is a final gear, and 903 is a crawler drive sprocket. The front gear 173 has a joint portion with the dog clutch 17, and is provided so as to be capable of being joined with the dog clutch 17. The gear 172 is meshed with the gear 173 of the preceding stage further to the preceding stage. The clutch/transmission gear 176 is slidably moved by the clutch connecting rod 163 to be joined to the preceding gear 173. After joining, the driving force of the engine 15 transmitted to the preceding gear 173 in the gear box 171 is transmitted to the final gear 177 via the clutch and speed change gear 176, and then the traveling drive sprocket 903 (crawler drive sprocket ).

The left-right direction control in the embodiment of the present invention will be described with reference to FIG.
(1) Go straight and turn
A. When the left and right stem detection switches 224 both detect the stem of the underground stem crop W. B. The left and right stem detection switches 224 do not detect the stems of the underground stem crop W together. This is because, in the case of A, the stems of the underground stem crop W are present between the left and right stem detection switches 224, and in the case of B, it can be determined that there is no stem of the underground stem crop W in front of the left and right stem detection switches 224. ..
Turning right and turning left
C. It is necessary to turn when one of the left and right stem detection switches 224 detects the stem of the underground stem crop W, but the other stem detection switch 224 does not detect the stem of the underground stem crop W. This is because the left and right stem detection switches 224 of the rhizome crop harvester A are not located at the center of the ridge.

(2) About right turn and left turn When the left and right stalk detection switches 224 divide the detection content, it is necessary to bring the left and right stalk detection switches 224 of the subterranean crop crop harvester A to the center of the ridge.
C1. When the left stalk detection switch 224 detects the stalk of the rhizome crop W, but the right stalk detection switch 224 does not detect the stalk of the rhizome crop W C2. When the right stalk detection switch 224 detects the stalk of the rhizome crop W, but the left stalk detection switch 224 does not detect the stalk of the rhizome crop W. In the case of C1, the left stalk detection switch 224 approaches the ridge. Since it has passed, the left stem detecting switch 224 needs to be rotated rightward in order to separate the left stem detecting switch 224 from the stem of the rhizome crop W.
In the case of C2, since the right stalk detection switch 224 is too close to the ridge, the right stalk detection switch 224 needs to be rotated counterclockwise in order to separate the right stalk detection switch 224 from the stalk of the rhizome crop W.

(3) Initial state and rotation In the initial state of the rhizome crop harvester A, the left and right clutches 17 are in the connected state and go straight. The left and right crawlers or tracks are in motion. In order to rotate to the right, it is necessary to stop driving the right crawler or track. For that purpose, it is necessary to disengage the clutch of the right crawler or the crawler belt, and the traveling motor is driven so as to disengage the clutch of the right crawler or the crawler belt.
In order to rotate counterclockwise, it is necessary to stop driving the left crawler or crawler track. For that purpose, it is necessary to disengage the left crawler or crawler belt clutch, and the traveling motor is driven so as to disengage the left crawler or crawler belt clutch.

(4) Content of Detection by Left and Right Stem Detection Switches 224 In the present invention, the content of detection by the left and right stem detection switches 224 is limited to qualitative detection of contact/non-contact. It does not detect the contact amount or non-contact amount.
Based on the detection by the left and right stem detection switches 224, when the underground stem crop harvester A is rotated to the left or right, it cannot be determined whether the rotation amount is appropriate. Therefore, it is necessary to detect whether the rotation amount is proper after the left and right rotations of the rhizome crop harvester A.

(5) Check for over rotation When one of the left and right stalk detection switches 224 detects the stalk of the subterranean crop W, only one of the left and right crawlers or the crawler belt is driven to rotate. After the rotation, it seems necessary to confirm the detection by the left and right stem detection switches 224 again. This will be checked again at the start.

