JP3820745B2 - Combine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a combine.
[0002]
[Prior art]
At the time of harvesting in the combine, by means of a horizontal mowing direction sensor that has a detection rod that protrudes to the left as appropriate, attached to the weed bush that supports the weed body at the right end of the harvesting device, There is an apparatus that detects an edge along the right edge, sends the detected value to a controller or the like, and steers the machine from side to side according to the calculation result to perform straight-ahead control.
[Problems to be solved by the invention]
As described above, during the harvesting operation in the combine, the horizontal cutting direction sensor having the detection rod that is appropriately projected in the left direction and attached to the weeding rod that supports the weeding body at the right end of the harvesting device is used for planting. The edge detection is performed along the right edge of the vertical grain culm area, and the detected value is sent to a controller, etc. There was a difficulty in becoming a state where it is easy to produce.
[0003]
[0004]
[Means for Solving the Problems]
The present invention includes a traveling mission case (21) including left and right steering clutches (22, 22) and left and right steering brakes (23, 23) at a front end portion of a chassis (6), A manual operation lever (46) for steering the airframe (1) left and right by performing turning on and off of the steering clutch (22, 22) and braking of the left and right steering brakes (23, 23) is provided. When the analog weed cutting direction sensor (2) is attached to the weed pod (14) that supports the weed body (12) at the right end of), the detection rod (2a) of the weeding direction sensor (2) Projecting from the transverse mowing direction sensor (2) with a fixed receding angle to the left, and detecting the forward / backward rotation angle of the detection rod (2a) with a potentiometer, the mowing device (3 ) A pair of left and right pull-up portions (1 , 13) to attach the analog row cutting direction sensor (47), the left direction sensor (47a) and the left direction sensor (47) of the row cutting direction sensor (47) 47a), the detection sensor (48a), the right sensor (47b) and the detection sensor (48b) of the right sensor (47b) are mounted side by side, and automatic direction control is performed on the input side of the controller (50). wherein the direction control switch (44) and the transverse cutting directional sensor (2) and the left sensor strip cutting directional sensor (47) (47a) and the right sensor (47b) manually and change-over switch (51) that turns on and off while connecting the sensor check switch (52) for switching the lateral mowing directional sensor (2) and Article mowing directional sensor (47) in the abnormality check state, the output side of the controller (50), wherein Right steering clutch (22, 22) of turning on and off the left and right steering brake the left and right clutch solenoid to perform the braking (23, 23) (45, 45) transverse cutting directional sensor (2) and Article A buzzer (53) that outputs when there is no abnormality in the result of the failure check of the cutting direction sensor (47) is connected, the direction control switch (44) is turned on, and the horizontal cutting direction sensor (2) or The automatic direction control is interrupted when the manual changeover switch (51) is turned on in order to perform automatic direction control by steering the airframe (1) left and right according to the detection result of the direction sensor (47) for cutting. In addition, priority is given to the left / right steering by the operation of the manual operation lever (46), and the set time required to automatically enter the interrupted automatic direction control and return to the state is determined by the automatic direction control in horizontal cutting or row cutting. It is set to a long time, and is set to a short time for the horizontal / horizontal determination control for automatically determining whether the horizontal or vertical cutting is performed, and the sensor check switch (52) is turned on to check the failure of the horizontal cutting direction sensor (2). When the detection rod (2a) of the horizontal cutting direction sensor (2) is rotated, the detection value of the horizontal cutting direction sensor (2) is the detection rod (2a) of the horizontal cutting direction sensor (2). ) In which the buzzer (53) is connected so that the buzzer (53) is output for a certain period of time when it passes through a value set by equally dividing the rotation region.
[0005]
[0006]
【The invention's effect】
According to the present invention, it is possible to perform highly reliable directional control without causing trouble such as unreasonable cutting of cereals.
In addition, immediately after the return from manual operation to automatic control, control output (particularly output in the opposite direction) is performed and the body 1 is shaken to give the operator an unpleasant feeling. It is possible to prevent the control output of automatic control from being delayed and the like.
