JP4016508B2

JP4016508B2 - Root crop harvesting machine

Info

Publication number: JP4016508B2
Application number: JP30724898A
Authority: JP
Inventors: 弘践上谷; 清明水津; 川口　　弘道; 典弘矢野; 千年松長; 岩部　　孝章
Original assignee: Iseki and Co Ltd
Current assignee: Iseki and Co Ltd
Priority date: 1998-10-28
Filing date: 1998-10-28
Publication date: 2007-12-05
Anticipated expiration: 2018-10-28
Also published as: JP2000125634A

Description

【０００１】
【発明の属する技術分野】
この発明は、根菜類収穫機に関するものである。
【０００２】
【従来の技術】
根菜類が、例えば、人参であったとすると、この人参を収穫作業するときは、根菜類収穫機を圃場の畦部へ進入させる前段で、手動によってこの根菜類収穫機の掘起装置の掘起し高さを設定して、下降手段を操作すると自動高さ制御に移行され、この掘起装置が下降して、下降検出板が圃場に接地すると、該掘起装置の下降が停止され、圃場内を該根菜類収穫機は走行して、この掘起装置で人参を掘起す。
【０００３】
【発明が解決しようとする課題】
掘起装置が下降して下降検出板が接地するときに、圃場が軟質土壌であると、この下降検出板が土壌表面より、深く食い込むことが発生し、これによって、該掘起装置の先端部が畦に深く潜り込み、この先端部が破損することが発生していたが、この発明により、この問題点を解消しようとするものである。
【０００４】
【課題を解決するための手段】
このために、この発明は車台（７）の後部に支持板（１６）を設け、該支持板（１６）の上部に伝動機構（１７ａ）を内装した伝動ケース（１７）を回動自在に設け、該伝動ケース（１７）に伝動ケース（１７）の中心位置を上下回動中心（２６）として上下回動する根菜類（イ）の葉部を引起す引起装置（４）と根菜類（イ）を掘起す掘起装置（５）と根菜類（イ）の葉部を挟持して上部へ搬送する根菜搬送装置（６）とを設け、掘起装置（５）で根菜類（イ）を掘起しする掘起高さを設定する掘起設定手段（９）と、設定した掘起し高さに制御すべく上下シリンダ（２６ａ）の作動にて該掘起装置（５）を上下回動制御する制御開始手段（１０）とを設けた根菜類収穫機において、
前記伝動ケース（１７）の後側に連結板（２９）を介して伝動機構（３０ａ）を内装した伝動ケース（３０）を設け、該伝動ケース（３０）に根菜搬送装置（６）に駆動力を伝達する伝動機構（３１ａ）を内装した支持ケース（３１）を設けて、伝動ケース（３０）の前側に前記上下回動中心（２６）を配置し、
前記引起装置（４）の左右両側の引起ケース（２１，２１）の左右一方の機体外側面に接地プレート（２５ｂ）を装着する支持板（２５ａ）を回動自在に設け、該支持板（２５ａ）とポテンショメータ（２５ｃ）とを連結ロッド（２５ｄ）によって連結して掘起し高さセンサ（２４）を構成し、
該掘起し高さセンサ（２４）にて圃場の凹凸を検出して、該検出結果と掘起設定手段（９）で設定した設定掘起高さとから上下シリンダ（２６ａ）を作動させて掘取装置（５）を一定の掘起し高さに保持すべく上下回動制御すると共に、前記掘起し高さセンサ（２４）の検出値から掘起設定手段（９）の所定の設定値までは掘起装置（５）を速い速度で下降するように上下シリンダ（２６ａ）を作動させる掘起部下降ソレノイド（２６ｃ）を制御し、掘起設定手段（９）の設定値よりも下方ではパルス出力によって掘起装置（５）を遅い速度で下降するように掘起部下降ソレノイド（２６ｃ）を制御する制御装置（１１）を設け、
車台（７）の後部に補助車台（４９）を設け、該補助車台（４９）の上側には、前記根菜搬送装置（６）の葉切断装置（１２）によって切断された根菜類（イ）の切断葉を受けて機体横方向に向けて移送する葉収集移送コンベア（５０）と、該葉収集移送コンベア（５０）に移送される切断葉を収容する葉収納箱（５１）とを設けたことを特徴とする根菜類収穫機とする。
【０００５】
【発明の作用】
根菜類（イ）を収穫作業するときは、この根菜類収穫機の掘起設定手段９を操作して、根菜類（イ）を掘起す掘起装置５の掘起し高さを設定し、この掘起装置５を上下シリンダ２６ａの作動にて上下回動制御する制御開始手段１０を始動操作する。その後、掘起し高さセンサ２４にて圃場の凹凸を検出し、この圃場の凹凸の検出結果と掘起設定手段９の設定掘起し高さとを制御装置１１に記憶させ、該制御装置１１によって掘起部下降ソレノイド２６ｃを制御して上下シリンダ２６ａを作動させ、圃場の凹凸の検出値から設定掘起し高さまでは掘起装置５を連続下降制御して早い速度で下降させると共に、設定掘取高さよりも下方ではパルス出力により掘起装置５を遅い速度で下降制御する。引起装置４と掘起装置５と根菜搬送装置６とは、制御装置１１によって設定掘起し高さと略同じ高さに制御され、圃場内を該根菜類収穫機は走行して、この引起装置４で根菜類（イ）の葉部を引起し、掘起装置５で根菜類（イ）を掘起すと共に、根菜搬送装置６で根菜類（イ）の葉部を挟持して上部へ搬送する。
また、根菜搬送装置６で挟持して上部へ搬送された根菜類（イ）の葉部は葉切断装置１２によって切断されて補助車台４９の上側に載置される葉収集移送コンベア５０に供給され、該葉収集移送コンベア５０によって機体横方向に送られ、葉収納箱５１に回収される。
【０００６】
【発明の効果】
制御開始手段１０を始動操作して掘起装置５を掘起設定手段９の操作で設定した掘起し高さと略同じ高さに上下シリンダ２６ａの作動にて上下回動制御させると共に、掘起し高さセンサ２４にて圃場の凹凸を検出させることによって、圃場の凹凸の検出結果と掘起設定手段９の設定掘起し高さとから制御装置１１にて上下シリンダ２６ａを作動させてこの掘起装置５を設定掘起し高さと略同じ掘起し高さに上下回動制御するので、圃場の硬軟の状態に関係なく、常に一定の掘起し高さに制御されることにより、この掘起装置５の破損を防止することができる。
また、掘起し高さセンサ２４の圃場の凹凸の検出値と掘起設定手段９の設定掘起し高さとの間では掘起装置５を連続下降制御して早い速度で下降させると共に、設定掘取高さよりも下方ではパルス出力により掘起装置５を遅い速度で下降制御するよう制御装置１１によって掘起部下降ソレノイド２６ｃを制御して上下シリンダ２６ａを作動させることによって、収穫作業を行う圃場が軟弱な圃場であっても掘取装置５が一定の高さまで下降すると制御装置１１が下降速度を遅くするため、掘取装置５が過度に土中に潜り込んで破損してしまうことを防止できる。
そして、根菜搬送装置６で挟持して上部へ搬送された根菜類（イ）の葉部は、葉切断装置１２によって切断された後補助車台４９の上側に載置される葉収集移送コンベア５０によって機体横方向に送られ、葉収納箱５１に回収することができる。
【０００７】
【発明の実施の形態】
以下、本発明の一実施例を図面に基づいて説明する。図例は、根菜類（イ）が、例えば、人参（イ）であったとすると、この人参（イ）は圃場から掘起され、この掘起した人参（イ）を移送しながら葉部、及び根部の下方部の所定位置を切断して一時貯留等を行う根菜類収穫機１を図示して説明すると共に、掘起し高さ制御装置を図示して説明する。
【０００８】