Start detection.
(S1)
In S1, it is determined whether the stem detection switch 224 is in the ON state. If the stalk detection switch 224 is not turned on in S1, it is determined that neither of the left and right detection switches is pressed, and it is determined that the machine should go straight, and the subterranean stalk crop harvester A is in the initial state (the left and right clutches 17 are Keep the connection) and go straight.

In S1, it is determined whether or not at least one of the stem detection switches 224 arranged to face the stem of the rhizome crop W in the traveling direction on the left and right.
That is, in this step, it is determined whether or not the left and right stem detection switches 224 are reacting. Explaining with reference to the machine of the subterranean crop harvester A, it is determined whether the stem of the subterranean crop crop W is in front of the conveyor belt 20. If neither of the stalk detection switches 224 is detected, it is determined that there is nothing ahead, and the subterranean crop crop harvester A machine runs only in a straight line. At this time, the rhizome crop harvester A is in the initial state (the left and right clutches 17 are in the connected state).

If at least one of both stalk detection switches 224 is sensed, it is determined that there is a stalk of the underground stalk crop W in the front, and the stalk is categorized as traveling straight or turning left or right. To be done. Naturally, the latter is still in the state of containing multiple options.
If the stem detection switch 224 is on in S1, it is determined in S2 whether the left stem detection switch 224 is on.

(S2)
If the stem detection switch 224 is on in S1, it is determined in S2 whether the left stem detection switch 224 is on.
If the left stem detection switch 224 is not on in S2, is the right detection switch on in S3? To judge.
If the left stem detection switch 224 is on in S2, is the right detection switch on in S8? To judge.

(S3)
If the left stem detection switch 224 is not on in S2, is the right detection switch on in S3? To judge.
If the right stalk detection switch 224 is not turned on in S3, it means that neither the left or right stalk detection switch 224 has been pressed, so it is determined that the vehicle is going straight, and the underground plant crop harvester A is in the initial state (left and right clutch 17). Keep the connection) and go straight.
If the right stalk detection switch 224 is on in S3, it is determined in S2 that the left stalk detection switch 224 is not on and the right switch 224 is detecting, that is, the aircraft needs to turn right. To judge.

(S4)
If the right stalk detection switch 224 is turned on in S3, it is determined that the left switch 224 has not detected in S2, but the right switch 224 has detected. That is, the aircraft determines that a right turn is necessary, and in S4, the right turn motor 166 of the right clutch operation unit is rotated until the limit switch 169A operates the gear 167 to disconnect the right clutch 17.

(S5)
In S5, since the driving force of the traveling device 181 on the right side has been cut off, the entire rhizome crop harvesting machine A is caused to turn right.
(S6)
Although the right turn is determined in the previous steps S4 and S5, it is again determined whether the right stalk detection switch 224 is input.
This confirms whether or not the input of the right stem detection switch 224 is continued during the right turn of the aircraft after the right turn is determined. The right detection arm 222 is pushed by the stalk to rotate from the initial state to the right fixed arm 221 side, and the right stalk detection switch 224 is operated to start the right turn of the machine body. With the start of turning to the right, the right fixed arm 221 relatively moves in the direction in which it tends to move away from the stem. At this time, the detection arm 222 also rotates so as to separate from the right fixed arm 221. As a result of the turning of the machine body, the detection arm 222 also returns to the initial state side, so that the right stem detection switch 224 by the detection arm 222 becomes inactive (OFF state). That is, in step S6, it is determined whether it is necessary to continue turning. If the right stalk detection switch 224 is still in the detection state, the process returns to step S4 and the control is repeated. If the right stalk detection switch 224 determines that there is no detection, the process proceeds to step S7, and the clutch operating motor 166 for right turn is operated in the reverse direction in order to move the vehicle straight.