Further, when checking the direction sensor 2 for cutting, the sensor check switch 52 is turned on to rotate the detection rod 2a of the direction sensor 2 for cutting and the detected value of the direction sensor 2 for cutting is detected. By outputting a warning for the buzzer 53 for a certain period of time when a value set by equally dividing the rotation region of the heel 2a is passed, it is possible to easily detect a failure of the horizontal cutting direction sensor 2.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 14 shows the overall structure of the combine. A traveling device 8 having a pair of left and right traveling crawlers 7 traveling on the soil surface is disposed on the lower side of the chassis 6, and a feed chain is provided on the chassis 6. A grain tank 10 for threshing and supplying the culm that is fed while being held between 9 and the cereal, and collecting and temporarily storing the threshed grain; and a grain auger 10a for discharging the stored grain to the outside of the machine The threshing apparatus 11 provided with is mounted and configured.
[0008]
In front of the threshing device 11, a weeding body 12 that weeds the planted culm from its front end side, a pulling part 13 that causes the cereal that has been weeded, a cutting blade part 14 that cuts off the induced culm, and this The reaping device 3 having the cereal conveyance unit 15 or the like that changes the posture to the side of the feed chain 9 while conveying the harvested cereal to the rear side is hydraulically driven from the front end side of the chassis 6. The cylinder 16 is arranged and configured to act up and down freely with respect to the soil surface.
[0009]
An operation device 17 for controlling the operation of the combine and an operation seat 18 for operation are provided on one side of the harvesting device 3, and an engine 19 is mounted on the lower side of the operation seat 18, and the Glen is provided on the rear side. A cabin 20 that covers the operation device 17 and the operation seat 18 is provided as well as the tank 10, and is combined with the traveling device 8, the threshing device 11, the mowing device 3, the operation device 17, the engine 19, the cabin 20, and the like. 1 is configured.
[0010]
A traveling mission case 21 is mounted on the front end of the chassis 6 and, as shown in FIG. 5, the claw 22a is meshed and connected to the gear transmission path built in the mission case 21 to transmit the left and right gears. A steering clutch 22 and left and right steering brakes 23 for further braking from the disengaged state of the steering clutch 22 are provided, and the left and right traveling crawlers 7 are driven by drive wheels 24 at the final stage of the transmission path. A vehicle speed sensor 25 for detecting the vehicle speed is disposed at an appropriate position on the transmission path while transmitting power.
[0011]
As shown in FIGS. 3 and 4, the reaping device 3 supports a reaping input case 27 that is pivotable up and down on a pedestal 26 fixed to the upper end of the mission case 21, and extends downward from the reaping input case 27. A pipe-like input vertical case 28 extending toward the side is joined to a position in the vicinity of the center of a lower lateral transmission case 29 provided over the entire width of the lower portion of the reaping device 3, and this lower lateral transmission case. The intermediate vertical case 30 is joined and extended from the vicinity of the left end of the cutter 29 toward the upper front oblique direction, and power is transmitted from the cutting input shaft 31 supported by the cutting input case 27 via the cases 28, 29, and 30. It is set as the structure to transmit.
[0012]
The intermediate longitudinal case 30 is joined to an upper lateral transmission case 32 provided over the entire width of the cutting device 3 and protrudes downward from the upper lateral transmission case 32 at an appropriate interval. Through the plurality of lug drive cases 33, each stock collection section 34 that collects the stock section of the cereal, and each top collection section 35 in the upper and lower stages that collects the head side. Power to each. The cutting blade portion 14 is divided into left and right portions and arranged over the entire width of the cutting device 3, and the left and right cutting blade portions 14 are respectively supported by left and right crank mechanisms 36 that are respectively supported by both end portions of the lower lateral transmission case 29. It is configured to be capable of reciprocating left and right.
A plurality of weeding bodies 12 for weeding a plurality of planted cereal grains are arranged at the front end of the cutting device 3, and a plurality of weeding straws 4 supporting each weed body 12 are arranged with the cutting blade part 14. It is joined to the lower horizontal frame 37 to be attached, and the lower horizontal frame 37 is fixed to the lower horizontal transmission case 29, and a plurality of raised portions 13 are arranged obliquely upward from the rear of each weed body 12 and planted grains. A plurality of ridges can be raised at a time, and a pulling lug 39 is provided in the pulling case 38 of each pulling portion 13.