前記根菜類収穫機１は、走行車両２の一方側の側部外側には、収穫用作業装置３を設け、この収穫用作業装置３は前部に引起装置４、掘起装置５、及び後部の根菜搬送装置６等よりなる構成である。前記走行車両２の車台７の下部には、土壌面を走行する左右一対の走行クローラ７ａを張設し、該車台７上部の一方側には、走行操作、及び各種制御操作等を行う操作装置８、及び作業者が搭乗して各種操作等を行う操縦席９ａ等を設け、この操縦席９ａの下部には、原動機（エンジン）７ｂ等を搭載している。この原動機７ｂで走行ギヤケース７ｃ内の伝動機構７ｄを介して該走行クローラ７ａ，７ａを回転駆動する構成である。
【０００９】
前記操作装置８は、箱形状に形成し、この箱体の表面板には、後述する掘起装置５の掘起し高さをダイヤル式でＯＮ−ＯＦＦスイッチ方式の操作位置により、設定する掘起設定手段９、及び設定した掘起し高さに制御すべく該掘起装置５を始動開始するＯＮ−ＯＦＦスイッチ方式の制御開始手段１０等を設けている。前記操作装置８の掘起設定手段９の操作位置、及び制御開始手段１０の始動操作等は、図６で示す如く該操作装置８に内装する制御装置１１のＣＰＵ１１ａへ入力される構成である。これらの入力により、この制御装置１１の該ＣＰＵ１１ａにより、該掘起設定手段９で設定した掘起し高さと略同じ一定高さの掘起し高さに掘起装置５を上下回動制御する構成である。
【００１０】
前記操作装置８部には、図９で示す如く掘起装置５を手動操作位置により、上下回動移動させる上下回動レバー９ｂを回動自在に軸支して設けると共に、この上下回動レバー９ｂの上端部には、該掘起装置５を始動操作するＯＮ−ＯＦＦスイッチ方式の制御開始手段１０を設けている。該上下回動レバー９ｂの回動操作により、回動部に嵌入して設けるダイヤル式でＯＮ−ＯＦＦ方式のスイッチ９ｃ、又はポテンションメタル９ｄを作動させる構成とするもよい。
【００１１】
これにより、前記回動レバー９ｂと制御開始手段１０とが一体に形成されていることにより、この回動レバー９ｂから手を離さずに操作ができて、操作性が向上する。前記車台７上部の後方部には、後述する葉切断装置１２で人参（イ）の葉の根元部が切断され、又、後述する人参下部切断装置４７で根部の下方部の所定位置が切断され、これら両者が切断された切断済み人参（イ）の供給を受けて、操縦席９ａ側の横方向へ向け回転駆動する移送ベルト等を張設してなる第１移送コンベア１３、及び回転駆動する移送ベルト等を張設してなる第２移送コンベア１４を設け、これら第１・第２移送コンベア１３，１４は移送終端部へ向けて上り傾斜させて設けている。該第２移送コンベア１４の移送終端部の下側で該車台７上側には、両者を介して切断済みの人参（イ）の供給を受け、収納して一時貯留する収納箱１５を載置した構成である。
【００１２】
前記車台７後部の左側には、上方へ突出する断面形状がコ字形状の支持板１６を設け、この支持板１６の上部には、伝動機構１７ａを内装した伝動ケース１７を回動自在に設けている。この伝動ケース１７には、前方下部へ突出する支持板１８を設け、この支持板１８の前端部には、左右両側に前方下部へ突出する受板１９ａを固着した取付板１９ｂを装着して設けると共に、この各受板１９ａの前端部には、前方下部へ突出する補助受板１９ｃを固着した構成である。
【００１３】
前記左右両側の引起装置４は、上部を伝動ケース１７から前方へ突出する伝動機構２０ｃを内装する上受杆２０ａで支持すると共に、回転駆動させる構成である。下部を補助受板１９ｃから前方へ突出する下受杆２０ｂで支持させている。前記引起装置４は、根菜搬送装置６前部の左右両側に設け、この引起装置４は、左右両側の引起ケース２１，２１に内装して回転自在な引起チェン２２ａを張設し、この引起チェン２２ａには、所定間隔で引起ラグ２２ｂを前側下端部から前側上端部の間は、該引起ケース２１，２１から突出して、人参（イ）の葉部を引起す引起作用部とし、後側は引起しない非作用部とした構成である。
【００１４】
前記引起ケース２１下部外側面には、人参（イ）の葉部を分離する分草体２３を前方へ突出させて設けた構成であると共に、図１で示す如く掘起し高さ、及び畦の凹凸を検出する掘起し高さセンサ２４を一方側の該引起ケース２１に設けている。この掘起し高さセンサ２４は、該引起ケース２１の外側面に回動自在に設けた支持板２５ａに接地プレート２５ｂを装着すると共に、該支持板２５ａの上端部とポテンションメータ２５ｃとを連結する連結ロッド２５ｄよりなる構成である。
【００１５】
前記掘起し高さセンサ２４の接地プレート２５ｂが、圃場迄の高さによって回動すると共に、圃場の凹凸を検出して上下回動し、この回動が該ポテンションメータ２５ｃで検出され、この検出が図６で示す如く操作装置８の制御装置１１のＣＰＵ１１ａへ入力され、この検出の入力と掘起設定手段９の操作位置で設定した掘起し高さとが制御基準値となり、この制御基準値と略同じ一定高さの掘起し高さにすべく、掘起部上昇ソレノイド２６ｂ、又は掘起部下降ソレノイド２６ｃの作動により、伝動ケース１７の中心位置を上下回動中心２６位置として、上下シリンダ２６ａが作動して、掘起装置５を上下回動制御する構成であり、この掘起装置５は常に設定した一定の掘起し高さに保持して、この掘起装置５が畦内に潜り込むのを防止して、破損の防止を図っている。
【００１６】
前記掘起装置５の上下回動制御に伴って、左右両側の引起装置４、及び根菜搬送装置６等も同時に上下回動制御する構成である。前記掘起装置５の上昇制御、及び下降制御は、図７で示す如くフローチャートに沿って作用説明すると、収穫作業がスタートされ（Ｓ−１０１）、掘起設定手段９がＯＮか判定され（Ｓ−１０２）、ＮＯと判定されると（Ｓ−１０２）へ戻る。ＹＥＳと判定されると該掘起設定手段９の操作位置で設定した掘起し高さ位置値を制御基準値として設定され（Ｓ−１０３）、掘起部上昇ソレノイド２６ｂ、又は掘起部下降ソレノイド２６ｃがＯＮされ（Ｓ−１０４）、制御開始手段１０がＯＮか判定され（Ｓ−１０５）、ＮＯと判定されると（Ｓ−１０５）へ戻る。ＹＥＳと判定されると掘起し高さセンサ２４が検出した掘起し高さ位置値と制御基準値とが同じか判定され（Ｓ−１０６）、ＮＯと判定されると（Ｓ−１０６）へ戻る。ＹＥＳ判定されると制御基準の制御が継続され（Ｓ−１０７）、該制御始動手段ＯＦＦか判定され（Ｓ−１０８）、ＮＯと判定されると（Ｓ−１０７）へ戻る。ＹＥＳと判定されるとリターンする（Ｓ−１０９）。
【００１７】
前記操作装置８の掘起設定手段９を下降側の所定位置へ操作し、掘起装置５の掘起し高さ位置を設定し、制御開始手段１０をＯＮ操作すると、この掘起装置５は掘起部下降ソレノイド２６ｃの作動により、上下シリンダ２６ａが作動して下降制御する構成である。この掘起装置５の下降を検出する掘起し高さセンサ２４の検出値が、ＣＰＵ１１ａへ設定して記憶させた所定の設定値までは、連続下降制御すると共に、下降速度制御を早い速度に制御して下降させる。この所定の設定値から制御基準値の下部位置までは、パルス出力によって該掘起部下降ソレノイド２６ｃを作動制御して、下降速度制御を遅い速度に制御して下降されるが、この所定の設定値から設定した掘起し高さ位置までの領域（Ａ１）を通常より広い領域（Ａ２）に設定した構成である。この設定した広い領域（Ａ２）の間は、下降速度を遅い速度で制御して、該掘起装置５をゆっくりと下降させているので、軟弱な圃場であっても、圃場（土中）中へ該掘起装置５の突っ込むことを防止できる構成としている。
【００１８】
前記掘起装置５の下降制御は、図８で示すフローチャートに沿って作用を説明すると、収穫作業がスタートされ（Ｓ−２０１）、（Ｓ−２０２）へ進み、（Ｓ−２０２）〜（Ｓ−２０８）は図示の如く制御され、リターンする（Ｓ−２０９）。これにより、軟弱な圃場で下部位置まで下降制御されても、下降速度が遅いことにより、圃場（土中）中に掘起装置５が突っ込むことがなくなり、この掘起装置５が破損することを防止できる。
【００１９】