(S7)
The right clutch operating motor 166 is operated in the opposite direction to connect the right clutch 17. Since the left and right clutches 17 are in the engaged state, the machine body goes straight.
The right turning motor 166 is operated in the reverse direction, the clutch connecting rod 163 is pushed to the gear 173 via the rod 165, and the right side clutch 17 that drives the right side traveling unit 18 is connected. Similar to the case of turning, a protrusion is provided on the other end in the circumferential direction of the tooth portion of the gear 167, and the protrusion abuts against the limit switch 169B to stop the operation of the motor 166 in the reverse direction (at this point). It is judged that the clutch is connected in). Then, the process moves to the next step, “straight ahead”.
As a result of the progress up to the previous step, both the left and right clutches are in the connected state, and the aircraft advances in the forward direction.
Whether the vehicle has made a right turn is judged by returning to the start.

(S8)
If the left stem detection switch 224 is on in S2, is the right stem detection switch 224 on in S8? To judge.
In S8, when the right stem detection switch 224 is in the ON state, both the left and right detection switches 224 are being pressed, so it is determined that the vehicle is going straight, and the underground stem crop harvester A is in the initial state (the left and right clutches 17 are Keep the connection) and go straight.
If the right stalk detection switch 224 is not in the ON state in S8, it is determined in S2 that the left switch is in the ON state and the right switch is detecting, and the process proceeds to the next step S9. That is, the aircraft determines that it needs to turn left.

(S9)
If the right stalk detection switch 224 is not turned on in S8, only the left switch 224 is detected and the left stalk detection switch 224 is determined to be on in S2. That is, it is determined that the aircraft needs to turn left, and in S9, the left turning motor 166 of the left clutch operation unit is operated to disconnect the left clutch 17.
(S10)
In S10, the entire rhizome crop harvesting machine A is caused to turn left to move straight.

(S11)
Although the left turn is determined in the previous steps S9 and S10, it is again determined whether or not the left stem detection switch 224 is input.
This confirms whether or not the input of the left stem detection switch 224 is continued during the left turn of the aircraft after the determination of the left turn is made. The left detection arm 222 is pushed by the stalk to rotate from the initial state to the left fixed arm 221 side, and the left stalk detection switch 224 is operated to start the left turn of the aircraft. With the start of turning to the left, the left fixed arm 221 relatively moves in the direction in which the left fixed arm 221 tends to separate from the stem. At this time, the detection arm 222 also rotates so as to separate from the left fixed arm 221. As a result of the turning of the machine body, the detection arm 222 also returns to the initial state side, so that the left stem detection switch 224 by the detection arm 222 becomes inactive (OFF state). That is, in step S11, it is determined whether it is necessary to continue turning. If the left stem detection switch 224 is still in the detection state, the process returns to step S8 and the control is repeated. If the right stalk detection switch 224 determines that there is no detection, the process proceeds to step S12, and the left-turning clutch operation motor 166 is operated in the reverse direction in order to move the vehicle straight.

(S12)
The left-turning clutch operating motor 166 is operated in the reverse direction to connect the left clutch 17.
The left turning motor 166 is operated in the reverse direction, the clutch connecting rod 163 is pushed to the gear 173 via the rod 165, and the clutch 17 on the side that drives the left traveling unit 18 is connected. As in the case of turning to the right, a protrusion is provided on the other end of the gear 167 in the circumferential direction of the tooth, and the protrusion abuts against the limit switch 169B to stop the operation of the motor 166 in the reverse direction ( At this point, it is judged that the clutch is connected). Then, the process moves to the next step, “straight ahead”.
As a result of the progress up to the previous step, both the left and right clutches are in the connected state, and the aircraft advances in the forward direction.
It is judged whether the vehicle has turned left too much by returning to the start.

When the left side of the sensor detects, the clutch 17 is switched to rotate the entire rhizome crop harvester A to the left, and when the right side of the sensor senses, the clutch 17 is rotated to rotate the entire rhizome crop harvester to the right. Switch.
Since the crops on the ridge are evenly spaced, it is not necessary to move the conveyor belts 20 individually. Further, if the conveyor belts 20 are individually moved, it is necessary to avoid collision with each other, which complicates control.

