JP5054315B2 - Root crop harvesting machine - Google Patents

Description

  The present invention relates to a root vegetable harvesting machine that harvests root vegetables such as carrots and radishes.

  As a root vegetable harvester that harvests root vegetables such as carrots and radishes, for example, a vibrating blade is inserted into the soil under the foliage raising mechanism arranged in front of one side in the vehicle width direction on the traveling machine stand, and the soil The root vegetables are dug up from the inside and the root vegetables thus dug up are caused by the foliage raising mechanism, and the stems and leaves of the caused root vegetables are pinched by the pinch transport mechanism arranged behind the foliage raising mechanism. The root vegetables are pulled up rearward and obliquely upward of the vehicle and conveyed to the container placed on the container table by the sorting conveyor mechanism, and dropped from the sorting conveyor mechanism to the container to remove the root vegetables. A root crop harvesting machine accommodated in the container has been conventionally known (for example, see Patent Document 1).

  However, in such a root vegetable harvesting machine, when the root vegetables fall from the sorting conveyor mechanism to the container placed on the container table, for example, the container is empty or only a small amount of root vegetables are accommodated. When the root vegetable has a long fall path as in the case of falling into the container, the fall speed when the root vegetable collides with the bottom surface of the container or other root vegetables already contained in the container (i.e., Since the kinetic energy is increased, the root vegetables and other root vegetables that have fallen into the container may be damaged or broken by the impact during the collision.

In addition, when another container is stacked on the container in which the root vegetables are stored after the harvesting operation is completed, the container is stored in the container from the viewpoint of ensuring good stability of the stacked container. It is desired that root vegetables are evenly accumulated in the container. However, in the conventional root vegetable harvesting machine, the root vegetables dropped into the container from the sorting conveyor mechanism are usually accumulated in a mountain shape due to mutual frictional resistance, so that the root vegetables contained in the container are evenly distributed in the container. The work of leveling is required separately.
JP-A-9-262019

  The present invention has been made in view of the above-described prior art, and prevents the root vegetables from being damaged or broken as much as possible when the root vegetables are dropped on the container placed on the container stand, and the container. An object of the present invention is to provide a root vegetable harvesting machine capable of stably accumulating the root vegetables throughout.

In order to solve the above-mentioned problems, the present invention provides a traveling machine base, a sandwiching conveyance mechanism disposed on one side in the vehicle width direction so as to sandwich the roots and leaves of the root vegetables and pull them up obliquely upward, and the traveling A driver seat disposed in front of the other side in the vehicle width direction of the machine base, a container base disposed at the rear of the driver seat, and a transport start end portion are located below the transport terminal portion of the sandwiching transport mechanism. The sorting conveyor mechanism arranged along the vehicle width direction as described above, the sorting conveyor mechanism for transporting the root vegetables supplied from the holding and transporting mechanism toward the other side in the vehicle width direction, and the sorting conveyor mechanism A damage prevention body that can be inserted into a fall path of root vegetables falling on a container placed on the container table, the damage prevention body whose installation position can be changed by operation of an actuator for the damage prevention body, and The container An integrated state detecting device for detecting the stacked state of root crops to be accommodated in, and a control device, wherein the damage preventing member may lift times the pivot line around along the vehicle longitudinal direction by the anti-damage-body actuator The sorting conveyor mechanism is configured such that a relative position with respect to a container placed on the container table can be changed along a horizontal direction by operation of an actuator for a sorting conveyor. It is configured to detect the height of root vegetable stacks accumulated in a container placed on a table, and the control device is arranged on the container table based on a detection value from the accumulation state detection device. When it is determined that the height of the root vegetable accumulation body accumulated in the placed container is equal to or lower than the predetermined first height, the damage prevention body is inserted into the fall path. The actuator for the damage prevention body is operated so as to be located at the insertion position, and the actuator for the sorting conveyor is arranged so that the conveyance terminal portion of the sorting conveyor mechanism is located on the other side in the vehicle width direction of the container accommodating space. Performing the first control to be activated, and in the first control state, the damage is determined when it is determined that the height of the root vegetable accumulation body exceeds the first height based on the detection value from the accumulation state detection device. A second control for operating the damage prevention body actuator so that the prevention body pivots upward; in the second control state, based on the detection value from the accumulation state detection device, the root vegetable accumulation body When it is determined that the height exceeds a predetermined second height, the transfer terminal portion of the sorting conveyor mechanism moves to one side in the vehicle width direction of the container accommodating space. A root vegetable harvesting machine is provided that performs a third control to operate the actuator for the sorting conveyor .