前記掘起装置５は、左右両側の補助受板１９ｃに上下調節可能に設けている。この掘起装置５は前方下部へ傾斜して突出する支持杆２７ａの前端部に、上下方向に所定長さの掘起板２７ｂを装着した構成であり、この左右両側の掘起装置５の掘起板２７ｂで人参（イ）の左右両側を掘起す構成である。前記車台７の支持板１６の前部には、前支持板１６ａを設け、この前支持板１６ａには、前方へ突出させて支持杆１６ｂを設け、この支持杆１６ｂの前端部には、Ｌ字形状の回動板１６ｃを回動自在に装着して設け、この回動板１６ｃの一方側の下端部と、上下シリンダ２６ａの前端部とを連接させ、他方側の前端部には、支持杆１６ｄの一方側の端部を装着して設け、この支持杆１６ｄの他方側の端部と、受板１９ａの前端の近傍部とを連接させた構成である。
【００２０】
前記上下シリンダ２６ａの作動により、伝動ケース１７の上下回動中心２６位置を回動中心として、回動板１６ｃ、支持杆１６ｄ、受板１９ａ、補助受板１９ｃ、及び後述する連結板２９等を介して、引起装置４、掘起装置５、及び根菜搬送装置６等を自動で上下回動制御する構成である。前記根菜搬送装置６の移送装置２８は、引起装置４の後部の左右両側に設け、この移送装置２８の上端の移送終端部は、伝動ケース１７後側に連結板２９を介して設けた伝動機構３０ａを内装した伝動ケース３０に前方上部へ傾斜して突出する伝動機構３１ａを内装した支持ケース３１の上側に設けた伝動ケース３２に内装した伝動機構３２ａで支持させると共に、回転駆動する構成である。この伝動ケース３０は該伝動ケース１７の回動によって、該連結板２９を介して同時に上下回動する構成である。
【００２１】
前記移送装置２８は、上・下端部に回転自在に軸支した上・下プーリ２８ｂ，２８ｃに移送ベルト２８ａを掛け渡した構成である。掘起装置５で掘起した人参（イ）の葉部は、この移送ベルト２８ａ，２８ａ間で挾持されて上部へ向けて移送する構成であり、この移送途中で首揃移送装置３３へ引継ぎする構成である。前記根菜搬送装置６の首揃移送装置３３、タッピング移送装置３４、葉移送装置３５、及び葉切断装置１２は、人参（イ）を収穫作業状態のときには、圃場面に略平行状態に設けた構成である。
【００２２】
前記首揃移送装置３３は、移送装置２８の後側で移送終端部から所定距離下方に位置させて、左右両側に設けている。この首揃移送装置３３の移送終端部は、伝動ケース３０に上方へ向けて突出して設けた伝動機構３７ａを内装した下支持ケース３７上側に設けた上伝動装置３８の上伝動ケース３８ａに内装した伝動機構３８ｂで支持すると共に、回転駆動する構成である。
【００２３】
前記首揃移送装置３３は、図５で示す如く左・右両側の支持プレート３９の前・後端部に回転自在に軸支した前・後プーリ３９ａ，３９ｂを設けると共に、これら前・後プーリ３９ａ，３９ｂ間には、複数個のＶ字形状の支持板４０の基部を回動自在に設け、この支持板４０の両側の先端部には、テンションローラ４０ａ，４０ａを回転自在に軸支した構成であり、これら前・後プーリ３９ａ，３９ｂ、及び各テンションプーリ４０ａ，４０ａには、移送ベルト３９ｃを掛け渡した構成である。
【００２４】
前記左右両側の支持プレート３９の前端部に装着する前プーリ３９ａは、この支持プレート３９に設けた左右方向の長孔３９ｅ部を、左右移動自在な構成として、移送ベルト３９ｃの移送始端部での引継ぎする角度をθ１からθ２へ変更できる構成である。これにより、人参（イ）の作柄による大きさによって、移動始端部の前記前プーリ３９ａ，３９ａ間の隙間を調節できることにより、この人参（イ）の引継ぎのときの首揃えミスの減少を図っている。
【００２５】
前記移送ベルト３９ｃ，３９ｃの直線部間は、所定の隙間を設け、これら移送ベルト３９ｃ，３９ｃ間で人参（イ）の葉部を挾持して移送する構成であるが、この挾持力は移送装置２８，２８の移送ベルト２８ａ，２８ａの挾持力より弱く構成している。前記支持板４０には、支持ピン４０ｂ，４０ｂを固着して設け、又、支持プレート３９には、弾性材よりなる略Ｖ字形状のスプリング板３９ｄを設け、このスプリング板３９ｄの一端部は、該支持ピン４０ｂ，４０ｂで支持した構成であり、各テンションローラ４０ａを互に弾発して中立位置へ復元する構成である。
【００２６】
前記各首揃移送装置３３は、各移送装置２８の各移送ベルト２８ａ間に、人参（イ）の葉部を挾持して上部へ移送中に、この移送途中で該各首揃移送装置３３の該各移送ベルト３９ｃ間で、人参（イ）の葉部を挾持して引継ぎする構成であり、この人参（イ）の葉部は両者で挾持され、この各移送ベルト２８ａにより、更に上部へ移送されることにより、これら各移送ベルト３９ｃの下端部位置まで、この人参（イ）の根部の上部が当接するまで上部へ向けて移動され、首揃えが行われる構成である。
【００２７】
前記タッピング移送装置３４の移送終端部は、上伝動装置３８の上伝動ケース３８ａに上下に突出させて設けた上支持ケース４１に内装した伝動機構４１ａの下側部で支持すると共に、回転駆動する構成である。前記タッピング移送装置３４は、首揃移送装置３３の上側に所定間隔を設けて平行状態に左右両側に設けると共に、移送始端部は該首揃移送装置３３の前後方向の略中央部に位置させ、前後端部に回転自在に軸支した前・後プーリ４２ａ，４２ｂには、移送ベルト４２ｃを掛け渡した構成であり、左右両側の該移送ベルト４２ｃ，４２ｃ間には、人参（イ）の葉部を挾持して移送する構成であり、該各首揃移送装置３３の各移送ベルト３９ｃと、この各移送ベルト４２ｃとの両者で挾持して移送し、途中からはこの各移送ベルト４２ｃへ引継ぎ挾持して移送する構成である。
【００２８】
前記葉移送装置３５の移送終端部は、上支持ケース４１に内装した伝動機構４１ａの上側部で支持すると共に、回転駆動する構成である。この葉移送装置３５はタッピング移送装置３４の上側に所定間隙を設けて平行状態に設けると共に、移送始端部は該タッピング移送装置３４の移送始端部より、所定距離後方に位置させている。
【００２９】
前記葉移送装置３５は、前後端部に回転自在に軸支した前・後プーリ４３ａ，４３ｂには、移送ベルト４３ｃを掛け渡した構成であり、左右両側の該移送ベルト４３ｃ，４３ｃ間には、人参（イ）の葉部を挾持して移送する構成であり、各タッピング移送装置３４の各移送ベルト４２ｃと、途中からはこの各移送ベルト４３ｃにも引継ぎして、両者で挾持して移送する構成である。又、後述する葉切断装置１２の後側部よりは、この葉切断装置１２で切断した切断葉のみを移送し、これら各タッピング装置３４、及び各葉移送装置３５の両者の移送終端部まで移送して、この終端部からこの切断葉を圃場内へ排出する構成である。
【００３０】
前記葉切断装置１２は、上伝動装置３８の上伝動ケース３８ａから下部へ突出させて、回転自在に設けた回転軸４６の軸端部には、切断刃４６ａを装着した構成であり、この葉切断装置１２は、上下回動中心２６位置である伝動ケース１７に近接させると共に、首揃移送装置３３の移送終端の後側に近接させて設けている。
【００３１】
この切断刃４６ａは、タッピング移送装置３４の下側で、該首揃移送装置３３の所定位置下位に位置させた構成である。この切断刃４６ａにより、該首揃移送装置３３で首揃えした人参（イ）の葉部の所定位置を切断する構成である。図１０で示す如く前記首揃移送装置３３の上側には、上伝動装置３８を設け、この上伝動装置３８の上側には、タッピング移送装置３４を設け、このタッピング移送装置３４の上側には、葉移送装置３５を設け、葉切断装置１２は、該首揃移送装置３３の所定位置下位に位置させると共に、移送終端部より所定距離前部に位置させて設けた構成である。
さらに、回転動力は、ベベルギヤ７１，７２、連結ケ−ス軸７０及びベベルギヤ７１，７３に伝動されて駆動軸６８を回転するので、これに関連して、無端搬送体駆動軸７４はベベルギヤ７５，７６を介して回転して回転体３０，３１及び無端搬送体３２を回転する。
