JP2023161274A - Grain culm reaping work method - Google Patents

Abstract

To provide a grain culm reaping work method which can maintain high sorting performance by preventing an excessive load from being applied to an engine of a combine-harvester.SOLUTION: A first sensor (18) for measuring precipitation is provided on an outer peripheral part of a combine-harvester, a threshing drum (32) for threshing grain culm is provided in a thresher (4), an oscillation sorting device (40) for sorting threshed objects is provided on a lower side of the threshing drum (32), a transfer shelf (41) is provided on an upper part of the oscillation sorting device (40), a sheave (42) is provided on a rear side of the transfer shelf (41), and a fan (50) for blowing sorting wind toward the sheave (42) is provided on the lower side of the oscillation sorting device (40). When the first sensor (18) does not measure precipitation, output rotation of the engine (E) is transmitted to the fan (50) to drive the fan (50). When the first sensor (18) measures precipitation, transmission of the output rotation of the engine (E) to the fan (50) is blocked, and the output rotation of the first motor (56) provided in the thresher (4) is transmitted to the fan (50) to drive the fan (50).SELECTED DRAWING: Figure 12

Description

The present invention relates to a method for reaping grain culms using an automatically traveling combine harvester.

BACKGROUND ART A technique is known in which a winnowing machine is provided below a swinging sorting device that sorts grains threshed by a handling barrel of the threshing device and blows sorting air toward a variable sheave of the swinging sorting device. (Patent Document 1)

Furthermore, a technique is known in which the running state of an automatically running combine harvester is monitored using a monitor in a monitoring facility located away from a farm field. (Patent Document 2)

Japanese Patent Application Publication No. 2021-52610 Japanese Patent Application Publication No. 2021-153456

However, in the technology of Patent Document 1, since the output rotation of the engine is transmitted to the winnowing machine to drive the winnowing machine, it is necessary to prevent wet impurities that are present in the grains from adhering to the variable sheave during rain. In addition, it is necessary to increase the output rotational speed of the engine, which is also transmitted to the traveling device and the reaping device, and there is a risk that an excessive load will be applied to the engine.

Furthermore, with the technology of Patent Document 2, there is a limit to the ability to accurately grasp the working environment of a combine harvester that is automatically traveling in the field, and the sorting performance deteriorates because foreign matter moistened by rain adheres to the variable sheave. There was a fear that it would happen.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a grain culm reaping method that prevents excessive load from being applied to the engine of a combine harvester and maintains high sorting performance.

The present invention that solves the above problems is as follows.
That is, the invention according to claim 1 includes a reaping device (3) for reaping grain culms on the front side of a body frame (1) on which an engine (E) is mounted, and a reaping device (3) for reaping grain culms on the rear left side of the reaping device (3). Reaping of grain culms in a field by automatically running a combine equipped with a threshing device (4) for threshing and sorting, and a control section (5) for a worker to ride on the rear left side of the reaping device (3). A working method,
A first sensor (18) for measuring rainfall is provided on the outer periphery of the combine, a handling drum (32) for threshing grain culms is provided in the threshing device (4), and a handling drum (32) for threshing grain culms is provided below the handling drum (32). A swinging sorting device (40) is provided for sorting the processed materials, a transfer shelf (41) is provided above the swinging sorting device (40), and a sieve (42) is provided on the rear side of the transfer shelf (41). , a winnow (50) for blowing sorting air toward the sheave (42) is provided below the swinging sorting device (40), and when the first sensor (18) does not measure rainfall, the engine The output rotation of the engine (E) is transmitted to the winch (50) to drive the winch (50), and when the first sensor (18) measures rainfall, the output rotation of the engine (E) is transmitted to the winnow (50). 50), and the output rotation of the first motor (56) provided in the threshing device (4) is transmitted to the winnow (50) to drive the winnow (50). This is a method for cutting culms.

The invention according to claim 2 is arranged to rotate a second motor (44) provided in the threshing device (4) to open the sheave (42) when the first sensor (18) measures rainfall. 2. The grain culm reaping method according to claim 1, wherein the grain culm reaping operation is performed by increasing the degree of grain culm reaping.

The invention according to claim 3 is configured to cause the combine harvester to automatically travel along a preset route (86) in the field when the amount of precipitation measured by the first sensor (18) is less than a preset preset amount of precipitation. If the amount of precipitation measured by the first sensor (18) exceeds a preset amount of precipitation, the combine is moved along a set route (86) in the field. 3. The grain culm reaping method according to claim 1 or 2, wherein the grain culm is moved automatically to the nearest entrance/exit location (88) or grain discharge location (89).

The invention according to claim 4 provides an adjustment of the output rotational speed of the first motor (56) based on a measurement value of a second sensor (41B) that measures the layer thickness of the processed material to be transferred to the transfer shelf (41). 4. The grain culm reaping method according to claim 3, wherein the rotation angle of the second motor (44) is increased or decreased.

The invention according to claim 5 provides an increase or decrease in the output rotational speed of the first motor (56) and a rotation angle of the second motor (44) based on the amount of rainfall measured by the first sensor (18). 5. The grain culm reaping method according to claim 4, wherein the grain culm reaping method is performed by increasing or decreasing the amount of grain.

The invention according to claim 6 provides the grain culm according to claim 1, wherein the control section (5) is covered with a cabin (9), and at least one of the first sensors (18) is provided on a windshield of the cabin (9). This is the reaping work method.

According to a seventh aspect of the present invention, the combine harvester and the monitoring facility (25) are connected through a data transmitting/receiving antenna (23C, 25A), and the measured value of the first sensor (18) is transmitted to the monitoring facility (25). 2. The grain culm reaping method according to claim 1, wherein the display is performed on a monitoring monitor (25B).

The invention according to claim 8 is characterized in that when the engine (E) is stopped, the first motor (56) cannot be driven beyond a preset time. This is a method of reaping grain culms.

According to the invention set forth in claim 1, the first sensor (18) for measuring rainfall is provided on the outer periphery of the combine, and the threshing device (4) includes a handling drum (32) for threshing grain culms, and a handling drum (32) for threshing grain culms. A swinging sorting device (40) for sorting the threshed products is provided below 32), a transfer shelf (41) is installed above the swinging sorting device (40), and a sieve is installed behind the transfer shelf (41). (42), and a winnow (50) for blowing sorting air toward the sheave (42) is provided below the oscillating sorting device (40), and when the first sensor (18) does not measure rainfall, The output rotation of the engine (E) is transmitted to the china (50) to drive the china (50), and when the first sensor (18) measures rain, the output rotation of the engine (E) is transmitted to the china (50). ) and transmits the output rotation of the first motor (56) installed in the threshing device (4) to the winnow (50) to drive the winnow (50). High sorting performance can be maintained by preventing excessive load from being applied.

According to the invention set forth in claim 2, in addition to the effect of the invention set forth in claim 1, when the first sensor (18) measures rainfall, the second motor ( 44) to increase the opening degree of the sieve (42), it is possible to suppress the adhesion of foreign matter and straw debris adhering to rainwater present in the treated material to the sieve (42).

According to the invention set forth in claim 3, in addition to the effect of the invention set forth in claim 1 or 2, when the amount of precipitation measured by the first sensor (18) is less than or equal to the preset precipitation amount, the combiner automatically travels along a set route (86) in the field to the combine harvester entry/exit location (88), and if the amount of precipitation measured by the first sensor (18) exceeds the preset amount of precipitation, Since the combine harvester automatically travels along a set route (86) in the field and moves to the nearest entry/exit location (88) or grain discharge location (89), rainwater may adhere to the sorted material. It is possible to suppress the presence of foreign substances and straw waste.

According to the invention set forth in claim 4, in addition to the effect of the invention set forth in claim 3, based on the measurement value of the second sensor (41B) that measures the layer thickness of the processed material to be transferred on the transfer shelf (41). Since the output rotation speed of the first motor (56) is increased or decreased and the rotation angle of the second motor (44) is increased or decreased, the speed of the sorting air blown from the winnowing machine (50) is increased to remove foreign matter and straw waste. can be efficiently transferred to the rear of the sheave (42).

According to the invention set forth in claim 5, in addition to the effect of the invention set forth in claim 4, the output rotation speed of the first motor (56) is determined based on the amount of rainfall measured by the first sensor (18). Since the rotation angle of the second motor (44) is increased/decreased, the speed of the sorting air blown from the winnow (50) is made faster and foreign matter and straw waste is more efficiently removed from behind the sieve (42). It can be transferred well.

According to the invention set forth in claim 6, in addition to the effect of the invention set forth in claim 1, the control section (5) is covered with the cabin (9), and the at least one first sensor (18) is installed in the cabin (9). Since it is provided on the windshield, the amount of rainfall can be accurately measured by the first sensor (18).

According to the invention set forth in claim 7, in addition to the effects of the invention set forth in claim 1, the combine harvester and the monitoring facility (25) are connected by the data transmission/reception antenna (23C, 25A), and the first sensor (18) is Since the measured values are displayed on the monitoring monitor (25B) of the monitoring facility (25), the working environment of the field where the combine harvester is automatically traveling can be quickly grasped via the monitoring monitor (25B). I can do it.