A sensor is attached to the central conveyor belt 20 among the plurality of conveyor belts 20 provided in parallel. The sensor need not be attached to all conveyor belts 20. Since the side part of the ridge may be collapsed, when the harvesting work is performed with the ridge as a reference, the right and left positions of the stems of the ridge-top crop with respect to the traveling direction of the conveyor belt 20 often deviate, and the proper extraction is performed. Cannot be done. However, in the configuration of the present invention, the stems of the above-ground crops are used as a reference, so that defective extraction is reduced.
In this embodiment, the stalk position detection unit 22 is provided on the center side of the conveyor belt 20 having four rows and is configured to detect only one row. Although not shown, even if the oppositely arranged stem detecting arms 222 are arranged so as to sandwich a plurality of stems planted in a plurality of rows in a direction orthogonal to the traveling direction, the underground stem crop W is orthogonal to the traveling direction at the time of planting. Since they are planted at equal intervals in the width direction, the effect is the same as when only one row is detected.
In this embodiment, as soon as the stalk detection switch 224, which is a sensor, detects, the entire rhizome crop harvester A is moved to the left and right. Therefore, it is possible to integrate the components related to the turning of the traveling unit 18 itself and the components for aligning the pulling and conveying unit 9, and as a result, it is possible to reduce the number of components of the entire machine body.

In the work of the present embodiment, the working speed of the rhizome crop harvester A machine is 0.4 to 1.2 Km/h, preferably around 1.0 Km/h.
In this case, there is a sufficient time difference between the detection times of the one stalk detection arm 222 and the other stalk detection arm 222 due to the turning, so that smooth automatic control is possible. The turning is performed by stopping one of the left and right crawlers and turning in the crawler direction on the stopped side. The following description will be made on the assumption that the speed is about 1.0 km/h.

The inner width between the left and right crawlers (traveling device 181) of the rhizome crop harvester A of this embodiment is 1240 mm, and the width of the ridges (including the ridges) that the rhizome crop harvester A machine straddles in the traveling direction is: It is 950 to 1150 mm (standard width is 1000 mm).
In addition, crops (garlic) will be planted with 4 rows per ridge. The width between rows is 250 mm, and the width between plants, which is the width of planting in the direction of travel of the rows, is 150 to 170 mm. Since the seeds of crops are planted by planting machines, they are set to be almost constant. Naturally, the intervals are maintained after growth (excluding those due to lodging, etc.). The diameter of the stem after growth is approximately 15 to 30 mm.

The construction of the subterranean crop harvesting machine A is such that the inner width between the fixed arms 221 arranged opposite to each other with the stem of the subterranean crop crop W interposed therebetween is 220 mm, and one of the fixed arms 221 always has two sections. It will be located between the stems of the subterranean crop W. In other words, it is impossible in the setting that the two fixed arms 221 facing each other are simultaneously located between the stems of the two underground stem crops W.
Further, when the stem detecting arms 222 are in the OFF state, the gap between the tips of the stem detecting arms 222 is set to 15 mm. The stem detection arm 222 has a radius (rotation radius) of 180 mm from the rotation fulcrum 223 to the tip, and the distance from the rotation fulcrum 223 to the center of the arc portion farthest in the direction orthogonal to the movement direction is about 125 mm. The distance from the rotation fulcrum 223 to the center of the arc portion farthest in the direction orthogonal to the traveling direction is orthogonal to the traveling direction is about 110 mm.

When one of the stem detecting arms 222 is in the non-detecting state and the other stem detecting arm 222 is maximally rotating in the detecting state, the gap between the stem detecting arms 222 is about 90 mm. Therefore, when one of the stalk detection arms 222 is in the detection state and the aircraft makes a turning motion, both stalk detection arms 222 turn to the detection state or a state in which both stalk detection arms 222 do not detect. Then you can go straight. After going straight, if the stalk is detected again and turning is necessary, the turning is repeated again.