【００３２】
前記各首揃移送装置３３には、図１０で示す如く半円形状の案内具４４の下端部を該各首揃移送装置３３の各移送ベルト３９ｃの下端部より、若干下部に位置させて設けると共に、葉切断装置１２の切断刃４６ａの外周部前側に位置させて設けている。各タッピング移送装置３４の各移送ベルト４２ｃの移送始端部は、該案内具４４の所定距離前側に位置させて設けている。
【００３３】
前記各葉移送装置３５の各移送ベルト４３ｃの移送始端部は、図１０で示す如く案内具４４より、所定距離後部に位置させて設けている。図１０で示す如く構成としたことにより、人参（イ）の根部の首部が該案内具４４を通過するときに、補正されることにより、首部位置が安定し、又、人参（イ）の姿勢が崩れることなく、切断性能が安定するし、更に切断後の葉部の姿勢が崩れることがないために葉の詰り発生も防止できる。
【００３４】
図１１で示す如く左右両側には、各下側移送装置３３ａの下側には、板材等よりなる各案内ガイド板４４ａを設け、この左右両側の該各案内ガイド板４４ａにより、人参（イ）の首揃を行う構成であり、該各下側移送装置３３ａの各移送ベルト３９ｃ間で人参（イ）を挾持して移送する。この各下側移送装置３３ａは首揃は行わず移送のみを行う構成である。
【００３５】
これにより、前記各案内ガイド板４４ａに沿って搬送案内するために、この案内ガイド板４４ａの抵抗にて詰りが発生することなく、スムースに首揃えができるし、又、各下部移送装置３３ａは移送機能のみであり、このために、ラジアル方向の強度をあまり必要としなくなり、コスト低減、及び構成を簡略化することができる。
【００３６】
図１２で示す如く左右両側には、各下側移送装置３３ｂを設け、この各下移送装置３３ｂの下側で前部には、各先案内ガイド板４４ｂを設けた構成であり、該各下側移送装置３３ｂの各移送ベルト３９ｃの移送始端の先端部より、上側の左右両側の各タッピング移送装置３４ａの各移送ベルト４２ｃの移送始端の先端部を前部に位置させて設けた構成である。該各先案内ガイド板４４ｂにより、人参（イ）の首揃を行う構成であり、該各下側移送装置３３ｂの各移送ベルト３９ｃ間で、人参（イ）を挾持して移送する。この各下側移送装置３３ｂは首揃は行わず移送のみを行う構成である。
【００３７】
これにより、上側の前記各タッピング移送装置３４ａから、下側の各下側移送装置３３ｂへの人参（イ）の引継ぎがなく、この引継ぎにおける遅れがなくなり、このために人参（イ）の首部を正確に切断することができる。前記人参下部切断装置４７は、掘起装置５後方上部に前方下部から上部を後部をへ向けて傾斜状態に設け、この人参下部切断装置４７は、左右方向に所定間隔で、上下方向に２箇所に山形状を形成した案内杆４８ａを複数個設けると共に、この２箇所の山形状内には、回転外周部に複数個の切断刃４８ｂを装着した各回転具４８ｃを回転自在に上下に所定間隔を設けて軸支している。
【００３８】
前記人参下部切断装置４７は、各移送装置２８の各移送ベルト２８ａ間で挾持されて上部へ移送中の全長の短い人参（イ）の根部の先端部が下側の山形の案内杆４８ａ，４８ａ間に入り、下側の切断刃４８ｂにより、この人参（イ）の根部の先端所定位置を切断する。又、上部へ移送中の全長の長い人参（イ）は、下側の山形の該案内杆４８ａ部は通過し、上側の山形の該案内杆４８ａ，４８ａ間に、この人参（イ）の根部の先端部が入り、この根部の先端所定位置を上側の該切断刃４８ｂによって切断する。人参（イ）の根部の全長により、この根部の先端の所定位置を切断する構成である。
【００３９】
前記車台７の後部には、図１で示す如く補助車台４９を設け、この補助車台４９の上側には、タッピング移送装置３４、及び葉移送装置３５で移送される切断済みの切断葉の供給を受けて、操縦席９ａ側の横方向へ向けて、回転駆動して移送する移送ベルト等を設けてなる葉収集移送コンベア５０を設けている。前記葉収集移送コンベア５０の移送終端部の下側で、補助車台４９の上側には、この葉収集移送コンベア５０で移送される切断葉の供給を受けて、収納して一時貯留する葉収納箱５１を設けた構成である。
【００４０】
前記操作装置８部には、方向制御する方向制御レバー５２ａを設け、この方向制御レバー５２ａの操作により、走行車両２の走行ギヤー７ｃ内の伝動機構７ｄが切換制御される構成である。該方向制御レバーの操作により、この走行車両２を人参（イ）を植付けした畦に沿わせて走行させる構成である。前記収穫用作業装置３は、枠体（図示せず）によって保持され、この枠体は左右移動シリンダ（図示せず）の作動により、左右方向へ移動自在に構成している。走行車両２の方向制御を自動方向制御にするために、各引起装置４の各引起ケース２１の下端部の内側面には検出杆５２及びリミットスイッチ５３を設けた構成であり、この検出杆５２の回動により、該リミットスイッチ５３がＯＮ−ＯＦＦする構成である。
【００４１】
前記走行車両２の方向自動制御は、この走行車両２が方向制御レバー５２ａの操作で所定位置へ設定されて走行するが、その後は検出杆５２が畦に植付された人参（イ）の葉に接触状態になると、この各検出杆５２の回動により、リミットスイッチ５３はＯＮされ、このＯＮ状態により、該走行車両２は畦に植付された人参（イ）に沿って走行していると検出する構成であり、この検出により走行は現状維持が継続される構成である。
【００４２】
又、いずれか一方側のリミットスイッチ５３がＯＦＦ状態であると、走行車両２の左右移動シリンダが作動し、このリミットスイッチ５３がＯＮ状態になるまで、枠体を介して収穫用作業装置３を自動移動制御する構成であり、この移動によってＯＦＦ側の該リミットスイッチ５３がＯＮされ、このＯＮに伴って該左右移動シリンダが停止する構成であり、この走行車両２は植付人参（イ）に沿って走行する構成である。
【００４３】
これにより、根菜類収穫機の走行操作が容易になる。前記根菜類収穫機１の平面視左側の伝動機構部には、後部に設けた回動ピン４５を回動支点として外側へ回動自在な安全カバー３６を、図１３で示す如く設け、この安全カバー３６は受板１９ａに取付棒３６ａを介して設けた安全カバー取付板３６ｂへボルト、及びナット等によって装着した構成である。尚、後方側は平面視右側にも設ける構成とするもよい。
【００４４】
これにより、外側へ回動することにより、メンテナンス性もよく、又、収穫作業を安全に行うことができる。
【図面の簡単な説明】
【図１】根菜類収穫機の作業状態時の全体側面図。
【図２】根菜類収穫機の非作業状態時の全体側面図。
【図３】根菜類収穫機の全体平面図
【図４】根菜類収穫機の伝動機構図
【図５】首移送装置部の拡大平面図
【図６】ブロック図
【図７】フローチャート図
【図８】他の実施例を示す図で、フローチャート図
【図９】他の実施例を表す図で、上下回動レバーの拡大側面斜視図
【図１０】他の実施例を表す図で、根菜搬送装置の一部の拡大側面図
【図１１】他の実施例を表す図で、根菜搬送装置の一部の拡大側面図
【図１２】他の実施例を表す図で、根菜搬送装置の一部の拡大側面図
【図１３】他の実施例を表す図で、安全カバーの拡大側面図
【符号の説明】
２走行車体
５掘起装置
７車台
９掘起設定手段
１０制御開始手段
１１制御装置
１２切断装置
１６支持板
１７伝動ケース
１７ａ伝動機構
２１，２１引起ケース
２４掘起し高さセンサ
２５ａ支持板
２５ｂ接地プレート
２５ｃポテンショメータ
２５ｄ連結ロッド
２６上下回動中心
２６ａ上下シリンダ
２６ｃ掘取部下降ソレノイド
３０伝動ケース
３０ａ伝動機構
３１支持ケース
３１ａ伝動機構
４９補助車台
５０葉収集移送コンベア
５１葉収納箱
（イ）根菜類（人参）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a root vegetable harvester.