[0013]
In order to adjust the supply depth when the harvested cereal from the reaping device 3 is supplied to the threshing device 11, the supply lug 40 for supplying the tip side and the stock source provided in the upper and lower stages of the tip side and the stock side The cereal conveyance part 15 is comprised with the supply chain 41 for side supply.
As shown in FIG. 1, an analog type cross-cutting direction sensor 2 is attached to the front side portion of the weed pod 4 that supports the weeding body 12 located at the right end of the cutting device 3, and the left direction from the direction sensor 2 The detection rod 2a has a detectable length and protrudes with a certain receding angle so that it can be pivoted back and forth, and the rotation angle of the detection rod 2a can be detected by the voltage level of a potentiometer or the like.
[0014]
The direction sensor 2 does not need to be limited to an analog type, and the arrangement, the shape of the detection rod 2a, and the like may be in any form as long as they do not depart from the gist of this embodiment.
As shown in FIG. 2, a CPU 43 is mainly arranged to perform arithmetic control of an automatic circuit, and a controller 43 including an output distribution means 5 for setting a pulse output for left / right steering control is provided. The direction control switch 44 for turning on / off the direction control via the input interface 43a is connected to the input side of the vehicle, the direction sensor 2 for horizontal cutting, and the vehicle speed sensor 25, respectively, and the output side via the output interface 43b. The left and right steering clutches 22 are turned on and off and the left and right clutch solenoids 45 for braking the steering brake 23 are connected to each other.
[0015]
When the machine 1 is moved forward by the traveling device 8 and the planted cereal is harvested by the reaping device 3, the cereals that have been weeded by the weeding body 12 are caused to act by the pulling portions 13, and at the same time, The stock base part is scraped by the stock source collection part 34, the stock part that has been scraped is cut by the cutting blade part 14, and the cut stock part is taken over from each stock source collection part 34. , The stock part is transferred to the supply chain 41 of the grain haul transport unit 15, and the tip part is transferred to the supply lug 40.
[0016]
During such cutting operation, the direction control switch 44 is turned on, and the direction sensor 2 for horizontal cutting in which the uncut grain culm of the right end side a of the planted culm region A is attached to the weed culm 4 of the reaping device 3. Until the detection is performed by the contact rotation of the detection rod 2a having a fixed receding angle projected from the left side to the left side, the left clutch solenoid 45 is output by eight pulses in the left direction by the output distribution means 5, as shown in FIG. By operating the left steering clutch 22 and the steering brake 23, the output control cycle is repeated for every 30 centimeters, for example.
[0017]
After detecting the uncut grain culm on the right edge side a by the detection rod 2a of the direction sensor 2, the right clutch solenoid 45 is operated by the continuous pulse output in the right direction by the output distribution means 5, and the direction sensor The right steering clutch 22 is disengaged and the steering brake 23 is braked until 2 detects the neutral position, and after the neutral position is detected, the pulse is output in the left direction again.
[0018]
With these steering controls, it is possible to detect uncut cereal stalks with a gentle approach angle that stops the output of a certain distance in the left direction, so that the cereal stakes as when entering with a large approach angle In the right direction, when the braking force of the steering brake 23 is weak, the amount of movement of the fuselage 1 is small, and the leftover of the cereals is left during the next leftward steering control. There is no inconvenience such as occurrence, and it is possible to perform the horizontal cutting direction control that is extremely smooth, has good followability, and is highly reliable.
In addition, in the automatic circuit as shown in FIG. 2, the directional control switch 44 is turned on at the time of harvesting, and the uncut grain culm of the right edge a of the planted culm area A is turned on. When the detection rod 2a that protrudes to the left side from the analog-type horizontal mowing direction sensor 2 attached to the weed rod 4 at the right end of the cutting device 3 detects the peak value by contact rotation, As shown in FIG. 7, this peak value is transmitted to the controller 43 to perform fuzzy calculation processing and control output in the right direction.