When the working speed of the subterranean stem crop harvesting machine A is 0.4 to 1.2 Km/h and the distance between the stocks in the forward direction is 150 mm, the number of stems passing per second is 0.74 to 2.22. This is a book/second, and it does not repeat excessive turns. Naturally, it is possible to adjust the thickness of the stalk and the reaction to the relative displacement of the stalk with respect to the fixed arm 221 and the stalk detection arm 222 by adjusting the dead zone depending on the arrangement configuration of the stalk detection arm 222.

The turning in the case of this embodiment is performed by disengaging the rotational power of the traveling clutch 17 of the traveling unit 18 by the dog clutch provided in the speed reducer. The power of the dog clutch cannot be cut off until the engagement of the meshing parts is completely disengaged. However, the traveling clutch operating unit 16 operates due to the link ratio of the gears and rods provided on the arc-shaped plate of the traveling clutch operating unit 16. After that, the time lag from turning to the actual airframe is made small (approximately 0.5 to 1.0 seconds).
In this embodiment, it is possible to provide a simpler configuration without complicating the control of the turning amount, and it is possible to provide it to the consumer at a lower cost. Further, the working speed can be selected and adjusted by appropriately adjusting the output speed of the engine 15 or the speed of the HST 24 up to 0.4 to 1.2 Km/h, preferably around 1.0 Km/h. It is possible to correspond to the field conditions of.

With reference to FIG. 19, the operation of the ridge upper surface detecting portion 21 which is a height sensor will be described. The “cylinder” in FIG. 19 is the second lift drive unit 11.
Starting at S21, it is determined whether the automatic switch is in the on state. If the automatic switch is not on, the process ends. When the automatic switch is in the ON state in S21, the height of the tip end of the pulling and conveying unit 9 from the upper surface of the ridge is stored by the storage switch in the S22. Operate until it reaches the specified reference position.
In S23, it is determined whether or not the height from the upper surface of the ridge to the tip of the pulling and conveying section 9 has reached the reference height. That is, it is determined whether the ridge detection switch 213 resistance value stored in the storage unit is reached. In S23, when the height from the upper surface of the ridge of the leading end of the pulling/conveying unit 9 reaches the reference height, the cylinder length of the second elevating/lowering drive unit 11, which is a cylinder, is held. Next, in S28, it is determined whether the automatic switch is in the on state. If the automatic switch is not on in S28, the process ends. When the automatic switch is in the ON state in S28, the process returns to S23, and it is determined whether the height from the upper surface of the ridge to the leading end of the pulling and conveying section 9 has reached the reference height.

If the height from the upper surface of the ridge to the tip of the pulling and conveying section 9 has not reached the reference height in S23, it is determined whether the height of the ridge detected in the next step S24 is higher or lower than the height of the reference ridge. To do.
When the height from the upper surface of the ridge to the tip of the pulling and conveying section 9 is higher than the reference height in S24, that is, when the ridge detection arm 212 is rotated and pushed upward, the cylinder length is reduced in S26. The height up to the tip of the pulling/conveying unit 9 is increased.
When it is lower than the reference height in S24, that is, when the ridge detection arm 212 is rotated downward and lowered, in S25, the cylinder length is extended to lower the height to the tip of the pulling-out and conveying section 9. After the processing of S25 and S26, it is determined in S28 whether the automatic switch is in the ON state.
If the automatic switch is not on in S28, the process ends. When the automatic switch is in the ON state in S28, the process returns to S23, and it is determined whether the height from the upper surface of the ridge to the leading end of the pulling and conveying section 9 has reached the reference height.