  Further, in the third control state, the control device determines that the height of the root vegetable accumulation body has exceeded a predetermined third height based on a detection value from the accumulation state detection device. You may be comprised so that conveyance of a mechanism may be stopped. In addition to stopping the conveyance of the sorting conveyor mechanism, the driving of other series of harvesting mechanisms (for example, a digging mechanism, a foliage raising mechanism, and a nipping and conveying mechanism) may be stopped.

  The accumulation state detection device may be configured to detect a height of a root vegetable accumulation body accumulated in a container placed on the container table.

When the integrated state detection device detects at least two heights of the first height, the second height, and the third height, the integrated state detection device has the at least two heights. It may be constituted by one detection device for detecting the at least two detection devices that respectively detect the at least two heights.
In addition, the first height and the second height of the root vegetable aggregate may be set to be the same or different from each other.
Further, when the first height and the second height are the same, the control device, in the third control state, based on the detection value from the accumulation state detection device, the height of the root vegetable accumulation body It is preferable that the transport of the sorting conveyor mechanism is stopped when it is determined that the first height and the second height are exceeded. In addition, when the first height and the second height are different, the control device, in the third control state, based on the detection value from the accumulation state detection device, the height of the root vegetable accumulation body It is preferable that the transport of the sorting conveyor mechanism is stopped when it is determined that the higher one of the first height and the second height is exceeded. In addition to stopping the conveyance of the sorting conveyor mechanism, the driving of other series of harvesting mechanisms (for example, a digging mechanism, a foliage raising mechanism, and a nipping and conveying mechanism) may be stopped.

According to the root vegetable harvesting machine according to the present invention, by providing the damage prevention body, it is possible to effectively prevent the root vegetables falling from the sorting conveyor mechanism into the container.
That is, root vegetables thrown into the container placed on the container stand from the sorting conveyor mechanism are accommodated in the container in a state of being one-cushioned by the damage prevention body.
Therefore, compared with the case where the root vegetables are directly put into the container, the falling speed (that is, kinetic energy) of the root vegetables can be reduced, and thus the root vegetables can be damaged. It can be effectively suppressed from being damaged.

  In particular, in the case where the root vegetables fall long such as when the root vegetables fall into the container when the container is empty or contains only a small amount of root vegetables, the damage prevention body allows the The impact added to root vegetables can be reduced more effectively.

Further, in the root vegetable harvesting machine according to the present invention, the damage prevention body can be turned up and down around a pivot axis along the longitudinal direction of the vehicle by the damage prevention body actuator, and the sorting conveyor mechanism is sorted. The height of the root vegetable accumulation body accumulated in the container placed on the container table, the relative position with respect to the container placed on the container table can be changed along the horizontal direction by the operation of the actuator for the conveyor Is detected by the integrated state detecting device, and the control device collects root vegetables collected in the container placed on the container table based on the detection value from the integrated state detecting device. When it is determined that the height of the cluster assembly is equal to or less than a predetermined first height, the damage prevention body is positioned at the insertion position inserted in the fall path. Actuating the actuator for a scratch prevention body, and performing a first control to operate the actuator for the sorting conveyor so that the transfer terminal portion of the sorting conveyor mechanism is positioned on the other side in the vehicle width direction of the container accommodating space, In the first control state, when it is determined that the height of the root vegetable accumulation body exceeds the first height based on the detection value from the accumulation state detection device, the damage prevention body rotates upward. 2nd control which operates the said actuator for damage prevention bodies is carried out, and the height of the said root vegetables integration | stacking body is predetermined 2nd height in the said 2nd control state based on the detected value from the said integration | stacking state detection apparatus. The sorting conveyor actuator so that the transfer terminal portion of the sorting conveyor mechanism moves up one side in the vehicle width direction of the container accommodating space when it is determined that It is configured to perform the third control that operates the food, so when root vegetables are put into the container from the sorting conveyor mechanism, the damage and breakage of the root vegetables dropped by the damage prevention body are effective. The root vegetables can be accommodated in the container so that they can be accumulated almost evenly by the damage prevention body and the sorting conveyor mechanism.