[0002]
[Prior art]
If the root vegetable is, for example, carrot, when harvesting this carrot, the root vegetable harvester is manually excavated by the excavator of the root vegetable harvester before entering the root of the field. When the height is set and the lowering means is operated, the automatic height control is performed. When this excavating device descends and the lowering detection plate contacts the field, the lowering of the excavating device is stopped and the field The root crop harvester runs inside and digs carrots with this digging device.
[0003]
[Problems to be solved by the invention]
When the excavation device descends and the descent detection plate contacts the ground, if the field is soft soil, the descent detection plate may bite deeper than the soil surface, and thereby the tip of the excavation device However, the present invention is intended to solve this problem.
[0004]
[Means for Solving the Problems]
For this purpose, the present invention is provided with a support plate (16) at the rear of the chassis (7), and a transmission case (17) having a transmission mechanism (17a) mounted on the upper portion of the support plate (16). The pulling device (4) and the root vegetables (I) that cause the leaf part of the root vegetables (I) to rotate up and down with the center position of the transmission case (17) as the vertical rotation center (26). ) And a root vegetable transporting device (6) that sandwiches the leaf part of the root vegetable (I) and transports it to the upper part, and provides the root vegetable (I) with the excavating device (5). The excavation setting means (9) for setting the excavation height to be excavated, and the excavator (5) are rotated up and down by the operation of the upper and lower cylinders (26a) to control the set excavation height. In a root crop harvesting machine provided with a control start means (10) for dynamic control,
A transmission case (30) including a transmission mechanism (30a) is provided on the rear side of the transmission case (17) via a connecting plate (29), and a driving force is applied to the root vegetable transfer device (6) in the transmission case (30). A support case (31) having a transmission mechanism (31a) for transmitting the transmission, and the vertical rotation center (26) is disposed on the front side of the transmission case (30),
The provided causing device (4) support plate for mounting a ground plate (25b) on the outboard side of the one of the left and right lateral sides of the ink case (21, 21) of the (25a) rotatably, the support plate (25a ) And a potentiometer (25c) are connected by a connecting rod (25d) to form a height sensor (24),
The unevenness of the field is detected by the excavation height sensor (24), and the upper and lower cylinders (26a) are operated from the detection result and the set excavation height set by the excavation setting means (9). The take-up device (5) is controlled to rotate up and down to maintain a constant excavation height, and a predetermined set value of the excavation setting means (9) is determined from the detection value of the excavation height sensor (24). Until, the excavation part lowering solenoid (26c) for operating the upper and lower cylinders (26a) is controlled so that the excavator (5) descends at a high speed, and below the set value of the excavation setting means (9) setting a control device (11) for controlling the HoOkoshi unit down solenoid (26c) so as to descend HoOkoshi device (5) at a lower speed by the pulse output,
An auxiliary chassis (49) is provided at the rear part of the chassis (7) , and the root vegetables (I) cut by the leaf cutting device (12) of the root vegetable transporting device (6) are disposed above the auxiliary chassis (49). A leaf collection transfer conveyor (50) that receives the cut leaves and transfers them in the lateral direction of the machine body, and a leaf storage box (51) that stores the cut leaves to be transferred to the leaf collection transfer conveyor (50). Root vegetable harvesting machine characterized by
[0005]
[Effects of the Invention]
When harvesting the root vegetables (I), the excavation setting means 9 of the root vegetables harvester is operated to set the excavation height of the excavating device 5 for excavating the root vegetables (I), The control starting means 10 that controls the excavating device 5 to rotate up and down by the operation of the upper and lower cylinders 26a is started. Then, to detect the field of irregularities at raised height sensor 24 drilling, stores a set digging raised height of the detection result and HoOkoshi setting means 9 of this field of irregularities to the control device 11, control device 11 By controlling the excavation part lowering solenoid 26c by operating the upper and lower cylinders 26a, the excavation device 5 is continuously lowered from the detected value of the unevenness in the field and lowered at a high speed by setting the excavation device 5 continuously. Below the excavation height, the excavation device 5 is controlled to descend at a slow speed by a pulse output . The pulling device 4, the digging device 5, and the root vegetable transporting device 6 are controlled by the control device 11 so as to be substantially the same height as the set digging height, and the root vegetable harvesting machine travels in the field, and this pulling device. 4 raises the leaf part of the root vegetable (I), excavates the root vegetable (I) with the digging device 5, and sandwiches the leaf part of the root vegetable (I) with the root vegetable transport device 6 and conveys it to the upper part. .
Further, the leaves of the root vegetables (I) sandwiched by the root vegetable transport device 6 and transported upward are cut by the leaf cutting device 12 and supplied to the leaf collecting and transporting conveyor 50 placed on the upper side of the auxiliary chassis 49. , thus sent to the machine body transverse direction in the leaves collected transfer conveyor 50, it is collected in the leaf receiving box 51.
[0006]
【The invention's effect】
The control starting means 10 is operated to start and the excavation apparatus 5 is controlled to rotate up and down by the operation of the upper and lower cylinders 26a to the same height as the excavation height set by the operation of the excavation setting means 9. By detecting the unevenness of the field with the height sensor 24, the upper and lower cylinders 26a are operated by the control device 11 from the detection result of the unevenness of the field and the set excavation height of the excavation setting means 9. Since the raising device 5 is controlled to rotate up and down to approximately the same excavation height as the set excavation height, it is always controlled to a constant excavation height regardless of the hardness of the field. Damage to the excavation device 5 can be prevented.
In addition, the excavation device 5 is continuously lowered and lowered at a high speed between the detected value of the unevenness of the field of the excavation height sensor 24 and the set excavation height of the excavation setting means 9 and set at a high speed. Below the digging height, the field where the harvesting operation is performed by controlling the digging unit lowering solenoid 26c and operating the upper and lower cylinders 26a by the control device 11 so as to control the digging device 5 to descend at a slow speed by pulse output. Even when the digging device 5 is lowered to a certain height, the control device 11 slows down the descent speed even if the digging device 5 is lowered, so that it is possible to prevent the digging device 5 from being excessively submerged and damaged. .
And the leaf part of the root vegetables (I) nipped by the root vegetable transporting device 6 and transported to the upper part is cut by the leaf cutting device 12 and then placed by the leaf collecting and transporting conveyor 50 placed on the upper side of the auxiliary chassis 49. It is sent in the lateral direction of the machine body and can be collected in the leaf storage box 51.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the illustrated example, if the root vegetable (I) is, for example, ginseng (I), the ginseng (I) is excavated from the field, and the excavated ginseng (I) is transported to the leaves, and The root crop harvesting machine 1 that cuts a predetermined position in the lower part of the root and temporarily stores it will be illustrated and described, and the excavation height control device will be illustrated and described.
[0008]
The root vegetable harvesting machine 1 is provided with a harvesting working device 3 on the outer side of one side of the traveling vehicle 2, and this harvesting working device 3 has a pulling device 4, a digging device 5, and a rear portion at the front. The root vegetable conveying device 6 and the like. A pair of left and right traveling crawlers 7a that travel on the soil surface is stretched under the chassis 7 of the traveling vehicle 2, and an operating device that performs traveling operations, various control operations, etc. on one side of the chassis 7 upper side. 8 and a pilot seat 9a or the like on which an operator gets on and performs various operations and the like are provided, and a motor (engine) 7b and the like are mounted below the pilot seat 9a. This prime mover 7b is configured to rotationally drive the traveling crawlers 7a and 7a via a transmission mechanism 7d in the traveling gear case 7c.
[0009]
The operation device 8 is formed in a box shape, and a surface plate of the box body is used to set a digging height of a digging device 5 described later by a dial type ON-OFF switch type operation position. There are provided a starting setting means 9 and an ON-OFF switch type control starting means 10 for starting the digging apparatus 5 so as to control to the set digging height. The operation position of the excavation setting means 9 of the operation device 8 and the start operation of the control start means 10 are input to the CPU 11a of the control device 11 built in the operation device 8 as shown in FIG. By these inputs, the CPU 11a of the control device 11 controls the excavation device 5 to rotate up and down to a digging height that is substantially the same as the digging height set by the digging setting means 9. It is a configuration.
[0010]
As shown in FIG. 9, the operation device 8 is provided with an up / down rotation lever 9b that pivots the excavation device 5 up and down according to the manual operation position. At the upper end of 9b, an ON-OFF switch type control start means 10 for starting the excavating device 5 is provided. A dial-type ON-OFF switch 9c or a potention metal 9d may be operated by turning the up / down turning lever 9b.