The action, effect, and advantage of the invention will be described.
(1) Since the stalk position detection unit 22 intermittently operates the clutch 17 of the traveling device 181, the traveling direction and the withdrawal direction can be simultaneously changed, so that the number of drive-related components can be reduced and the body size can be increased. Can be avoided.
(2) Since the harvester W is steered on the basis of the crop by detecting the stem position, for example, the crop is properly positioned in the pulling and conveying section 9 even if the crop is displaced in the left-right direction with respect to the ridges. Can be made.
(3) By detecting the stem position, it is possible to properly position the crop in the pulling and conveying section 9 regardless of the ridge shape. For example, since the shape of the ridge at the time of planting is deformed by wind and rain at the time of harvesting, if the ridge is used as a reference, the position of the pulling and conveying unit 9 is displaced with respect to the crop, which causes a problem that the crop cannot be properly pulled out.

(4) Since the intermittent operation of the clutch 17 is automatically performed by the detection of the stem position detection unit 22, the operator does not directly operate the machine body. Therefore, it is not necessary to align the left and right with the crop, which reduces the burden on the worker.
(5) The pivotal fulcrum of the pulling/conveying unit 9 is on one end side of the link of the root cutting portion 4, and at this one end, a swinging mechanism (swing generating mechanism D) coaxial with the pivoting fulcrum, and the pulling/conveying unit. Since the rotation shaft of the chain transmission sprocket, which is the transmission mechanism B for driving the drive shaft 9, is coaxial, the configuration is simple.

(6) Since the tip position of the pulling/conveying unit 9 which determines the height for pulling out the stalk by the second elevating/lowering drive unit 11 (cylinder) can be automatically maintained by the detection of the ridge upper surface detecting unit 21, the worker can adjust the pulling height. You can work without worrying about it.
(7) It is possible to prevent the stem from being cut off in the middle of the stem due to the load caused by punching out when the stem is clamped as close to the ground as possible. Therefore, by automatically making the clamping height of the stem constant, the clamping position can be set to a suitable position close to the root. Further, since the pulling and conveying section 9 does not collide with or interfere with the ground, stable and continuous work can be performed without interrupting the harvesting work.

(8) The root cutting section 4 is configured by a link, and a rocking generation mechanism D (cam) that rocks is provided coaxially with the vertical rotation fulcrum shaft of the pulling and conveying section 9, thereby reducing the number of constituent parts and the machine body. Achieves suppression of size increase. Also, when descending, the cutting edge of the root cutting portion 4 enters into the lower ground obliquely from above, so it is possible to cut the soil without resistance, and the root cutting portion 4 does not impair the traveling function. I have to. (If the cutting edge descends in parallel with the ground, it will not enter the ground)

(9) The root-cutting section 4 rotates the pulling and conveying section 9 upward and rotates so as to approach the traveling section 18 side, so that the overhang angle on the front side of the traveling apparatus 181 (the pulling and conveying apparatus side) is increased. Since it can be made large, the root cutting portion 4 is not caught when overcoming a step or an obstacle during movement other than during work.
(10) Since the root part of the rhizome crop W in the soil is cut and the soil is softened by the rocking motion of the root cutting part 4, the rhizome crop W is easily pulled out. Further, since the soil is softened and softened by the root cutting part 4, the resistance load to the progress of the harvester is reduced, and therefore the steering of the traveling device 181 by the stem position detecting part 22 is facilitated.

1 fulcrum shaft 2 first link 3 second link 4 root cutting part (soiler)
5 1st raising/lowering drive part 6 3rd link 7 4th link 8 Conveying part rotation frame 9 Pulling-out conveying part 16 Running clutch operating part 17 Running clutch 18 Running part 181 Running device 20 Conveyor belt 22 Stem position detecting part 23 Connecting shaft A Rhizome crop harvesting machine (car body)
B transmission mechanism C link mechanism D rocking generation mechanism W rhizome crop

Claims (9)