[0019]
The control output by this fuzzy arithmetic processing is set by the membership function as shown in FIG. 8 to set the grade based on the detected value of the distance B from the weed cocoon 4 to the uncut grain culm, and the approach speed to the uncut grain culm By setting the grade based on the detected value, a grade that fits the control rule is selected in the map of the fuzzy control rule as shown in FIG. 9 and calculation processing is performed, and the control output pulse of the right clutch solenoid 45 is calculated. By calculating the on-time, the output of every 30 centimeters in accordance with the detection of the direction sensor 2 by the disconnection of the right steering clutch 22 and the braking of the steering brake 23, for example, By using an analog method for the sensor 2, output can be performed every time the sensor 2 touches an uncut grain culm, so accurate direction control can be performed.
[0020]
As described above, when the peak value is detected by the analog-type horizontal cutting direction sensor 2, the peak value is subjected to fuzzy calculation processing by the controller 43 to calculate the on-time of the output pulse in the right direction. When the output time is equal to or greater than a certain value, it is configured to output by dividing into pulses having a certain value as shown in FIG. It is possible to prevent problems such as uneven cuttings.
[0021]
Further, a power steering lever that performs left-right steering of the vehicle body 1 by braking the steering clutch 22 and the steering brake 23 by the action of the left and right clutch solenoids 45 by manual operation on one side of the operating device 17. 46, and the analog type weeding direction sensor 2 is attached to the weed ridge 4 that supports the weeding body 12 at the right end of the cutting device 3, and the middle of the pair of left and right raising parts 13 located at the left end The left sensor 47a and its detection rod 48a, the right sensor 47b and its detection rod 48b of the analog type stalk direction sensor 47 are vertically and vertically attached to the weed rod 4 supporting the herb body 12 Make up. (See Figure 4)
As shown in FIG. 11, the CPU is mainly arranged to control the calculation of the automatic circuit, and the controller 50 including the return time adjusting means 49 for adjusting the return time from the manual operation to the automatic control is provided. The direction control switch 44 for turning on / off the direction control via the input interface 50 a to the input side of the controller 50, the direction sensor for horizontal cutting 2, the manual changeover switch 51, and the left direction sensor 47 a of the direction sensor 47 for cutting And right and left direction sensors 47b are connected to each other, and the left and right clutch solenoids 45 for braking the steering brake 23 and the left and right steering clutches 22 are connected to the output side via the output interface 50b. To configure.
[0022]
In the cutting operation, the direction control switch 44 is turned on, and the body 1 is steered left and right by the detection of the direction sensor 2 for horizontal cutting or the direction sensor 47 for row cutting, so that manual switching is performed for some reason. The switch 51 is turned on, the automatic control is interrupted, the left / right steering by the operation of the power steering lever 46 is prioritized, and the return timing for returning the automatic control interrupted by the manual operation OFF is shown in FIG. By adjusting the adjustment means 49, the control output is set immediately after returning from manual operation to automatic control. (In particular, output in the opposite direction) is performed, so that the airframe 1 is shaken to give the operator an unpleasant feeling, and the end of the determination is delayed during the horizontal determination, and automatic control control is output. It is possible to prevent such a hindrance to.
[0023]
Further, when checking the failure of the analog type lateral cutting direction sensor 2 and the row cutting direction sensor 47, the bidirectional sensors 2 and 47 are further set to the check state in the automatic circuit as shown in FIG. When the sensor check switch 52 is connected to a buzzer 53 that outputs an alarm when there is no abnormality in the check result when the switch 52 is turned on, for example, as shown in FIG. In this case, by turning on the switch 52 and rotating the detection rod 2a of the direction sensor 2, the alarm output of the buzzer 53 is output for a certain period of time when the analog value set as the equally divided b is passed. By performing the above, it is possible to easily detect a failure of the bidirectional sensors 2 and 47.
[Brief description of the drawings]
FIG. 1A is a plan view showing an arrangement state of detection ridges and a planted culm area of a direction sensor for horizontal cutting.
(B) The side view which shows the state which attached the direction sensor for horizontal cutting to the weed pod of the cutting device.
FIG. 2 is a block diagram showing a control circuit that executes a cross-cutting direction control.
FIG. 3 is a side view showing the overall configuration of the reaping device.
FIG. 4 is a plan view showing the overall configuration of the reaping device.
FIG. 5 is a schematic front view showing a state of a steering clutch and a steering brake in a mission case.