[0011]
As a result, the turning lever 9b and the control start means 10 are integrally formed, so that the operation can be performed without releasing the hand from the turning lever 9b, and the operability is improved. At the rear part of the upper part of the chassis 7, a root part of the carrot (I) is cut by a leaf cutting device 12 described later, and a predetermined position of a lower part of the root part is cut by a carrot lower cutting device 47 described later. In response to the supply of the cut carrot (a), both of which are cut off, the first transfer conveyor 13 in which a transfer belt or the like that is driven to rotate in the lateral direction on the side of the cockpit 9a is stretched, and is rotated. A second transfer conveyor 14 having a transfer belt or the like is provided, and the first and second transfer conveyors 13 and 14 are provided to be inclined upward toward the transfer end portion. On the lower side of the transfer terminal of the second transfer conveyor 14 and on the upper side of the chassis 7, a storage box 15 for receiving and storing stored carrots (a) via both is placed. It is a configuration.
[0012]
On the left side of the rear portion of the chassis 7 is provided a support plate 16 having a U-shaped cross section projecting upward, and a transmission case 17 having a transmission mechanism 17a is rotatably provided above the support plate 16. ing. The transmission case 17 is provided with a support plate 18 projecting to the lower front part, and the front end of the support plate 18 is provided with a mounting plate 19b fixed with receiving plates 19a projecting to the front lower part on both the left and right sides. At the same time, an auxiliary receiving plate 19c protruding to the lower front side is fixed to the front end of each receiving plate 19a.
[0013]
The pulling devices 4 on both the left and right sides are configured to be supported by an upper receiving rod 20a having a transmission mechanism 20c projecting forward from the transmission case 17 and to be driven to rotate. The lower part is supported by a lower receiving rod 20b protruding forward from the auxiliary receiving plate 19c. The pulling device 4 is provided on the left and right sides of the front part of the root vegetable transfer device 6, and the pulling device 4 is provided with pulling chains 22a that are rotatably mounted in the pulling cases 21 and 21 on both the left and right sides. 22a includes a pulling lug 22b at a predetermined interval between the front lower end portion and the front upper end portion, which protrudes from the pulling cases 21 and 21 to cause a leaf portion of carrot (I), and a rear side It is the structure made into the non-action part which does not raise.
[0014]
On the lower outer surface of the pulling case 21, a weeding body 23 that separates the carrot (I) leaf portion is provided to protrude forward, and as shown in FIG. An excavation height sensor 24 for detecting irregularities is provided in the pulling case 21 on one side. The digging height sensor 24 has a grounding plate 25b attached to a support plate 25a rotatably provided on the outer surface of the pulling case 21, and an upper end portion of the support plate 25a and a potentiometer 25c. It is the structure which consists of connecting rod 25d to connect.
[0015]
The grounding plate 25b of the excavation height sensor 24 rotates depending on the height up to the farm field, and detects the unevenness of the farm field to rotate up and down. This rotation is detected by the potentiometer 25c, This detection is input to the CPU 11a of the control device 11 of the operation device 8 as shown in FIG. 6, and the input of this detection and the digging height set at the operation position of the digging setting means 9 become the control reference value. The center position of the transmission case 17 is set to the position of the vertical rotation center 26 by the operation of the excavation part raising solenoid 26b or the excavation part lowering solenoid 26c so that the excavation height is substantially the same as the reference value. The upper and lower cylinders 26a are actuated to control the excavation device 5 to rotate up and down. The excavation device 5 is always maintained at a set excavation height, and the excavation device 5 To prevent it from entering the cage It is aimed at prevention of damage.
[0016]
In accordance with the vertical rotation control of the digging device 5, the pulling device 4 on both the left and right sides, the root vegetable transfer device 6 and the like are also controlled to rotate in the vertical direction simultaneously. When the raising control and the lowering control of the excavating device 5 are described according to the flowchart as shown in FIG. 7, the harvesting operation is started (S-101), and it is determined whether the excavation setting means 9 is ON (S -102), if NO is determined, the process returns to (S-102). If YES is determined, the digging height position value set at the operation position of the digging setting means 9 is set as a control reference value (S-103), and the digging portion raising solenoid 26b or the digging portion lowering is set. The solenoid 26c is turned ON (S-104), it is determined whether the control start means 10 is ON (S-105), and if NO is determined, the process returns to (S-105). If it is determined YES, it is determined whether the excavation height position value detected by the excavation height sensor 24 is the same as the control reference value (S-106), and if it is determined NO (S-106). Return to. If YES is determined, control based on control is continued (S-107), it is determined whether the control starting means is OFF (S-108), and if NO is determined, the process returns to (S-107). If YES is determined, the process returns (S-109).
[0017]
When the excavation setting means 9 of the operation device 8 is operated to a predetermined position on the descending side, the excavation height position of the excavation device 5 is set, and the control start means 10 is turned on, the excavation device 5 The upper and lower cylinders 26a are operated by the operation of the excavating part lowering solenoid 26c to perform the lowering control. Until the detection value of the excavation height sensor 24 for detecting the descent of the excavation device 5 reaches a predetermined set value set and stored in the CPU 11a, the descent speed control is performed at a high speed and the descent speed control is performed at a high speed. Control and lower. From this predetermined set value to the lower position of the control reference value, the excavation part lowering solenoid 26c is operated and controlled by a pulse output, and the lowering speed control is controlled to a lower speed. It is the structure which set the area | region (A1) to the excavation height position set from the value to the area | region (A2) wider than usual. During the set wide area (A2), the descent speed is controlled at a slow speed and the digging device 5 is slowly lowered. Therefore, even in a soft field, It is set as the structure which can prevent that the said excavation apparatus 5 penetrates.
[0018]
When the descent control of the excavating device 5 will be described with reference to the flowchart shown in FIG. 8, the harvesting operation is started (S-201) and proceeds to (S-202), and (S-202) to (S-202). -208) is controlled as shown and returns (S-209). As a result, even if the lowering control is performed to the lower position in a soft field, the excavation device 5 does not rush into the field (under the ground) due to the slow descent speed, and the excavation device 5 is damaged. Can be prevented.
[0019]
The digging device 5 is provided on the left and right auxiliary receiving plates 19c so as to be vertically adjustable. This digging device 5 has a structure in which a digging plate 27b having a predetermined length is mounted in the vertical direction on the front end portion of the support rod 27a that protrudes inclined to the front lower portion. It is the structure which digs up both the right and left sides of the carrot (I) with the raising board 27b. A front support plate 16a is provided at a front portion of the support plate 16 of the chassis 7, and a support rod 16b is provided on the front support plate 16a so as to protrude forward, and a L is provided at a front end portion of the support rod 16b. A character-shaped rotation plate 16c is rotatably mounted, and a lower end portion on one side of the rotation plate 16c is connected to a front end portion of the upper and lower cylinders 26a, and a support is provided on the front end portion on the other side. One end of the flange 16d is mounted and provided, and the other end of the support flange 16d is connected to the vicinity of the front end of the receiving plate 19a.
[0020]
By the operation of the upper and lower cylinders 26a, the rotation plate 16c, the support rod 16d, the receiving plate 19a, the auxiliary receiving plate 19c, the connecting plate 29 described later, and the like are provided with the vertical rotation center 26 of the transmission case 17 as the rotation center. Accordingly, the pulling device 4, the digging device 5, the root vegetable transfer device 6, and the like are automatically controlled to rotate up and down. The transfer device 28 of the root vegetable transfer device 6 is provided on both the left and right sides of the rear portion of the pulling device 4, and the transfer terminal portion at the upper end of the transfer device 28 is provided on the rear side of the transmission case 17 via a connecting plate 29. The transmission case 30 is provided with a transmission mechanism 31a that is inclined and protrudes to the upper front portion of the transmission case 30 and is supported by the transmission mechanism 32a provided in the transmission case 32 provided on the upper side of the support case 31 provided with the interior. . The transmission case 30 is configured to simultaneously rotate up and down via the connecting plate 29 by the rotation of the transmission case 17.
[0021]
The transfer device 28 has a configuration in which a transfer belt 28a is stretched around upper and lower pulleys 28b and 28c rotatably supported on upper and lower ends. The leaf portion of the carrot (I) excavated by the excavating device 5 is configured to be held between the transfer belts 28a and 28a and transferred toward the upper portion, and taken over to the neck aligning transfer device 33 during the transfer. It is a configuration. The arrangement | positioning apparatus 33, the tapping transfer apparatus 34, the leaf transfer apparatus 35, and the leaf cutting apparatus 12 of the said root vegetable transfer apparatus 6 are provided in the state substantially parallel to the field scene when the carrot (I) is in a harvesting operation state. It is.