A traveling unit having a traveling device that is located on both sides in the traveling direction of the vehicle body and can travel across the ridges,
It has a conveyor belt that can be turned up and down by a connecting shaft that connects on the running part, and that pulls the stems of the subterranean crops on the ridges on both the left and right sides with respect to the traveling direction and pulls them backward and obliquely to the rear side. Withdrawal transport section,
Located in front of the pull-out transport unit, a stem position detection unit for detecting the left and right positions of the stem of the rhizome on the ridge with respect to the pull-out transport unit,
A traveling clutch operating unit for operating a traveling clutch capable of connecting and disconnecting transmission to the traveling device by detection of the stalk detecting unit;
A rhizome crop harvesting machine characterized by being equipped with. The stalk position detection unit is a fixed arm with the tip directed forward, located in front of a conveyor frame that supports the conveyor belt,
A stalk detection arm that is rotatable about the vertical direction by providing a fulcrum on the front side of the fixed arm,
A stem detection switch for detecting the rotation of the stem detection arm,
An elastic body that urges in the direction of the stem of the underground stem crop that holds the stem detection arm,
The rhizome crop harvesting machine according to claim 1, further comprising: The traveling clutch operation unit includes an actuator that is a drive source, and a rod that transmits the power of the actuator to the traveling clutch,
By driving the actuator, the traveling clutch is intermittently operated,
The rhizome crop harvesting machine according to claim 1, further characterized by: At least one of transmission mechanisms for driving the conveyor belt rotates coaxially with the connecting shaft,
The rhizome crop harvesting machine according to any one of claims 1 or 2 or 3, further characterized by: A plurality of the pulling and conveying parts are provided on the left and right with respect to the traveling direction, and below the rear side of the pulling and conveying part, a stem cutting part for cutting the stems of the extracted underground stem crops, and a rear side of the pulling and conveying part. A leaf discharge portion for sending the stem of the underground rhizome crop cut above by the stem cutting portion to the rear from the pulling and conveying portion,
The rhizome crop harvesting machine according to claim 1 or 4, further comprising: A traveling unit having a traveling device that is located on both sides in the traveling direction of the vehicle body and can travel across the ridges,
It has a conveyor belt that can be turned up and down by a connecting shaft that connects on the running part, and that pulls the stems of the subterranean crops on the ridges on both the left and right sides with respect to the traveling direction and pulls them backward and obliquely to the rear side. Withdrawal transport section,
Located in front of the pulling and conveying section, along with cutting the roots, a root cutting section for expanding and softening the soil,
A ridge upper surface detection unit that is located in front of the pulling and conveying unit and that detects the height of the upper surface of the ridge with respect to the pulling and conveying unit,
A first elevating and lowering drive unit for vertically moving the pulling and conveying unit and the root cutting unit by detection of the ridge upper surface detection unit;
A second elevating and lowering drive unit that is located above the pull-out transport unit and that allows the relative angle of the pull-out transport unit with respect to the root cutting unit to be changed;
A rhizome crop harvesting machine characterized by being equipped with. The ridge top surface detection unit is a ridge detection that is rotatable about a fixed plate located in front of a conveyor frame that supports the conveyor belt and a fulcrum on the front side of the fixed arm and that is rotatable about the left-right direction with respect to the traveling direction. An arm, a ridge detection switch that detects rotation of the ridge detection arm, and an elastic body that biases the ridge detection arm toward the ridge side,
The rhizome crop harvesting machine according to claim 6, further comprising: The root cutting portion has a link mechanism that suppresses an angle within a range set by vertical movement by the first lifting drive unit,
At least one of the mechanisms for driving the conveyor belt is a transmission mechanism that rotates coaxially with the connecting shaft,
One end of at least one frame constituting the link mechanism is provided so as to be coaxial with the connecting shaft, and is rotated by power transmitted from a power unit provided on the traveling unit to swing the root cutting unit. Generation mechanism,
The rhizome crop harvesting machine according to claim 6 or 7, further comprising: The working speed of the rhizome crop harvester consists of 0.4-1.2 km/h,
The rhizome crop harvesting machine according to any one of claim 1 or claim 2 or claim 3 or claim 4 or claim 5 or claim 6 or claim 7 or claim 8. ..

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