According to the invention set forth in claim 8, in addition to the effect provided by the invention set forth in claim 1, when the engine (E) is stopped, the first motor (56) is operated for more than a preset time. Since the configuration is such that the first motor (56) cannot be driven, it is possible to prevent over-discharging of the battery that stores power to be supplied to the first motor (56). Moreover, the first motor (56) can be driven for a short time before work to remove foreign matter and straw debris attached to the sheave (42).

It is a front view of a combine. It is a top view of a combine. It is a left side view of a combine. It is an explanatory view of a control part. It is a connection diagram of a positioning unit. It is a longitudinal cross-sectional view of the threshing device in the front-rear direction. FIG. 3 is a longitudinal cross-sectional view of the swinging sorting device in the front-rear direction. It is a left perspective view explaining the electric motor which drives a 1st winnow. It is a right perspective view explaining the electric motor which drives a 1st winnow. It is a transmission diagram of the output rotation of an engine. It is a connection diagram of a controller. It is an explanatory view of the traveling method of a combine harvester. (a) of the combine harvester is the set route, (b) is the travel route when there is no rain, (c) is the travel route when there is a small amount of rain, and (d) is an explanation of the travel route when there is a lot of rain. It is a diagram. FIG. 3 is a longitudinal cross-sectional view of the transmission in the left-right direction.

As shown in FIGS. 1 to 3, the combine harvester is equipped with a traveling device 2 consisting of a pair of right and left crawlers that runs on the soil surface under the body frame 1, and on the front side of the body frame 1 to harvest grain culms in the field. A reaping device 3 is provided, a threshing device 4 for threshing and sorting the harvested grain culms is provided on the rear left side of the reaping device 3, and a control section 5 on which a worker rides is provided on the rear right side of the reaping device 3. ing.

An engine room 6 in which an engine E is mounted is provided below the control section 5. A grain tank 7 for storing threshed and sorted grain is provided at the rear of the control section 5. A discharge auger 8 is provided, which includes a grain lifting section extending in the vertical direction for discharging grains to the outside, and a lateral discharge extending in the front and rear direction. Further, the control section 5 is surrounded by a cabin 9 equipped with a light at the top.

As shown in FIG. 4, a touch panel type monitor 11 for displaying the traveling speed of the traveling device 2, etc. is provided in the center of the front panel 10 on the front side of the pilot's seat of the control section 5, and the traveling device 2 is displayed on the right side of the monitor 11. An operating lever 12 is provided for turning the reaping device 3 in the left-right direction and raising and lowering the reaping device 3 in the vertical direction. The operating state of the operating lever 12 that turns the traveling device 2 in the left-right direction is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12, and the operating state of the operating lever 12 that raises and lowers the reaping device 3 is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12. , is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12.

A main shift lever 16 for operating a continuously variable transmission 74 that increases/decelerates the output rotation of the engine E and switches the rotation direction is provided in the front part of the side panel 15 on the left side of the cockpit of the control section 5. A sub-shift lever 17 is provided on the rear side of the transmission lever 16 to operate a transmission 75 that increases or decreases the output rotation of the continuously variable transmission 74.

When the main speed change lever 16 is in the neutral position, the output rotation of a continuously variable transmission (not shown) that increases/decelerates the output rotation of the engine E and switches the rotation direction of the output rotation becomes zero. When the main shift lever 16 is changed from the neutral position to the forward tilted position, the output rotation of the continuously variable transmission is increased or decreased depending on the magnitude of the tilt angle of the forward tilted position, and the output rotation of the continuously variable transmission is increased or decreased. The rotation direction is the same as the rotation direction of the output rotation of the engine E, which is a forward rotation. Furthermore, when the main shift lever 16 is changed from the neutral position to the rear tilted position, the output rotation of the continuously variable transmission is increased or decreased depending on the magnitude of the tilt angle of the rear tilted position. The rotational direction of the output rotation is opposite to the rotational direction of the output rotation of the engine E. The attitude of the main shift lever 16 is measured by an angle sensor such as a potentiometer attached to the base of the main shift lever 16.

When the sub-shift lever 17 is placed in the neutral position, the output rotation transmitted from the continuously variable transmission 74 is not increased or decreased. When the sub-shift lever 17 is changed from the neutral position to the forward tilted position, the output rotation transmitted from the continuously variable transmission 74 is decelerated, and when the sub-shift lever 17 is changed to the rear tilted position, the continuously variable transmission is The output rotation transmitted from device 74 is accelerated. Note that the attitude of the sub-shift lever 17 is measured by an angle sensor such as a potentiometer attached to the lower part of the sub-shift lever 17.

As shown in FIG. 5, the positioning unit 20 using the RTK-GPS positioning method is composed of a positioning satellite 21, a base station 22 provided at a known position, and a mobile station 23 provided in the combine. As a result, the position of the combine can be accurately obtained based on the position of the mobile station 23 from the position information transmitted from the positioning satellite 21 to the mobile station 23 and the correction position information transmitted from the base station 22 to the mobile station 23. I can do it.

The base station 22 includes a fixed communication device 22A, a fixed GPS antenna 22B that receives position information from the positioning satellite 21, and a fixed data transmission/reception antenna that transmits correction position information to the mobile station 23. It is composed of 22C.

The mobile station 23 includes a mobile communication device 23A, a mobile GPS antenna 23B that receives position information from the positioning satellite 21, and a mobile data transmission/reception unit that receives correction position information from the base station 22. It is composed of an antenna 23C.

In addition, the monitoring facility 25 that monitors the running state of the combine harvester includes a monitoring data transmitting/receiving antenna 25A that receives, etc., the traveling speed information of the combine from the mobile station 23, and a monitoring facility 25 that monitors the information received by the data transmitting/receiving antenna 25A. A monitoring monitor 25B is provided. Thereby, the running state of the combine harvester, etc. can be visually checked on the monitoring monitor 25B.

As shown in FIGS. 6 and 7, a handling chamber 30 in the upper part of the threshing device 4 is provided with a handling cylinder 32 for threshing grain culms conveyed by a feed chain 31. A receiving net 33 is provided on the lower side of the handling cylinder 32, and the upper part of the handling cylinder 32 is covered with a handling cylinder cover 34.

A swing sorting device 40 for sorting the grains threshed by the handling barrel 32 is provided above the sorting chamber 35 at the bottom of the threshing device 4 .

The oscillating sorting device 40 is formed of, in order from the front side, a transfer shelf 41 formed from a plate-shaped body, and a plurality of plate-shaped bodies provided at predetermined intervals in the front-rear direction so as to be able to vary the rearward tilt angle. The straw rack 43 is formed from a variable sheave ("sheave" in the claims) 42 and a plurality of plate-like bodies provided at predetermined intervals in the left-right direction. Further, above the variable sieve 42, a dust removal body 46 formed of a plurality of plate-shaped bodies is provided for transporting impurities such as immature grains and straw waste to the rear of the variable sieve 42.

The variable sheave 42 is formed of a front variable sheave 42A and a rear variable sheave 42B provided on the rear side of the front variable sheave 42A, and includes a plate-shaped body at the rear end of the front variable sheave 42A and a front end of the rear variable sheave 42B. The lower part of the plate-like body is connected by a connecting member 42C.

The inclination angle of the variable sheave 42 can be changed via an angle changing means 45 that is supported by a rotating shaft 44A of a sheave motor ("second motor" in the claims) 44 and swings around the rotating shaft 44A. . When the humidity is high, such as during rainy weather, the grains stick together and are difficult to leak from the variable sheave 42. Therefore, the sheave motor 44 is driven so that the plate-shaped body of the variable sheave 42 is oriented vertically. When the opening degree is increased by standing up, and when the humidity is low such as on a sunny day, branches and stems are likely to leak from the variable sheave 42, so the sheave motor 44 is driven to move the plate-shaped body of the variable sheave 42 back and forth. Lay it down so that it faces the direction and reduce the opening degree. Thereby, the recovery loss of grains during threshing processing can be reduced, and the sorting work can be performed efficiently.

On the lower side of the swing sorting device 40, in order from the front side, there is a first winch (“kang winch” in the claims) 50 that blows sorting air toward the variable sieve 42, and a first winnow that blows the sorting air toward the variable sieve 42; A No. 1 spiral 51 transports the grains to the grain tank 7, and a No. 2 spiral 51 transports grains leaking from the straw rack 43 to a No. 2 processing room provided on the right side of the handling room 30. A circular spiral 52 is provided. Moreover, a dust exhaust fan 53 is provided above the straw rack 43 to discharge dust such as branches and stems to the outside. Note that it is preferable to provide a second winch 54 between the first spiral 51 and the second spiral 52 for blowing a sorting air toward the straw rack 43. Thereby, the sorting work can be performed more efficiently.