[0022]
The neck alignment transfer device 33 is provided on the left and right sides of the transfer device 28 at a position below the transfer end portion by a predetermined distance on the rear side. The transfer terminal portion of the neck aligning transfer device 33 is provided in the upper transmission case 38a of the upper transmission device 38 provided on the upper side of the lower support case 37 in which the transmission mechanism 37a provided to project upward from the transmission case 30 is provided. The structure is supported by the transmission mechanism 38b and rotationally driven.
[0023]
As shown in FIG. 5, the neck alignment transfer device 33 is provided with front and rear pulleys 39a and 39b rotatably supported at the front and rear end portions of the left and right support plates 39, and these front and rear pulleys. A base portion of a plurality of V-shaped support plates 40 is rotatably provided between 39a and 39b, and tension rollers 40a and 40a are rotatably supported at the tip portions on both sides of the support plate 40. The configuration is such that the front and rear pulleys 39a and 39b, and the tension pulleys 40a and 40a are stretched over a transfer belt 39c.
[0024]
The front pulley 39a to be attached to the front end portions of the left and right support plates 39 has a left and right elongated hole 39e provided in the support plate 39 that can be moved left and right, at the transfer start end portion of the transfer belt 39c. The takeover angle can be changed from θ1 to θ2. Accordingly, the gap between the front pulleys 39a and 39a at the moving start end can be adjusted according to the size of the carrot (a), thereby reducing the misalignment at the time of taking over the carrot (a). Yes.
[0025]
A predetermined gap is provided between the straight portions of the transfer belts 39c and 39c, and the leaf portion of the carrot (I) is held and transferred between the transfer belts 39c and 39c. 28, 28 is configured to be weaker than the holding force of the transfer belts 28a, 28a. Support pins 40b and 40b are fixedly provided on the support plate 40, and a substantially V-shaped spring plate 39d made of an elastic material is provided on the support plate 39. One end of the spring plate 39d is The structure is supported by the support pins 40b and 40b, and the tension rollers 40a are repelled from each other and restored to the neutral position.
[0026]
Each of the neck aligning transfer devices 33 holds a carrot (I) leaf portion between the transfer belts 28a of each transfer device 28 and transfers it to the upper part. Between the respective transfer belts 39c, the leaf portion of the carrot (I) is held and taken over, and the leaf portion of the carrot (I) is held between the two, and further transferred to the upper part by the respective transfer belts 28a. As a result, the transfer belt 39c is moved to the lower end position until the upper part of the root part of the carrot (a) comes into contact with the upper part of the carrot (a), and the neck is aligned.
[0027]
The transfer terminal portion of the tapping transfer device 34 is supported by the lower side portion of the transmission mechanism 41a built in the upper support case 41 provided so as to protrude vertically from the upper transmission case 38a of the upper transmission device 38, and is driven to rotate. It is a configuration. The tapping transfer device 34 is provided on the left and right sides in parallel with a predetermined interval on the upper side of the neck aligning transfer device 33 , and the transfer start end portion is positioned at a substantially central portion in the front-rear direction of the neck aligning transfer device 33, The front and rear pulleys 42a and 42b that are pivotally supported at the front and rear ends are configured so as to span a transfer belt 42c, and between the left and right transfer belts 42c and 42c, a carrot (I) leaf The transfer belt 39c of each of the neck aligning transfer devices 33 and the transfer belts 42c are used to hold and transfer them, and the transfer belts 42c are taken over from the middle. It is the structure which holds and transfers.
[0028]
The transfer terminal portion of the leaf transfer device 35 is configured to be supported by the upper portion of the transmission mechanism 41 a built in the upper support case 41 and to be rotationally driven. The leaf transfer device 35 is provided in a parallel state with a predetermined gap above the tapping transfer device 34, and the transfer start end portion is positioned behind the transfer start end portion of the tapping transfer device 34 by a predetermined distance.
[0029]
The leaf transfer device 35 has a configuration in which a transfer belt 43c is stretched between front and rear pulleys 43a and 43b rotatably supported at front and rear ends, and between the transfer belts 43c and 43c on both left and right sides. The leaf portion of the carrot (I) is held and transferred, and the transfer belts 42c of the respective tapping transfer devices 34 and the transfer belts 43c in the middle are also transferred to the transfer belts 42c. It is the structure to do. Further, only the cut leaves cut by the leaf cutting device 12 are transferred from the rear side portion of the leaf cutting device 12 described later, and transferred to the transfer terminal portions of both the tapping device 34 and the leaf transfer device 35. And it is the structure which discharges this cut leaf into the field from this terminal part.
[0030]
The leaf cutting device 12 has a structure in which a cutting blade 46a is mounted on the shaft end portion of a rotary shaft 46 that is protruded downward from the upper transmission case 38a of the upper transmission device 38 and is rotatably provided. The cutting device 12 is provided close to the transmission case 17 that is the position of the vertical rotation center 26 and close to the rear side of the transfer end of the neck aligning transfer device 33.
[0031]
The cutting blade 46 a is configured to be positioned below the tapping transfer device 34 and below the predetermined position of the neck aligning transfer device 33. This cutting blade 46a is configured to cut a predetermined position of the leaf portion of the carrot (I) aligned with the neck aligning / transferring device 33. As shown in FIG. 10, an upper transmission device 38 is provided on the upper side of the neck transfer device 33, a tapping transfer device 34 is provided on the upper transmission device 38, and an upper side of the tapping transfer device 34 is provided on the upper side. A leaf transfer device 35 is provided, and the leaf cutting device 12 is positioned lower than the neck alignment transfer device 33 by a predetermined position and at a position a predetermined distance from the transfer end portion.
Further, since the rotational power is transmitted to the bevel gears 71 and 72, the connecting case shaft 70 and the bevel gears 71 and 73 to rotate the drive shaft 68, the endless transporter drive shaft 74 is related to the bevel gear 75, The rotating bodies 30 and 31 and the endless transport body 32 are rotated by rotating through 76.
[0032]
As shown in FIG. 10, each neck aligning device 33 is provided with a lower end portion of a semicircular guide 44 positioned slightly below the lower end portion of each transfer belt 39c of each neck aligning device 33. At the same time, the leaf cutting device 12 is provided on the front side of the outer peripheral portion of the cutting blade 46a. The transfer start end portion of each transfer belt 42 c of each tapping transfer device 34 is provided at a predetermined distance in front of the guide tool 44.
[0033]
As shown in FIG. 10, the transfer start end of each transfer belt 43 c of each leaf transfer device 35 is provided at the rear of a predetermined distance from the guide tool 44. By adopting the configuration as shown in FIG. 10, the neck position of the carrot (a) is corrected when the neck of the carrot (a) passes through the guide tool 44, so that the neck position is stabilized, and the carrot (a) posture. Therefore, the cutting performance is stabilized without collapsing, and the clogging of the leaf can be prevented because the posture of the leaf after cutting is not collapsed.
[0034]
As shown in FIG. 11, guide guide plates 44a made of a plate material or the like are provided on the left and right sides of the lower transfer device 33a, and carrots (ii) are provided by the guide guide plates 44a on the left and right sides. In this configuration, the carrots (ii) are held and transferred between the transfer belts 39c of the lower transfer devices 33a. Each of the lower transfer devices 33a is configured to perform only transfer without performing neck alignment.
[0035]
Thereby, in order to carry and guide along each guide guide plate 44a, the neck can be smoothly aligned without causing clogging due to the resistance of the guide guide plate 44a, and each lower transfer device 33a Only the transfer function is required, and therefore, the strength in the radial direction is not required so much, and the cost can be reduced and the configuration can be simplified.
[0036]
As shown in FIG. 12, each lower transfer device 33b is provided on both the left and right sides, and each front guide guide plate 44b is provided on the lower side of each lower transfer device 33b. It is the structure which provided the front-end | tip part of the transfer start end of each transfer belt 42c of each tapping transfer apparatus 34a of each upper left and right both sides from the front-end | tip part of the transfer start end of each transfer belt 39c of the side transfer apparatus 33b. . Each tip guide guide plate 44b is configured to align the carrots (b). The carrots (b) are held and transferred between the transfer belts 39c of the lower transfer devices 33b. Each of the lower transfer devices 33b is configured to perform only transfer without performing neck alignment.