FIG. 6 is a diagram showing a pulse output of a clutch solenoid that brakes left and right steering brakes.
FIG. 7 is a diagram showing a pulse output in the right direction by detecting a peak value of a direction sensor for horizontal cutting.
FIG. 8 is a diagram showing a membership function in fuzzy arithmetic processing.
FIG. 9 is a chart showing control rules in fuzzy arithmetic processing.
FIG. 10 is a diagram showing a pulse output in the right direction by detecting a peak value of a direction sensor for horizontal cutting.
FIG. 11 is a block diagram illustrating a control circuit that performs cross-cutting and row cutting direction control.
FIG. 12 is a diagram showing a return timing from manual operation interruption to automatic control;
FIG. 13 is an operation diagram showing a check state of a failure due to rotation of a detection rod of a direction sensor for horizontal cutting.
FIG. 14 is a side view showing the overall configuration of the combine.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Airframe 2 Directional sensor 2a Detecting rod 3 Cutting device 4 Weeding rod 6 Chassis 12 Weeding body 13 Pulling-up portion 14 Weeding rod 21 Mission case 22 Steering clutch 23 Steering brake 44 Direction control switch 45 Clutch solenoid 46 Manual Operation lever 47 Cutting direction sensor 47a Left direction sensor 47b Right direction sensor 48a Detection rod 48b Detection rod 50 Controller 51 Manual changeover switch 52 Sensor check switch 53 Buzzer

Claims (1)

A traveling transmission case (21) having left and right steering clutches (22, 22) and left and right steering brakes (23, 23) is provided at the front end of the chassis (6), and the left and right steering clutches ( 22 and 22) and the left and right steering brakes (23 and 23) are braked to provide a manual operation lever (46) for steering the airframe (1) to the left and right, and the right end of the cutting device (3). When attaching an analog type weeding direction sensor (2) to the weed pod (14) that supports the weed body (12), the detection hoe (2a) of the weeding direction sensor (2) The left end of the reaping device (3) is configured to detect the forward / backward rotation angle of the detection rod (2a) with a potentiometer by protruding from the directional sensor (2) with a fixed backward angle. Of the pair of left and right pull-up parts (13, 13) When attaching the analog stalk direction sensor (47) to the weed stalk (4), the left direction sensor (47a) of the stalk direction sensor (47) and the detection direction of the left direction sensor (47a) (48a), a right direction sensor (47b), and a detection rod (48b) of the right direction sensor (47b) are mounted side by side, and a direction control switch for turning on / off automatic direction control on the input side of the controller (50) (44), the horizontal cutting direction sensor (2), the left direction sensor (47a) and the right direction sensor (47b) of the row cutting direction sensor (47), the manual changeover switch (51), and the horizontal cutting direction sensor. (2), strips and one for connecting the sensor check switch (52) switching the cutting directional sensor (47) in the abnormality check state, the output side of the controller (50), said left and right steering click Pitch (22, 22) of turning on and off the left and right steering brake the transverse cutting directional sensor (2) and Article mowing directional braking and the left and right clutch solenoid to perform (45, 45) of (23, 23) A buzzer (53) that outputs when there is no abnormality in the result of the failure check of the sensor (47) is connected, the direction control switch (44) is turned on, and the direction sensor for transverse cutting (2) or for cutting When the manual changeover switch (51) is turned on to perform the automatic direction control by steering the airframe (1) to the left and right according to the detection result of the direction sensor (47), the automatic direction control is interrupted and the manual operation is performed. Prioritize left and right steering by operating the operating lever (46), and set the time required to automatically enter this interrupted automatic direction control and return to the state. The length is set to be short during the horizontal / horizontal determination control for automatically determining whether the horizontal or horizontal cutting is performed, and when the failure check of the horizontal cutting direction sensor (2) is performed, the sensor check switch (52) is turned ON, When the detection rod (2a) of the cutting direction sensor (2) is rotated, the detection value of the horizontal cutting direction sensor (2) is the rotation of the detection rod (2a) of the horizontal cutting direction sensor (2). The combine is characterized in that the buzzer (53) is connected so as to output for a certain period of time when a value set by dividing the moving region equally is passed.

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