As shown in FIGS. 8 and 9, an electric motor ("first motor" in the claims) 56 is connected to the right side of a rotating shaft 66 that supports the first winch 50 via an electromagnetic clutch 55. A pair of left and right blades 50A of the first winch 50 are supported on the rotating shaft 66 at a predetermined interval in the left-right direction. Further, on the upper surface of the transfer shelf 41, there is provided a moving plate 41A for transferring the grains conveyed from the reduction port of the second processing chamber to the center in the left-right direction of the transferring shelf 41, and behind the moving plate 41A. A layer thickness sensor (“second sensor” in the claims) 41B that measures the layer thickness of grains transferred on the transfer shelf 41 is provided.

As shown in FIG. 10, the output rotation of the output shaft 60 of the engine E is transmitted to a counter shaft 62 via a belt 61. The belt 61 is wound around a pulley 60A supported on the left side of the output shaft 60 and a pulley 62A supported on the right side of the counter shaft 62, and the belt 61 is provided with a tension clutch 61A.

The output rotation transmitted to the counter shaft 62 is transmitted to a rotating shaft 64 provided at the upper part of the threshing device 4 via a belt 63. The belt 63 is wound around a pulley 62B supported on the right side of the counter shaft 62 and a pulley 64A supported on the right side of the rotating shaft 64. Further, the output rotation transmitted to the rotating shaft 64 is transmitted to the handling cylinder 32 of the handling chamber 30 via a bevel gear or the like.

The output rotation transmitted to the counter shaft 62 is transmitted via a belt 65 to a rotating shaft 66 that supports the first winnowing machine 50 provided at the front of the sorting chamber 35 . The belt 65 is wound around a pulley 62D supported on the left side of the counter shaft 62 and a pulley 66A supported on the left side of the rotating shaft 66, and the belt 65 is provided with a tension clutch 65A. Further, an electric motor 56 is connected to the right side of the rotating shaft 66 via an electromagnetic clutch 55.

As a result, when the measured value of the raindrop sensor 18 exceeds a predetermined value, that is, when the amount of rain exceeds a predetermined value, the tension clutch 65A is disconnected and the output of the engine E is transmitted to the rotating shaft 66. To prevent excessive load from being applied to the engine E by cutting off the rotation, connecting the electromagnetic clutch 55, transmitting the output rotation of the electric motor 56 to the rotating shaft 66, and increasing or decreasing the rotational speed of the rotating shaft 66. I can do it. Further, when the measured value of the raindrop sensor 18 is less than a predetermined value, that is, when the amount of rain is less than a predetermined value, the electromagnetic clutch 55 is disconnected and the electric motor 56 outputs rotation that is transmitted to the rotating shaft 66. is shut off, the tension clutch 65A is connected, the output rotation of the engine E is transmitted to the rotary shaft 66, and the rotational speed of the rotary shaft 66 is increased or decreased in accordance with the increase or deceleration of the traveling speed of the traveling device 2, thereby performing reaping and threshing work. can be done efficiently.

The output rotation transmitted to the counter shaft 62 is transmitted via a belt 67 to a rotary shaft 68 that supports the first spiral 51 provided at the rear of the rotary shaft 66 . The belt 67 is wound around a pulley 62C supported on the left side of the counter shaft 62 and a pulley 68A supported on the left side of the rotating shaft 68.

The output rotation transmitted to the rotating shaft 68 is transmitted via a belt 69 to a rotating shaft 70 that supports the second winch 54 provided behind the rotating shaft 68 and a rotating shaft 71 that supports the second spiral 52. Ru. The belt 69 is wound around a pulley 68A supported on the left side of the rotating shaft 68, a pulley 70A supported on the left side of the rotating shaft 70, and a pulley 71A supported on the left side of the rotating shaft 71. There is.

The output rotation transmitted to the rotating shaft 68 is transmitted to a rotating shaft 73 provided above the rotating shaft 71 via a belt 72. The belt 72 is wound around a pulley 68B supported on the left side of the rotating shaft 68 and a pulley 73A supported on the left side of the rotating shaft 73. Further, the output rotation transmitted to the rotating shaft 73 is transmitted to the dust removal fan 53 via a gear or the like.

As shown in FIGS. 1 to 3, a raindrop sensor ("first sensor" in the claims) 18 is provided on the windshield of the cabin 9. As a result, the presence or absence of rain around the combine harvester and the amount of rain are measured, and the presence of foreign matter such as grains, immature grains, etc. It is possible to predict the amount of water that will be absorbed.

The raindrop sensor 18 is formed from an infrared LED and a Si photodiode, and detects the presence or absence of rain and the precipitation of rain by measuring the amount of infrared light emitted from the infrared LED that enters the Si photodiode. The amount can be detected.

It is preferable that the raindrop sensor 18 is provided at a location where it is easy to detect raindrops even when the amount of raindrops is small, such as the upper wall of the cabin 9, the upper wall of the threshing device 4, and the upper wall of the grain tank 7. Further, the raindrop sensor 18 may be provided not only at one location but also at multiple locations. In addition, when the raindrop sensor 18 is provided on the upper wall of the cabin 9, the outer periphery of the raindrop sensor 18 is made of a transparent acrylic material or the like that reflects infrared light emitted from an infrared LED on the outer surface. It is preferable to cover it with a cover. This makes it possible to more accurately measure the presence or absence of rain around the combine and the amount of rain.

As shown in FIG. 11, the combine controller 80 includes a processing section 81 consisting of a CPU, etc., a storage section 82 consisting of ROM, RAM, hard disk drive, flash memory, etc., and a communication section 83 for data communication with the outside. It is formed.

The processing unit 81 determines whether to move the combine harvester to the entry/exit location 88 or to the discharge location 89 based on the measured value of the raindrop sensor 18.

The storage unit 82 stores the location of the entry/exit location 88 of the field 85, the location of the discharge location 89 of the field 85 where grains are discharged to the truck, and a set route 86 on which the combine harvester automatically travels, which is set based on the shape of the field 85. Save etc.

The communication unit 83 receives positional information from the positioning satellite 21 via the GPS antenna 23B, receives positional information from the base station 22 via the data transmitting/receiving antenna 23C, and transmits the positional information to the monitoring facility 25 via the data transmitting/receiving antenna 23C. Information such as the measured values of the raindrop sensor 18 provided in the combine harvester is transmitted.

On the input side of the controller 80, there is a raindrop sensor 18 that measures the presence or absence of rain and the amount of rain, a GPS antenna 23B that receives combine position information transmitted from a positioning satellite 21, and a GPS antenna 23B that receives combine position information transmitted from a base station 22. A data transmitting/receiving antenna 23C that receives position information for correction of the coming combine, and a layer thickness sensor 41B that measures the layer thickness of grains transferred on the transfer shelf 41 of the oscillating sorting device 40 connect to a predetermined input interface circuit. connected via.

On the output side of the controller 80, there is an automatic travel switch 26 for automatically traveling the combine along a set route 86, a movement switch 27 for automatically traveling the combine toward a field entrance/exit location 88, and a movement switch 27 for automatically traveling the combine toward a field entry/exit location 89. A moving switch 28 for automatic running, a braking means 44B for increasing/decreasing the output rotation angle of the sheave motor 44, a braking means 55A for connecting/disconnecting the electromagnetic clutch 55, and a braking means 55A for increasing/decreasing the output rotation angle of the electric motor 56. The braking means 56A and the braking means 61B, which connects and disconnects the tension clutch 61A, are connected via a predetermined output interface circuit.

As shown in FIG. 12, in step S1, the processing unit 81 of the controller 80 reads the measured value of the raindrop sensor 18 provided in the cabin 9 of the combine harvester and makes a determination. If it is determined that it is not raining based on the measured value of the raindrop sensor 18, the process proceeds to step S2, and if it is determined that it is raining according to the measured value of the raindrop sensor 18, but the amount of precipitation is less than the set precipitation amount, the process proceeds to step S2. The process proceeds to step S7, and if it is determined that it is raining based on the measured value of the raindrop sensor 18 and that the amount of precipitation exceeds the set precipitation amount, the process proceeds to step S14. The preset precipitation amount can be set in advance on the touch panel monitor 11. For ease of understanding, as shown in FIG. 13(a), it starts raining while the combine is automatically traveling through a determination location 87 on a set route 86 that is set based on the shape of a field 85. Do something.

In step S2, the processing unit 81 presses the braking means 61B, such as a tension arm, against the belt 65 to subsequently connect the tension clutch 61A, and proceeds to step S3. Thereby, the output rotation of the engine E can be transmitted via the belt 65 to the rotating shaft 66 that supports the first winch 50.

In step S3, the processing unit 81 stops the braking means 55A, such as an electromagnetic coil, and subsequently releases the electromagnetic clutch 55, and proceeds to step S4. Thereby, transmission of the output rotation of the electric motor 56 to the rotating shaft 66 can be blocked.

In step S4, the processing unit 81 stops the braking means 56A, such as a motor drive, and subsequently stops the electric motor 56, and proceeds to step S5.

In step S5, the processing unit 81 stops the braking means 44B such as a motor drive, and subsequently stops the sheave motor 44, and lowers the variable sheave 42 so that the plate-shaped body faces in the front-rear direction, thereby reducing the opening degree. The process then proceeds to step S6.