  Hereinafter, a preferred embodiment of a root vegetable harvester according to the present invention will be described with reference to the accompanying drawings. FIG. 1 is a plan view showing a schematic configuration of a root vegetable harvesting machine 100 according to an embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 is a rear view thereof. FIG. 4 is a diagram showing a state in which the step table 650 is located at a storage position that does not overlap with the container C placed on the container table 600 in the rear view in the state shown in FIG. 3 is a diagram showing a state in which the sorting conveyor mechanism 800 is located at the forward position in the state shown in FIG. 3 and the damage prevention body 700 is located at the insertion position inserted in the root vegetable drop path.

  The root vegetable harvesting machine 100 shown in FIGS. 1 to 3 is in the vehicle width direction (the X direction in FIGS. 2 and 3) on one side of the traveling machine base 10 (in this embodiment, the traveling direction (the arrow Y1 direction in FIGS. 1 and 2). ) On the left side (hereinafter simply referred to as the left side), root vegetables are excavated, transported to the rear of the vehicle (in the direction of arrow Y2 in FIGS. 1 and 2), the mechanism for cutting off the foliage, and the root part of the container C A mechanism for housing is provided. That is, the root vegetable harvesting machine 100 is provided with the digging mechanism 20, the foliage raising mechanism 30, and the gauge ring 34 in front of one side (left side) in the vehicle width direction X of the traveling machine base 10 arranged along the horizontal direction. The driver's seat 50 is disposed at the front upper portion of the traveling machine base 10 on the other side in the vehicle width direction X (in this embodiment, the right side in the traveling direction Y1, hereinafter simply referred to as the right side). Yes.

  The driver's seat 50 is disposed in front of the traveling machine base 10 on the other side (right side) in the vehicle width direction X, and a front column 51 is disposed at a front portion, and a steering operation is performed on the front column 51. A handle 52 to be projected is provided, and various shift levers, clutch levers, etc. (not shown) are provided in the vicinity of the handle 52. A side column 53 is erected on the side portion of the front column 51, and first to third operation levers 54, 55, and 56 that perform an elevating operation of an elevating device 90 described later protrude on the side column 53. Has been. An engine E is provided below the driver seat 50, and the container base 600 is disposed behind the engine E.

  A nipping and conveying mechanism 70 is disposed behind the foliage raising mechanism 30, and a sorting conveyor mechanism is positioned below the conveying end portion 70 a of the nipping and conveying mechanism 70 so that the conveying start end portion 800 a is located. 800 is arranged along the vehicle width direction X.

  In this root vegetable harvesting machine 100, the root part of the root vegetables planted in the soil is lifted by the digging and raising mechanism 20 in front of the left side of the traveling machine base 10, and the stems and leaves of the root vegetables that have been lifted are raised to the foliage mechanism 30. , The stems and leaves of the root vegetables that have been raised are lifted diagonally upward Y2 backward by the sandwiching transport mechanism 70, and the root vegetables that have been lifted are transferred to the sorting conveyor mechanism 800. Then, it is laterally fed toward the container C placed on the container stand 600 on the rear side of the driver's seat 50, and the laterally fed root vegetables are further transferred from the transfer terminal end 800b of the sorting conveyor mechanism 800 to the container. The root vegetables are dropped in C and stored in the container C.

  The specific configuration of the root vegetable harvester 100 shown in FIGS. 1 to 3 will be described below. The traveling machine base 10 includes a crawler type traveling device 11 below, and the traveling machine base 10 includes the digging mechanism 20, the foliage raising mechanism 30, the sandwiching conveyance mechanism 70, the sorting conveyor mechanism 800, and the like. Various configuration mechanisms are supported.