[0037]
Thereby, there is no takeover of the carrot (a) from each upper tapping transfer device 34a to each lower lower transfer device 33b, and there is no delay in the takeover. Can be cut accurately. The carrot lower cutting device 47 is provided on the rear upper portion of the digging device 5 in an inclined state from the front lower portion toward the rear, and the carrot lower cutting device 47 has two vertical intervals at predetermined intervals in the left-right direction. A plurality of guide rods 48a each having a mountain shape are provided, and in each of these two mountain shapes, each rotary tool 48c having a plurality of cutting blades 48b mounted on the outer periphery of the rotation is rotatable up and down at predetermined intervals. Is provided to support the shaft.
[0038]
The ginseng lower cutting device 47 is held between the transfer belts 28a of the transfer devices 28, and the tip of the root portion of the short ginseng (a) being transferred to the upper portion is a chevron guide rod 48a, 48a having a lower side. In between, the lower cutting blade 48b cuts the tip end predetermined position of the root of this carrot (I). In addition, the long carrot (a) being transferred to the upper part passes through the lower chevron 48a, and between the upper chevron 48a, 48a, the root of the carrot (a). The distal end portion of the root portion is inserted, and a predetermined position at the distal end of the root portion is cut by the upper cutting blade 48b. It is the structure which cut | disconnects the predetermined position of the front-end | tip of this root part with the full length of the root part of a carrot (I).
[0039]
As shown in FIG. 1, an auxiliary chassis 49 is provided at the rear of the chassis 7. On the upper side of the auxiliary chassis 49, the cut cutting leaves that have been transferred by the tapping transfer device 34 and the leaf transfer device 35 are supplied. In response, a leaf collecting and transporting conveyor 50 is provided which is provided with a transport belt and the like that is rotated and driven in the lateral direction on the cockpit 9a side. A leaf storage box below the transfer termination portion of the leaf collection / transfer conveyor 50 and above the auxiliary chassis 49 receives the supply of cut leaves transferred by the leaf collection / transfer conveyor 50, stores them, and temporarily stores them. 51 is provided.
[0040]
The operation device 8 is provided with a direction control lever 52a for direction control, and the transmission mechanism 7d in the traveling gear 7c of the traveling vehicle 2 is switched and controlled by operation of the direction control lever 52a. By operating the direction control lever, the traveling vehicle 2 is caused to travel along a carrot planted with carrots (I). The harvesting working device 3 is held by a frame (not shown), and this frame is configured to be movable in the left-right direction by the operation of a left-right moving cylinder (not shown). In order to change the direction control of the traveling vehicle 2 to automatic direction control, a detection rod 52 and a limit switch 53 are provided on the inner surface of the lower end portion of each pulling case 21 of each pulling device 4. The limit switch 53 is configured to be turned on and off by the rotation.
[0041]
In the automatic direction control of the traveling vehicle 2, the traveling vehicle 2 is set to a predetermined position by the operation of the direction control lever 52 a and travels. Thereafter, the carrot (I) leaf in which the detection rod 52 is planted in the rod. In this contact state, the limit switch 53 is turned ON by the rotation of each detection rod 52, and the traveling vehicle 2 is traveling along the carrot (I) planted in the rod by this ON state. In this configuration, the current state of travel is maintained by this detection.
[0042]
If either one of the limit switches 53 is in the OFF state, the left / right moving cylinder of the traveling vehicle 2 is operated, and the harvesting work device 3 is moved through the frame until the limit switch 53 is in the ON state. The automatic movement control is configured such that the limit switch 53 on the OFF side is turned on by this movement, and the left and right moving cylinders are stopped in accordance with this movement. The traveling vehicle 2 is moved to the planting carrot (a). It is the structure which travels along.
[0043]
This facilitates the running operation of the root vegetable harvester. As shown in FIG. 13, a safety cover 36 is provided on the transmission mechanism portion on the left side of the root vegetable harvesting machine 1 in a plan view, which can be rotated outward with a rotation pin 45 provided at the rear as a rotation fulcrum. The cover 36 is configured to be attached to a safety cover mounting plate 36b provided on the receiving plate 19a via a mounting rod 36a with bolts, nuts and the like. The rear side may also be provided on the right side in plan view.
[0044]
Thereby, by rotating to the outside, the maintainability is good and the harvesting operation can be performed safely.
[Brief description of the drawings]
FIG. 1 is an overall side view of a root vegetable harvesting machine in a working state.
FIG. 2 is an overall side view of the root vegetable harvester when not in operation.
[Fig. 3] Overall plan view of root vegetable harvester [Fig. 4] Transmission mechanism diagram of root vegetable harvester [Fig. 5] Enlarged plan view of neck transfer device [Fig. 6] Block diagram [Fig. 7] Flowchart diagram [Fig. 8 is a diagram showing another embodiment, and is a flowchart. FIG. 9 is a diagram showing another embodiment, and is an enlarged side perspective view of a vertical rotation lever. FIG. 10 is a diagram showing another embodiment, and transports root vegetables. Fig. 11 is an enlarged side view of a part of the apparatus. Fig. 11 is a diagram showing another embodiment, and is an enlarged side view of a part of the root vegetable conveying apparatus. Fig. 12 is a diagram showing another embodiment, and is a part of the root vegetable conveying apparatus. Fig. 13 is an enlarged side view of the safety cover. Fig. 13 is a view showing another embodiment.
2 traveling body
5 Excavator
7 chassis
9 Excavation setting means 10 Control start means 11 Control device
12 cutting device 16 support plate 17 transmission case 17a transmission mechanism 21, 21 pulling case 24 digging height sensor 25a support plate 25b grounding plate 25c potentiometer 25d connecting rod 26 vertical rotation center 26a vertical cylinder
26c digging part lowering solenoid
30 transmission cases
30a transmission mechanism
31 support case
31a Transmission mechanism 49 Auxiliary chassis 50 Leaf collection and transfer conveyor 51 Leaf storage box (I) Root vegetables (carrot)

Claims

A support plate (16) is provided at the rear portion of the chassis (7), and a transmission case (17) having a transmission mechanism (17a) is provided on the upper portion of the support plate (16) so as to be rotatable. The transmission case (17) The pulling device (4) for raising the leaf part of the root vegetable (I) that rotates up and down with the center position of the transmission case (17) as the vertical rotation center (26) and the excavating device for digging the root vegetable (I) (5) and the root vegetable (i) are provided with a root vegetable transporting device (6) that sandwiches the leaf portion and transports it to the upper part, and the excavation device (5) excavates the root vegetable (I). The excavation setting means (9) for setting the height and the control start means for controlling the excavation device (5) to rotate up and down by the operation of the upper and lower cylinders (26a) to control the set excavation height. 10) with a root crop harvester
A transmission case (30) including a transmission mechanism (30a) is provided on the rear side of the transmission case (17) via a connecting plate (29), and a driving force is applied to the root vegetable transfer device (6) in the transmission case (30). A support case (31) having a transmission mechanism (31a) for transmitting the transmission, and the vertical rotation center (26) is disposed on the front side of the transmission case (30),
The provided causing device (4) support plate for mounting a ground plate (25b) on the outboard side of the one of the left and right lateral sides of the ink case (21, 21) of the (25a) rotatably, the support plate (25a ) And a potentiometer (25c) are connected by a connecting rod (25d) to form a height sensor (24),
The unevenness of the field is detected by the excavation height sensor (24), and the upper and lower cylinders (26a) are operated from the detection result and the set excavation height set by the excavation setting means (9). The take-up device (5) is controlled to rotate up and down to maintain a constant excavation height, and a predetermined set value of the excavation setting means (9) is determined from the detection value of the excavation height sensor (24). Until, the excavation part lowering solenoid (26c) for operating the upper and lower cylinders (26a) is controlled so that the excavator (5) descends at a high speed, and below the set value of the excavation setting means (9) setting a control device (11) for controlling the HoOkoshi unit down solenoid (26c) so as to descend HoOkoshi device (5) at a lower speed by the pulse output,
An auxiliary chassis (49) is provided at the rear part of the chassis (7) , and the root vegetables (I) cut by the leaf cutting device (12) of the root vegetable transporting device (6) are disposed above the auxiliary chassis (49). A leaf collection transfer conveyor (50) that receives the cut leaves and transfers them in the lateral direction of the machine body, and a leaf storage box (51) that stores the cut leaves to be transferred to the leaf collection transfer conveyor (50). Root vegetable harvesting machine.