In step S6, the processing unit 81 maintains the input (ON) state of the automatic travel switch 26 and causes the combine harvester to continuously travel automatically along the set route 86, as shown in FIG. 13(b). Return to step S1. Thereby, when there is no rain, the combine harvester can continue to run automatically and reap and thresh efficiently.

In step S7, the processing unit 81 separates the braking means 61B from the belt 65, disconnects the tension clutch 61A, and proceeds to step S8. Thereby, transmission of the output rotation of the engine E to the rotating shaft 66 can be blocked.

In step S8, the processing unit 81 drives the braking means 55A to connect the electromagnetic clutch 55, and proceeds to step S9. Thereby, the electric motor 56 and the rotating shaft 66 can be connected.

In step S9, the processing unit 81 drives the braking means 56A to rotate the electric motor 56, and proceeds to step S10. Thereby, the output rotation of the electric motor 56 can be transmitted to the rotating shaft 66. Note that the output rotational speed of the electric motor 56 is set such that the output rotational speed of the rotational shaft 66 is higher than the output rotational speed of the rotational shaft 66 immediately before the tension clutch 61A is disconnected.

When the engine E is stopped, rotating the electric motor 56 for a longer time than the set time is restricted. Thereby, it is possible to prevent a battery (not shown) that stores power to be supplied to the electric motor 56 from being over-discharged. In particular, by operating the electric motor 56 when the engine E is stopped and power is not being supplied to the battery by the alternator (not shown), even if an attempt is made to restart the engine E, the engine E cannot be restarted due to insufficient power, and the battery This prevents work from being interrupted for a long time due to charging. Note that the electric motor 56 can be rotated for a short time shorter than the set time, and can also be stopped at any timing the operator desires. As a result, the electric motor 56 is rotated for a short period of time to blow the sorting air from the first winnowing machine 50 toward the variable sieve 42, thereby making it possible to efficiently remove foreign matter and straw waste attached to the variable sieve 42. . The set time can be set in advance on the touch panel monitor 11.

In step S10, the processing unit 81 reads the measured value of the layer thickness sensor 41B provided on the transfer shelf 41 of the oscillating sorting device 40 and makes a determination. If the measured value of the layer thickness sensor 41B exceeds the set thickness, the process proceeds to step S11, and if the measured value of the layer thickness sensor 41B is less than or equal to the set thickness, the process proceeds to step S12. The set thickness can be set in advance on the touch panel monitor 11. Further, it is preferable to read the measured value of the raindrop sensor 18 and proceed to step S11 even if the measured value of the raindrop sensor 18 exceeds the set precipitation amount.

In step S11, the processing unit 81 drives the braking means 56A to increase the output rotational speed of the electric motor 56, and proceeds to step S12. Thereby, the speed of the sorting air blown from the first winnower 50 can be increased to efficiently transport foreign matter and straw waste toward the rear straw rack 43.

In step S12, the processing unit 81 drives the braking means 44B such as a motor drive, rotates the sheave motor 44, stands up the plate-shaped body of the variable sheave 42 so as to face in the vertical direction, and increases the opening degree. Proceed to S13. Thereby, it is possible to suppress the adhesion of foreign matter and straw waste to which rainwater has adhered to the variable sheave 42.

In step S13, the processing unit 81 turns the automatic travel switch 26 into an OFF state, turns the movement switch 27 into an input state (ON), and moves the combine harvester along the set route 86, as shown in FIG. 13(c). The robot is moved from the determination location 87 to the entrance/exit location 88 and stopped, and the process returns to step S1. Thereby, it is possible to further suppress contaminants and straw debris attached to rainwater from being mixed in the sorted grains.

In step S14, the processing unit 81 separates the braking means 61B from the belt 65, disconnects the tension clutch 61A, and proceeds to step S15. Thereby, transmission of the output rotation of the engine E to the rotating shaft 66 can be blocked.

In step S15, the processing unit 81 drives the braking means 55A to connect the electromagnetic clutch 55, and proceeds to step S16. Thereby, the electric motor 56 and the rotating shaft 66 can be connected.

In step S16, the processing unit 81 drives the braking means 56A to rotate the electric motor 56, and proceeds to step S17. Thereby, the output rotation of the electric motor 56 can be transmitted to the rotating shaft 66.

In step S17, the processing unit 81 reads the measured value of the layer thickness sensor 41B provided on the transfer shelf 41 of the swing sorting device 40 and makes a determination. If the measured value of the layer thickness sensor 41B exceeds the set thickness, the process advances to step S18, and if the measured value of the layer thickness sensor 41B is less than or equal to the set thickness, the process advances to step S19. Further, it is preferable to read the measured value of the raindrop sensor 18 and proceed to step S11 even if the measured value of the raindrop sensor 18 exceeds the set precipitation amount.

In step S18, the processing unit 81 drives the braking means 56A to further increase the output rotational speed of the electric motor 56, and proceeds to step S19. Thereby, the speed of the sorting air blown from the first winnower 50 can be increased to efficiently transport foreign matter and straw waste toward the rear straw rack 43.

In step S19, the processing unit 81 drives the braking means 44B such as a motor drive to further rotate the sheave motor 44 so that the plate-shaped body of the variable sheave 42 stands up so as to face in the vertical direction, thereby further increasing the opening degree. The process then proceeds to step S20. Thereby, it is possible to further suppress the adhesion of foreign matter and straw waste to which rainwater has adhered, to the variable sheave 42.

In step S20, the processing unit 81 turns the automatic travel switch 26 into an OFF state, turns the movement switch 28 into an input state (ON), and moves the combine harvester along the set route 86, as shown in FIG. 13(d). Then, it is moved from the determination location 87 to the nearest discharge location 89 and stopped, and the process returns to step S1. Thereby, it is possible to further suppress contaminants and straw debris attached to rainwater from being mixed in the sorted grains. Note that if there is an entry/exit location (88) closest to the determination location 87, it is preferable to move to the entry/exit location (88).

As shown in FIG. 14, the output rotation of the engine E is transmitted to the input shaft 74A of the continuously variable transmission 74, and is increased or decreased by the continuously variable transmission 74 and output. The output rotation of the continuously variable transmission 74 is transmitted to the input shaft 90 of the transmission 75.

The output rotation of the input shaft 90 is transmitted to the first counter shaft 91 via the gear 90A and the gear 91A, and the output rotation of the first counter shaft 91 is transmitted to the second counter shaft 92 via the gear 91A and the gear 92A. be done.

The output rotation of the second counter shaft 92 is transmitted to the third counter shaft 93 via the gear 92A and the gear 93A, and the output rotation of the third counter shaft 93 is transmitted to the fourth counter shaft 94 via the gear 93B and the gear 94A. is transmitted. The gear 93B and the gear 94A form a differential gear, and the third counter shaft 93 is provided with a braking means 95 such as an electromagnetic coil for braking the rotation of the gear 93B. As a result, the rotation of the gear 93B is braked, and, for example, the rotation of the left crawler of the traveling device 2 is stopped and the right crawler is rotated to increase the turning radius of the combine, or the left crawler of the traveling device 2 is rotated. The turning radius of the combine can be reduced by reversing the rotation and rotating the right crawler.

The output rotation transmitted to the fourth counter shaft 94 is transmitted to the fifth counter shaft 96 via a pair of left and right gears 94B and a pair of left and right gears 96A. 96A and a pair of left and right gears 97A, the power is transmitted to a pair of left and right input shafts 97 of the traveling device 2 to rotate a pair of left and right crawlers.

1 Airframe frame 3 Reaping device 4 Threshing device 5 Control section 9 Cabin 18 Raindrop sensor (first sensor)
23C Data transmitting and receiving antenna 25 Monitoring facility 25A Data transmitting and receiving antenna 25B Monitoring monitor 32 Handling cylinder 40 Swinging sorting device 41 Transfer shelf 41B Layer thickness sensor (second sensor)
42 Variable sheave (sheave)
44 Sheave motor (second motor)
50 1st Karaki (Karaki)
56 Electric motor (first motor)
86 Set route 88 Entrance/exit location 89 Discharge location E Engine

The present invention relates to a method for reaping grain culms using an automatically traveling combine harvester.

BACKGROUND ART A technique is known in which a winnowing machine is provided below a swinging sorting device that sorts grains threshed by a handling barrel of the threshing device and blows sorting air toward a variable sheave of the swinging sorting device. (Patent Document 1)

Furthermore, a technique is known in which the running state of an automatically running combine harvester is monitored using a monitor in a monitoring facility located away from a farm field. (Patent Document 2)

Japanese Patent Application Publication No. 2021-52610 Japanese Patent Application Publication No. 2021-153456

However, in the technology of Patent Document 1, since the output rotation of the engine is transmitted to the winnowing machine to drive the winnowing machine, it is necessary to prevent wet impurities that are present in the grains from adhering to the variable sheave during rain. In addition, it is necessary to increase the output rotational speed of the engine, which is also transmitted to the traveling device and the reaping device, and there is a risk that an excessive load will be applied to the engine.