  The digging and raising mechanism 20 has a vibrating blade 21, and the vibrating blade 31 penetrates into the soil and vibrates the soil, so that the roots of the root vegetables in the soil are lifted and dug up. Specifically, the digging mechanism 20 is provided with rotating fulcrum shafts 22 and 23 provided along the vehicle width direction X above and below the front end of the traveling machine base 10, respectively. The rear portions of the upper link 24 and the lower link 25 are pivotally supported by the rotary blades 22 and 23, respectively, and the front portions of the upper link 24 and the lower link 25 are attached to the vibrating blade 21 so that the links 24 and 25 form a parallel link. It is pivoted. An eccentric cam (not shown) is interposed between the rear portion of the upper link 24 and the rotation fulcrum shaft 22, and the rotation fulcrum shaft 22 is connected to the engine E via a clutch and a belt (not shown). Driven by an output pulley (not shown), the vibrating blade 21 is driven to vibrate, whereby the soil vibrates from below the roots of the root vegetables in the soil, and the roots are lifted. It becomes possible to easily extract root vegetables.

  The foliage raising mechanism 30 is disposed in front of one side (left side) of the traveling machine base 10 in the vehicle width direction X, and the foliage of root vegetables in the soil is sandwiched from both sides of the vehicle width direction X. A pair of left and right trigger belts 30L and 30R that are caused to move toward the transport mechanism 70, a pair of left and right first trigger pulleys 31L and 31R that wrap the soil sides of the pair of trigger belts 30L and 30R, respectively, and the pair of trigger belts 30L , 30R has a pair of left and right second trigger pulleys 32L, 32R that wrap around the opposite side of the soil side.

  Each of the pair of raising belts 30L and 30R is a set of two upper and lower belts, each of which has a plurality of tines 30a arranged on the outer peripheral surface at equal intervals along the circumferential direction. It consists of an endless belt that protrudes outward. As shown in FIG. 1, the pair of first pulling pulleys 31L and 31R are disposed at predetermined intervals so that the side faces the lower part of the foliage triggering mechanism 30, respectively. The pair of second pulling pulleys 32L and 32R are respectively arranged at a predetermined interval so that the side faces the upper part of the foliage triggering mechanism 30, and the pair of trigger belts 30L and 30R are disposed on the soil side. Are respectively wound around the first trigger pulleys 31L and 31R, and are respectively wound around the second trigger pulleys 32L and 32R on the side opposite to the soil side. As a result, the pair of raising belts 30L and 30R can cause the root vegetables' stems and leaves in the soil to be pinched from both sides in the vehicle width direction X via the tine 30a and be driven toward the pinching and conveying mechanism 70. The gauge ring 34 adjusts the holding position of the leaf portion of the root vegetable and is provided in the digging and raising mechanism 20.

  As shown in FIG. 1, the container stand 600 disposed behind the driver seat 50 includes a first container stand 610 located on one side (left side) in the vehicle width direction X and the other side in the vehicle width direction X ( A second container table 620 positioned on the right side), and the second container table 620 is located on the same plane as the first container table 610 and the first container table 610 Thus, it is configured to be able to take a folded posture that is swung upward about an axis along the vehicle longitudinal direction (Y direction in FIGS. 1 and 2). As a result, the container base 600 can be made compact in the vehicle width direction X.

More specifically, the second container stand 620 can take the reference posture and the folded posture via two hinges 630 arranged in parallel with the first container stand 610 along the vehicle longitudinal direction Y. Thus, it is provided so as to be rotatable around an axis along the direction Y.
In the present embodiment, when the second container table 620 is in the reference posture, the container table 600 moves the container C placed on the container table 600 with respect to the vehicle longitudinal direction Y of the container table 600. It is configured to carry in and out from behind.
And the member which prevents a movement to the outward from this edge part is provided in the vehicle width direction X both ends of the said container base 600, and the front-end part of the vehicle front-back direction Y.
Specifically, the vehicle width direction X one side (left side) end of the first container base 610 and the vehicle front-rear direction Y front end and the vehicle width direction X other side (right side) end of the second container base 620 are shown. The part is provided with a projecting member 601 that is a member that prevents outward movement from the end, and extends upward from the container placement surface 600 ′ of the container base 600. And in this embodiment, the rear-end part of the vehicle front-back direction Y in which the container C of the said 1st container stand 610 is carried in / out is open | released.