Furthermore, with the technology of Patent Document 2, there is a limit to the ability to accurately grasp the working environment of a combine harvester that is automatically traveling in the field, and the sorting performance deteriorates because foreign matter moistened by rain adheres to the variable sheave. There was a fear that it would happen.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a grain culm reaping method that prevents excessive load from being applied to the engine of a combine harvester and maintains high sorting performance.

The present invention that solves the above problems is as follows.
That is, the invention according to claim 1 includes a reaping device (3) for reaping grain culms on the front side of a body frame (1) on which an engine (E) is mounted, and a reaping device (3) for reaping grain culms on the rear left side of the reaping device (3). Reaping of grain culms in a field by automatically running a combine equipped with a threshing device (4) for threshing and sorting, and a control section (5) for a worker to ride on the rear right side of the reaping device (3). A working method,
A first sensor (18) for measuring rainfall is provided on the outer periphery of the combine, a handling drum (32) for threshing grain culms is provided in the threshing device (4), and a handling drum (32) for threshing grain culms is provided below the handling drum (32). A swinging sorting device (40) is provided for sorting the processed materials, a transfer shelf (41) is provided above the swinging sorting device (40), and a sieve (42) is provided on the rear side of the transfer shelf (41). , a winnow (50) for blowing sorting air toward the sheave (42) is provided below the swinging sorting device (40), and when the first sensor (18) does not measure rainfall, the engine The output rotation of the engine (E) is transmitted to the winch (50) to drive the winch (50), and when the first sensor (18) measures rainfall, the output rotation of the engine (E) is transmitted to the winnow (50). 50), and the output rotation of the first motor (56) provided in the threshing device (4) is transmitted to the winnow (50) to drive the winnow (50). This is a method for cutting culms.

The invention according to claim 2 is arranged to rotate a second motor (44) provided in the threshing device (4) to open the sheave (42) when the first sensor (18) measures rainfall. 2. The grain culm reaping method according to claim 1, wherein the grain culm reaping operation is performed by increasing the degree of grain culm reaping.

The invention according to claim 3 is configured to cause the combine harvester to automatically travel along a preset route (86) in the field when the amount of precipitation measured by the first sensor (18) is less than a preset preset amount of precipitation. If the amount of precipitation measured by the first sensor (18) exceeds a preset amount of precipitation, the combine is moved along a set route (86) in the field. 3. The grain culm reaping method according to claim 1 or 2, wherein the grain culm is moved automatically to the nearest entrance/exit location (88) or grain discharge location (89).

The invention according to claim 4 provides an adjustment of the output rotational speed of the first motor (56) based on a measurement value of a second sensor (41B) that measures the layer thickness of the processed material to be transferred to the transfer shelf (41). 4. The grain culm reaping method according to claim 3, wherein the rotation angle of the second motor (44) is increased or decreased.

The invention according to claim 5 provides an increase or decrease in the output rotational speed of the first motor (56) and a rotation angle of the second motor (44) based on the amount of rainfall measured by the first sensor (18). 5. The grain culm reaping method according to claim 4, wherein the grain culm reaping method is performed by increasing or decreasing the amount of grain.

The invention according to claim 6 provides the grain culm according to claim 1, wherein the control section (5) is covered with a cabin (9), and at least one of the first sensors (18) is provided on a windshield of the cabin (9). This is the reaping work method.

According to a seventh aspect of the present invention, the combine harvester and the monitoring facility (25) are connected through a data transmitting/receiving antenna (23C, 25A), and the measured value of the first sensor (18) is transmitted to the monitoring facility (25). 2. The grain culm reaping method according to claim 1, wherein the display is performed on a monitoring monitor (25B).

The invention according to claim 8 is characterized in that when the engine (E) is stopped, the first motor (56) cannot be driven beyond a preset time. This is a method of reaping grain culms.

According to the invention described in claim 1, the first sensor (18) for measuring rainfall is provided on the outer periphery of the combine, and the threshing device (4) includes a handling drum (32) for threshing grain culms, and a handling drum (32) for threshing grain culms. A swinging sorting device (40) for sorting the threshed products is installed below 32), a transfer shelf (41) is installed above the swinging sorting device (40), and a sieve is installed behind the transfer shelf (41). (42), and a winnow (50) for blowing sorting air toward the sheave (42) is provided below the oscillating sorting device (40), and when the first sensor (18) does not measure rainfall, The output rotation of the engine (E) is transmitted to the china (50) to drive the china (50), and when the first sensor (18) measures rain, the output rotation of the engine (E) is transmitted to the china (50). ) and transmits the output rotation of the first motor (56) installed in the threshing device (4) to the winnow (50) to drive the winnow (50). High sorting performance can be maintained by preventing excessive load from being applied.

According to the invention set forth in claim 2, in addition to the effect of the invention set forth in claim 1, when the first sensor (18) measures rainfall, the second motor ( 44) to increase the opening degree of the sieve (42), it is possible to suppress the adhesion of foreign matter and straw debris adhering to rainwater present in the treated material to the sieve (42).

According to the invention set forth in claim 3, in addition to the effect of the invention set forth in claim 1 or 2, when the amount of precipitation measured by the first sensor (18) is less than or equal to the preset precipitation amount, the combiner automatically travels along a set route (86) in the field to the combine harvester entry/exit location (88), and if the amount of precipitation measured by the first sensor (18) exceeds the preset amount of precipitation, Since the combine harvester automatically travels along a set route (86) in the field and moves to the nearest entry/exit location (88) or grain discharge location (89), rainwater may adhere to the sorted material. It is possible to suppress the presence of foreign substances and straw waste.

According to the invention set forth in claim 4, in addition to the effect of the invention set forth in claim 3, based on the measurement value of the second sensor (41B) that measures the layer thickness of the processed material to be transferred on the transfer shelf (41). Since the output rotation speed of the first motor (56) is increased or decreased and the rotation angle of the second motor (44) is increased or decreased, the speed of the sorting air blown from the winnowing machine (50) is increased to remove foreign matter and straw waste. can be efficiently transferred to the rear of the sheave (42).

According to the invention set forth in claim 5, in addition to the effect of the invention set forth in claim 4, the output rotation speed of the first motor (56) is determined based on the amount of rainfall measured by the first sensor (18). Since the rotation angle of the second motor (44) is increased/decreased, the speed of the sorting air blown from the winnow (50) is made faster and foreign matter and straw waste is more efficiently removed from behind the sieve (42). It can be transferred well.

According to the invention set forth in claim 6, in addition to the effect of the invention set forth in claim 1, the control section (5) is covered with the cabin (9), and the at least one first sensor (18) is installed in the cabin (9). Since it is provided on the windshield, the amount of rainfall can be accurately measured by the first sensor (18).

According to the invention set forth in claim 7, in addition to the effects of the invention set forth in claim 1, the combine harvester and the monitoring facility (25) are connected by the data transmission/reception antenna (23C, 25A), and the first sensor (18) is Since the measured values are displayed on the monitoring monitor (25B) of the monitoring facility (25), the working environment of the field where the combine harvester is automatically traveling can be quickly grasped via the monitoring monitor (25B). I can do it.

According to the invention set forth in claim 8, in addition to the effect provided by the invention set forth in claim 1, when the engine (E) is stopped, the first motor (56) is operated for more than a preset time. Since the configuration is such that the first motor (56) cannot be driven, it is possible to prevent over-discharging of the battery that stores power to be supplied to the first motor (56). Moreover, the first motor (56) can be driven for a short time before work to remove foreign matter and straw debris attached to the sheave (42).

It is a front view of a combine. It is a top view of a combine. It is a left side view of a combine. It is an explanatory view of a control part. It is a connection diagram of a positioning unit. It is a longitudinal cross-sectional view of the threshing device in the front-rear direction. FIG. 3 is a longitudinal cross-sectional view of the swinging sorting device in the front-rear direction. It is a left perspective view explaining the electric motor which drives a 1st winnow. It is a right perspective view explaining the electric motor which drives a 1st winnow. It is a transmission diagram of the output rotation of an engine. It is a connection diagram of a controller. It is an explanatory view of the traveling method of a combine harvester. (a) of the combine harvester is the set route, (b) is the travel route when there is no rain, (c) is the travel route when there is a small amount of rain, and (d) is an explanation of the travel route when there is a lot of rain. It is a diagram. FIG. 3 is a longitudinal cross-sectional view of the transmission in the left-right direction.

As shown in FIGS. 1 to 3, the combine harvester is equipped with a traveling device 2 consisting of a pair of right and left crawlers that runs on the soil surface under the body frame 1, and on the front side of the body frame 1 to harvest grain culms in the field. A reaping device 3 is provided, a threshing device 4 for threshing and sorting the harvested grain culms is provided on the rear left side of the reaping device 3, and a control section 5 on which a worker rides is provided on the rear right side of the reaping device 3. ing.

An engine room 6 in which an engine E is mounted is provided below the control section 5. A grain tank 7 for storing threshed and sorted grain is provided at the rear of the control section 5. A discharge auger 8 is provided, which includes a grain lifting section extending in the vertical direction for discharging grains to the outside, and a lateral discharge extending in the front and rear direction. Further, the control section 5 is surrounded by a cabin 9 equipped with a light at the top.

As shown in FIG. 4, a touch panel type monitor 11 for displaying the traveling speed of the traveling device 2, etc. is provided in the center of the front panel 10 on the front side of the pilot's seat of the control section 5, and the traveling device 2 is displayed on the right side of the monitor 11. An operating lever 12 is provided for turning the reaping device 3 in the left-right direction and raising and lowering the reaping device 3 in the vertical direction. The operating state of the operating lever 12 that turns the traveling device 2 in the left-right direction is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12, and the operating state of the operating lever 12 that raises and lowers the reaping device 3 is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12. , is measured by an angle sensor such as a potentiometer attached to the base of the operating lever 12.

A main shift lever 16 for operating a continuously variable transmission 74 that increases/decelerates the output rotation of the engine E and switches the rotation direction is provided in the front part of the side panel 15 on the left side of the cockpit of the control section 5. A sub-shift lever 17 is provided on the rear side of the transmission lever 16 to operate a transmission 75 that increases or decreases the output rotation of the continuously variable transmission 74.

When the main speed change lever 16 is in the neutral position, the output rotation of a continuously variable transmission (not shown) that increases/decelerates the output rotation of the engine E and switches the rotation direction of the output rotation becomes zero. When the main shift lever 16 is changed from the neutral position to the forward tilted position, the output rotation of the continuously variable transmission is increased or decreased depending on the magnitude of the tilt angle of the forward tilted position, and the output rotation of the continuously variable transmission is increased or decreased. The rotation direction is the same as the rotation direction of the output rotation of the engine E, which is a forward rotation. Furthermore, when the main shift lever 16 is changed from the neutral position to the rear tilted position, the output rotation of the continuously variable transmission is increased or decreased depending on the magnitude of the tilt angle of the rear tilted position. The rotational direction of the output rotation is opposite to the rotational direction of the output rotation of the engine E. The attitude of the main shift lever 16 is measured by an angle sensor such as a potentiometer attached to the base of the main shift lever 16.

When the sub-shift lever 17 is placed in the neutral position, the output rotation transmitted from the continuously variable transmission 74 is not increased or decreased. When the sub-shift lever 17 is changed from the neutral position to the forward tilted position, the output rotation transmitted from the continuously variable transmission 74 is decelerated, and when the sub-shift lever 17 is changed to the rear tilted position, the continuously variable transmission is The output rotation transmitted from device 74 is accelerated. Note that the attitude of the sub-shift lever 17 is measured by an angle sensor such as a potentiometer attached to the lower part of the sub-shift lever 17.

As shown in FIG. 5, the positioning unit 20 using the RTK-GPS positioning method is composed of a positioning satellite 21, a base station 22 provided at a known position, and a mobile station 23 provided in the combine. As a result, the position of the combine can be accurately obtained based on the position of the mobile station 23 from the position information transmitted from the positioning satellite 21 to the mobile station 23 and the correction position information transmitted from the base station 22 to the mobile station 23. I can do it.

The base station 22 includes a fixed communication device 22A, a fixed GPS antenna 22B that receives position information from the positioning satellite 21, and a fixed data transmission/reception antenna that transmits correction position information to the mobile station 23. It is composed of 22C.

The mobile station 23 includes a mobile communication device 23A, a mobile GPS antenna 23B that receives position information from the positioning satellite 21, and a mobile data transmission/reception unit that receives correction position information from the base station 22. It is composed of an antenna 23C.

In addition, the monitoring facility 25 that monitors the running state of the combine harvester includes a monitoring data transmitting/receiving antenna 25A that receives, etc., the traveling speed information of the combine from the mobile station 23, and a monitoring facility 25 that monitors the information received by the data transmitting/receiving antenna 25A. A monitoring monitor 25B is provided. Thereby, the running state of the combine harvester, etc. can be visually checked on the monitoring monitor 25B.

As shown in FIGS. 6 and 7, a handling chamber 30 in the upper part of the threshing device 4 is provided with a handling cylinder 32 for threshing grain culms conveyed by a feed chain 31. A receiving net 33 is provided on the lower side of the handling cylinder 32, and the upper part of the handling cylinder 32 is covered with a handling cylinder cover 34.

A swing sorting device 40 for sorting the grains threshed by the handling barrel 32 is provided above the sorting chamber 35 at the bottom of the threshing device 4 .

The oscillating sorting device 40 is formed of, in order from the front side, a transfer shelf 41 formed from a plate-shaped body, and a plurality of plate-shaped bodies provided at predetermined intervals in the front-rear direction so as to be able to vary the rearward tilt angle. The straw rack 43 is formed from a variable sheave ("sheave" in the claims) 42 and a plurality of plate-like bodies provided at predetermined intervals in the left-right direction. Further, above the variable sieve 42, a dust removal body 46 formed of a plurality of plate-shaped bodies is provided for transporting impurities such as immature grains and straw waste to the rear of the variable sieve 42.

The variable sheave 42 is formed of a front variable sheave 42A and a rear variable sheave 42B provided on the rear side of the front variable sheave 42A, and includes a plate-shaped body at the rear end of the front variable sheave 42A and a front end of the rear variable sheave 42B. The lower part of the plate-like body is connected by a connecting member 42C.

The inclination angle of the variable sheave 42 can be changed via an angle changing means 45 that is supported by a rotating shaft 44A of a sheave motor ("second motor" in the claims) 44 and swings around the rotating shaft 44A. . When the humidity is high, such as during rainy weather, the grains stick together and are difficult to leak from the variable sheave 42. Therefore, the sheave motor 44 is driven so that the plate-shaped body of the variable sheave 42 is oriented vertically. When the opening degree is increased by standing up, and when the humidity is low such as on a sunny day, branches and stems are likely to leak from the variable sheave 42, so the sheave motor 44 is driven to move the plate-shaped body of the variable sheave 42 back and forth. Lay it down so that it faces the direction and reduce the opening degree. Thereby, the recovery loss of grains during threshing processing can be reduced, and the sorting work can be performed efficiently.

On the lower side of the swing sorting device 40, in order from the front side, there is a first winch (“kang winch” in the claims) 50 that blows sorting air toward the variable sieve 42, and a first winnow that blows the sorting air toward the variable sieve 42; A No. 1 spiral 51 transports the grains to the grain tank 7, and a No. 2 spiral 51 transports grains leaking from the straw rack 43 to a No. 2 processing room provided on the right side of the handling room 30. A circular spiral 52 is provided. Moreover, a dust exhaust fan 53 is provided above the straw rack 43 to discharge dust such as branches and stems to the outside. Note that it is preferable to provide a second winch 54 between the first spiral 51 and the second spiral 52 for blowing a sorting air toward the straw rack 43. Thereby, the sorting work can be performed more efficiently.

As shown in FIGS. 8 and 9, an electric motor ("first motor" in the claims) 56 is connected to the right side of a rotating shaft 66 that supports the first winch 50 via an electromagnetic clutch 55. A pair of left and right blades 50A of the first winch 50 are supported on the rotating shaft 66 at a predetermined interval in the left-right direction. Further, on the upper surface of the transfer shelf 41, there is provided a moving plate 41A for transferring the grains conveyed from the reduction port of the second processing chamber to the center in the left-right direction of the transferring shelf 41, and behind the moving plate 41A. A layer thickness sensor (“second sensor” in the claims) 41B that measures the layer thickness of grains transferred on the transfer shelf 41 is provided.

As shown in FIG. 10, the output rotation of the output shaft 60 of the engine E is transmitted to a counter shaft 62 via a belt 61. The belt 61 is wound around a pulley 60A supported on the left side of the output shaft 60 and a pulley 62A supported on the right side of the counter shaft 62, and the belt 61 is provided with a tension clutch 61A.

The output rotation transmitted to the counter shaft 62 is transmitted to a rotating shaft 64 provided at the upper part of the threshing device 4 via a belt 63. The belt 63 is wound around a pulley 62B supported on the right side of the counter shaft 62 and a pulley 64A supported on the right side of the rotating shaft 64. Further, the output rotation transmitted to the rotating shaft 64 is transmitted to the handling cylinder 32 of the handling chamber 30 via a bevel gear or the like.

The output rotation transmitted to the counter shaft 62 is transmitted via a belt 65 to a rotating shaft 66 that supports the first winnowing machine 50 provided at the front of the sorting chamber 35 . The belt 65 is wound around a pulley 62D supported on the left side of the counter shaft 62 and a pulley 66A supported on the left side of the rotating shaft 66, and the belt 65 is provided with a tension clutch 65A. Further, an electric motor 56 is connected to the right side of the rotating shaft 66 via an electromagnetic clutch 55.

As a result, when the measured value of the raindrop sensor 18 exceeds a predetermined value, that is, when the amount of rain exceeds a predetermined value, the tension clutch 65A is disconnected and the output of the engine E is transmitted to the rotating shaft 66. To prevent excessive load from being applied to the engine E by cutting off the rotation, connecting the electromagnetic clutch 55, transmitting the output rotation of the electric motor 56 to the rotating shaft 66, and increasing or decreasing the rotational speed of the rotating shaft 66. I can do it. Further, when the measured value of the raindrop sensor 18 is less than a predetermined value, that is, when the amount of rain is less than a predetermined value, the electromagnetic clutch 55 is disconnected and the electric motor 56 outputs rotation that is transmitted to the rotating shaft 66. is shut off, the tension clutch 65A is connected, the output rotation of the engine E is transmitted to the rotary shaft 66, and the rotational speed of the rotary shaft 66 is increased or decreased in accordance with the increase or deceleration of the traveling speed of the traveling device 2, thereby performing reaping and threshing work. can be done efficiently.

The output rotation transmitted to the counter shaft 62 is transmitted via a belt 67 to a rotary shaft 68 that supports the first spiral 51 provided at the rear of the rotary shaft 66 . The belt 67 is wound around a pulley 62C supported on the left side of the counter shaft 62 and a pulley 68A supported on the left side of the rotating shaft 68.

The output rotation transmitted to the rotating shaft 68 is transmitted via a belt 69 to a rotating shaft 70 that supports the second winch 54 provided behind the rotating shaft 68 and a rotating shaft 71 that supports the second spiral 52. Ru. The belt 69 is wound around a pulley 68A supported on the left side of the rotating shaft 68, a pulley 70A supported on the left side of the rotating shaft 70, and a pulley 71A supported on the left side of the rotating shaft 71. There is.

The output rotation transmitted to the rotating shaft 68 is transmitted to a rotating shaft 73 provided above the rotating shaft 71 via a belt 72. The belt 72 is wound around a pulley 68B supported on the left side of the rotating shaft 68 and a pulley 73A supported on the left side of the rotating shaft 73. Further, the output rotation transmitted to the rotating shaft 73 is transmitted to the dust removal fan 53 via a gear or the like.

As shown in FIGS. 1 to 3, a raindrop sensor ("first sensor" in the claims) 18 is provided on the windshield of the cabin 9. As a result, the presence or absence of rain around the combine harvester and the amount of rain are measured, and the presence of foreign matter such as grains, immature grains, etc. It is possible to predict the amount of water that will be absorbed.

The raindrop sensor 18 is formed from an infrared LED and a Si photodiode, and detects the presence or absence of rain and the precipitation of rain by measuring the amount of infrared light emitted from the infrared LED that enters the Si photodiode. The amount can be detected.

It is preferable that the raindrop sensor 18 is provided at a location where it is easy to detect raindrops even when the amount of raindrops is small, such as the upper wall of the cabin 9, the upper wall of the threshing device 4, and the upper wall of the grain tank 7. Further, the raindrop sensor 18 may be provided not only at one location but also at multiple locations. In addition, when the raindrop sensor 18 is provided on the upper wall of the cabin 9, the outer periphery of the raindrop sensor 18 is made of a transparent acrylic material or the like that reflects infrared light emitted from an infrared LED on the outer surface. It is preferable to cover it with a cover. This makes it possible to more accurately measure the presence or absence of rain around the combine and the amount of rain.

As shown in FIG. 11, the combine controller 80 includes a processing section 81 consisting of a CPU, etc., a storage section 82 consisting of ROM, RAM, hard disk drive, flash memory, etc., and a communication section 83 for data communication with the outside. It is formed.

The processing unit 81 determines whether to move the combine harvester to the entry/exit location 88 or to the discharge location 89 based on the measured value of the raindrop sensor 18.

The storage unit 82 stores the location of the entry/exit location 88 of the field 85, the location of the discharge location 89 of the field 85 where grains are discharged to the truck, and a set route 86 on which the combine harvester automatically travels, which is set based on the shape of the field 85. Save etc.

The communication unit 83 receives positional information from the positioning satellite 21 via the GPS antenna 23B, receives positional information from the base station 22 via the data transmitting/receiving antenna 23C, and transmits the positional information to the monitoring facility 25 via the data transmitting/receiving antenna 23C. Information such as the measured values of the raindrop sensor 18 provided in the combine harvester is transmitted.

On the input side of the controller 80, there is a raindrop sensor 18 that measures the presence or absence of rain and the amount of rain, a GPS antenna 23B that receives combine position information transmitted from a positioning satellite 21, and a GPS antenna 23B that receives combine position information transmitted from a base station 22. A data transmitting/receiving antenna 23C that receives position information for correction of the coming combine, and a layer thickness sensor 41B that measures the layer thickness of grains transferred on the transfer shelf 41 of the oscillating sorting device 40 connect to a predetermined input interface circuit. connected via.

On the output side of the controller 80, there is an automatic travel switch 26 for automatically traveling the combine along a set route 86, a movement switch 27 for automatically traveling the combine toward a field entrance/exit location 88, and a movement switch 27 for automatically traveling the combine toward a field entry/exit location 89. A moving switch 28 for automatic running, a braking means 44B for increasing/decreasing the output rotation angle of the sheave motor 44, a braking means 55A for connecting/disconnecting the electromagnetic clutch 55, and a braking means 55A for increasing/decreasing the output rotation angle of the electric motor 56. The braking means 56A and the braking means 61B, which connects and disconnects the tension clutch 61A, are connected via a predetermined output interface circuit.

As shown in FIG. 12, in step S1, the processing unit 81 of the controller 80 reads the measured value of the raindrop sensor 18 provided in the cabin 9 of the combine harvester and makes a determination. If it is determined that it is not raining based on the measured value of the raindrop sensor 18, the process proceeds to step S2, and if it is determined that it is raining according to the measured value of the raindrop sensor 18, but the amount of precipitation is less than the set precipitation amount, the process proceeds to step S2. The process proceeds to step S7, and if it is determined that it is raining based on the measured value of the raindrop sensor 18 and that the amount of precipitation exceeds the set precipitation amount, the process proceeds to step S14. The preset precipitation amount can be set in advance on the touch panel monitor 11. For ease of understanding, as shown in FIG. 13(a), it starts raining while the combine is automatically traveling through a determination location 87 on a set route 86 that is set based on the shape of a field 85. Do something.

In step S2, the processing unit 81 presses the braking means 61B, such as a tension arm, against the belt 65 to subsequently connect the tension clutch 61A, and proceeds to step S3. Thereby, the output rotation of the engine E can be transmitted via the belt 65 to the rotating shaft 66 that supports the first winch 50.

In step S3, the processing unit 81 stops the braking means 55A, such as an electromagnetic coil, and subsequently releases the electromagnetic clutch 55, and proceeds to step S4. Thereby, transmission of the output rotation of the electric motor 56 to the rotating shaft 66 can be interrupted.

In step S4, the processing unit 81 stops the braking means 56A, such as a motor drive, and subsequently stops the electric motor 56, and proceeds to step S5.

In step S5, the processing unit 81 stops the braking means 44B such as a motor drive, and subsequently stops the sheave motor 44, and lowers the variable sheave 42 so that the plate-shaped body faces in the front-rear direction, thereby reducing the opening degree. The process then proceeds to step S6.

In step S6, the processing unit 81 maintains the input (ON) state of the automatic travel switch 26 and causes the combine harvester to continuously travel automatically along the set route 86, as shown in FIG. 13(b). Return to step S1. Thereby, when there is no rain, the combine harvester can continue to run automatically and reap and thresh efficiently.

In step S7, the processing unit 81 separates the braking means 61B from the belt 65, disconnects the tension clutch 61A, and proceeds to step S8. Thereby, transmission of the output rotation of the engine E to the rotating shaft 66 can be blocked.

In step S8, the processing unit 81 drives the braking means 55A to connect the electromagnetic clutch 55, and proceeds to step S9. Thereby, the electric motor 56 and the rotating shaft 66 can be connected.

In step S9, the processing unit 81 drives the braking means 56A to rotate the electric motor 56, and proceeds to step S10. Thereby, the output rotation of the electric motor 56 can be transmitted to the rotating shaft 66. Note that the output rotational speed of the electric motor 56 is set such that the output rotational speed of the rotational shaft 66 is higher than the output rotational speed of the rotational shaft 66 immediately before the tension clutch 61A is disconnected.

When the engine E is stopped, rotating the electric motor 56 for a longer time than the set time is restricted. Thereby, it is possible to prevent a battery (not shown) that stores power to be supplied to the electric motor 56 from being over-discharged. In particular, by operating the electric motor 56 when the engine E is stopped and power is not being supplied to the battery by the alternator (not shown), even if an attempt is made to restart the engine E, the engine E cannot be restarted due to insufficient power, and the battery This prevents work from being interrupted for a long time due to charging. Note that the electric motor 56 can be rotated for a short time shorter than the set time, and can also be stopped at any timing the operator desires. As a result, the electric motor 56 is rotated for a short period of time to blow the sorting air from the first winnowing machine 50 toward the variable sieve 42, thereby making it possible to efficiently remove foreign matter and straw waste attached to the variable sieve 42. . The set time can be set in advance on the touch panel monitor 11.

In step S10, the processing unit 81 reads the measured value of the layer thickness sensor 41B provided on the transfer shelf 41 of the oscillating sorting device 40 and makes a determination. If the measured value of the layer thickness sensor 41B exceeds the set thickness, the process proceeds to step S11, and if the measured value of the layer thickness sensor 41B is less than or equal to the set thickness, the process proceeds to step S12. The set thickness can be set in advance on the touch panel monitor 11. Further, it is preferable to read the measured value of the raindrop sensor 18 and proceed to step S11 even if the measured value of the raindrop sensor 18 exceeds the set precipitation amount.

In step S11, the processing unit 81 drives the braking means 56A to increase the output rotational speed of the electric motor 56, and proceeds to step S12. Thereby, the speed of the sorting air blown from the first winnower 50 can be increased to efficiently transport foreign matter and straw waste toward the rear straw rack 43.

In step S12, the processing unit 81 drives the braking means 44B such as a motor drive, rotates the sheave motor 44, stands up the plate-shaped body of the variable sheave 42 so as to face in the vertical direction, and increases the opening degree. Proceed to S13. Thereby, it is possible to suppress the adhesion of foreign matter and straw waste to which rainwater has adhered to the variable sheave 42.

In step S13, the processing unit 81 turns the automatic travel switch 26 into an OFF state, turns the movement switch 27 into an input state (ON), and moves the combine harvester along the set route 86, as shown in FIG. 13(c). The robot is moved from the determination location 87 to the entrance/exit location 88 and stopped, and the process returns to step S1. Thereby, it is possible to further suppress contaminants and straw debris attached to rainwater from being mixed in the sorted grains.

In step S14, the processing unit 81 separates the braking means 61B from the belt 65, disconnects the tension clutch 61A, and proceeds to step S15. Thereby, transmission of the output rotation of the engine E to the rotating shaft 66 can be blocked.

In step S15, the processing unit 81 drives the braking means 55A to connect the electromagnetic clutch 55, and proceeds to step S16. Thereby, the electric motor 56 and the rotating shaft 66 can be connected.

In step S16, the processing unit 81 drives the braking means 56A to rotate the electric motor 56, and proceeds to step S17. Thereby, the output rotation of the electric motor 56 can be transmitted to the rotating shaft 66.

In step S17, the processing unit 81 reads the measured value of the layer thickness sensor 41B provided on the transfer shelf 41 of the swing sorting device 40 and makes a determination. If the measured value of the layer thickness sensor 41B exceeds the set thickness, the process advances to step S18, and if the measured value of the layer thickness sensor 41B is less than or equal to the set thickness, the process advances to step S19. Further, it is preferable to read the measured value of the raindrop sensor 18 and proceed to step S11 even if the measured value of the raindrop sensor 18 exceeds the set precipitation amount.

In step S18, the processing unit 81 drives the braking means 56A to further increase the output rotational speed of the electric motor 56, and proceeds to step S19. Thereby, the speed of the sorting air blown from the first winnower 50 can be increased to efficiently transport foreign matter and straw waste toward the rear straw rack 43.

In step S19, the processing unit 81 drives the braking means 44B such as a motor drive to further rotate the sheave motor 44 so that the plate-shaped body of the variable sheave 42 stands up so as to face in the vertical direction, thereby further increasing the opening degree. The process then proceeds to step S20. Thereby, it is possible to further suppress the adhesion of foreign matter and straw waste to which rainwater has adhered, to the variable sheave 42.

In step S20, the processing unit 81 turns the automatic travel switch 26 into an OFF state, turns the movement switch 28 into an input state (ON), and moves the combine harvester along the set route 86, as shown in FIG. 13(d). Then, it is moved from the determination location 87 to the nearest discharge location 89 and stopped, and the process returns to step S1. Thereby, it is possible to further suppress contaminants and straw debris attached to rainwater from being mixed in the sorted grains. Note that if there is an entry/exit location (88) closest to the determination location 87, it is preferable to move to the entry/exit location (88).

As shown in FIG. 14, the output rotation of the engine E is transmitted to the input shaft 74A of the continuously variable transmission 74, and is increased or decreased by the continuously variable transmission 74 and output. The output rotation of the continuously variable transmission 74 is transmitted to the input shaft 90 of the transmission 75.

The output rotation of the input shaft 90 is transmitted to the first counter shaft 91 via the gear 90A and the gear 91A, and the output rotation of the first counter shaft 91 is transmitted to the second counter shaft 92 via the gear 91A and the gear 92A. be done.

The output rotation of the second counter shaft 92 is transmitted to the third counter shaft 93 via the gear 92A and the gear 93A, and the output rotation of the third counter shaft 93 is transmitted to the fourth counter shaft 94 via the gear 93B and the gear 94A. is transmitted. The gear 93B and the gear 94A form a differential gear, and the third counter shaft 93 is provided with a braking means 95 such as an electromagnetic coil for braking the rotation of the gear 93B. As a result, the rotation of the gear 93B is braked, and, for example, the rotation of the left crawler of the traveling device 2 is stopped and the right crawler is rotated to increase the turning radius of the combine, or the left crawler of the traveling device 2 is rotated. The turning radius of the combine can be reduced by reversing the rotation and rotating the right crawler.

The output rotation transmitted to the fourth counter shaft 94 is transmitted to the fifth counter shaft 96 via a pair of left and right gears 94B and a pair of left and right gears 96A. 96A and a pair of left and right gears 97A, the power is transmitted to a pair of left and right input shafts 97 of the traveling device 2 to rotate a pair of left and right crawlers.

1 Airframe frame 3 Reaping device 4 Threshing device 5 Control section 9 Cabin 18 Raindrop sensor (first sensor)
23C Data transmitting and receiving antenna 25 Monitoring facility 25A Data transmitting and receiving antenna 25B Monitoring monitor 32 Handling cylinder 40 Swinging sorting device 41 Transfer shelf 41B Layer thickness sensor (second sensor)
42 Variable sheave (sheave)
44 Sheave motor (second motor)
50 1st Karaki (Karaki)
56 Electric motor (first motor)
86 Set route 88 Entrance/exit location 89 Discharge location E Engine

Claims (8)

A reaping device (3) for reaping grain culms on the front side of the fuselage frame (1) on which the engine (E) is mounted, and a threshing device (4) for threshing and sorting the grain culms on the rear left side of the reaping device (3), A grain culm reaping work method that reaps grain culms in a field by automatically running a combine harvester equipped with a control unit (5) on which a worker rides on the rear left side of the reaping device (3), the method comprising:
A first sensor (18) for measuring rainfall is provided on the outer periphery of the combine,
The threshing device (4) is provided with a handling cylinder (32) for threshing grain culms, and a swing sorting device (40) for sorting the threshed material below the handling cylinder (32),
A transfer shelf (41) is provided above the swing sorting device (40), and a sheave (42) is provided on the rear side of the transfer shelf (41),
A winnow (50) for blowing sorting air toward the sieve (42) is provided below the swinging sorting device (40),
When the first sensor (18) does not measure rainfall, the output rotation of the engine (E) is transmitted to the winnow (50) to drive the winnow (50);
When the first sensor (18) measures rainfall, the transmission of the output rotation of the engine (E) to the winnowing machine (50) is interrupted, and the first motor provided in the threshing device (4) A method for reaping grain culms, characterized in that the output rotation of (56) is transmitted to a winnow (50) to drive the winnow (50). According to claim 1, when the first sensor (18) measures rainfall, a second motor (44) provided in the threshing device (4) is rotated to increase the opening degree of the sheave (42). Grain culm reaping method. If the amount of precipitation measured by the first sensor (18) is less than the preset precipitation amount, the combine harvester is automatically driven along a set route (86) in the field and the combine harvester entry/exit location (88) is determined. move it to
If the amount of precipitation measured by the first sensor (18) exceeds the preset amount of precipitation, the combine harvester is automatically driven along a set route (86) in the field to the nearest entry/exit point (88). The method for reaping grain culms according to claim 1 or 2, wherein the grains are moved to a discharge location (89). Based on the measurement value of the second sensor (41B) that measures the layer thickness of the processed material to be transferred on the transfer shelf (41), the output rotation speed of the first motor (56) and the second motor (44) are increased or decreased. 4. The grain culm reaping method according to claim 3, wherein the rotation angle is increased or decreased. 5. An output rotation speed of the first motor (56) and a rotation angle of the second motor (44) are increased/decreased based on the amount of rainfall measured by the first sensor (18). Grain culm reaping method. The grain culm reaping method according to claim 1, wherein the control section (5) is covered with a cabin (9), and the at least one first sensor (18) is provided on a windshield of the cabin (9). The combine harvester and the monitoring facility (25) are connected by data transmitting/receiving antennas (23C, 25A), and the measured value of the first sensor (18) is sent to the monitoring monitor (25B) of the monitoring facility (25). The method for reaping grain culms according to claim 1, wherein the method comprises: displaying the grain culms; The grain culm reaping method according to claim 1, wherein the first motor (56) cannot be driven beyond a preset time when the engine (E) is stopped.

Images