In the present embodiment, the first container table 610 further includes a first frame 640a, a second frame 640b, and a third frame 640c. The first container base 610 further includes a roof member.
The first to third frames 640 a to 640 c are erected on the first container base 610.
The roof member 660 is supported by the first to third frames 640a to 640c. The roof member 660 is also supported by a pair of left and right auxiliary frames 660a and 660b supported by the traveling machine base 10.

A step table 650 is disposed behind the container table 600 with respect to the vehicle longitudinal direction Y.
As described above, according to the root vegetable harvesting machine 100, the step table 650 is disposed behind the container table 600 with respect to the vehicle front-rear direction Y. Therefore, the sorting operation can be performed with good workability. Further, in the present embodiment, a step table handrail 654 described later is provided behind the step table 650 in the vehicle longitudinal direction Y. When the step table handrail 654 is not provided, the root vegetable harvesting machine is provided. It is possible to smoothly get on and off the step base 650 from behind 100.
In the present embodiment, the step table 650 has substantially the same length as the first container table 610 in the width direction.

Further, in the present embodiment, the step table 650 is supported so as to be capable of moving up and down around the pivot axis P1 along the vehicle longitudinal direction Y. More specifically, the step base 650 is supported so as to be capable of moving up and down around the pivot axis P1 along the vehicle longitudinal direction Y about the one side (left side) end of both ends in the vehicle width direction X. ing.
Specifically, the step base 650 is supported at the lower portion of the first frame 640a so as to be rotatable about a pivot axis P1 disposed along the vehicle longitudinal direction Y, and an instruction for human operation ( For example, it is configured such that it can be turned up and down by operation of a step base actuator 651 (in this embodiment, a step base lifting hydraulic cylinder) by an operation switch on / off operation.
The step table 650 may be manually movable up and down without using the step table actuator 651 as described above.

  In this embodiment, the step table 650 is configured to be able to take a work position for performing a sorting operation and a storage position for storing the step table 650 by the up-and-down rotation. In this configuration, the step table 650 can be positioned at the working position during the sorting operation, and the step table 650 can be positioned at the storage position during the non-sorting operation. Accordingly, a work space is formed behind the container C during the sorting operation, and a free space can be effectively secured behind the container table 600 in the vehicle longitudinal direction Y during the non-sorting operation.

Preferably, the storage position may be a position (see FIG. 4) that does not overlap the container C placed on the container table 600 in a rear view.
In this way, in the non-sorting operation, the space behind the container table 600 can be effectively secured with respect to the vehicle longitudinal direction Y, and the container C placed on the container table 650 is placed in the container longitudinal direction Y with respect to the container It can be carried in and out from the rear of the table 600.
That is, the container C can be loaded and unloaded without interfering with the step table 650 by storing the step table 650 in the storage position during the container loading and unloading operation. Thereby, this container carrying in / out operation | work can be performed smoothly.

  As described above, the rear end of the container base 600 in the vehicle longitudinal direction Y is not provided with a member that prevents the rear end from moving backward, and the rear end is open. . Thereby, the container C can be easily carried in and out from the rear of the container table 600 in the vehicle longitudinal direction Y. In the present embodiment, the step table 650 prevents the container C placed on the container table 600 from moving backward between the step table 650 and the container table 600 when positioned at the work position. A step R (see FIGS. 2 and 3) is formed (specifically, the step surface 650 ′ of the step base 650 is positioned above the container placement surface 600 ′ of the container base 600). ing. Therefore, opening / closing of the rear end portion of the container table 600 can facilitate the loading / unloading operation of the container C, and the rearward movement of the container C placed on the container table 600 by the step R. Can be prevented.

The step table 650 further includes an auxiliary step 653.
The auxiliary step 653 can take a boarding / exiting posture in which the sorter can get on and off, and a folding posture swung upward about the pivot axis P2 along the vehicle longitudinal direction Y with respect to the step table 650. It is configured. As a result, when the auxiliary step 653 is not used, the auxiliary step 653 can be brought into close contact with the other end (right side) of the step base 650 in the vehicle width direction X, and the vehicle width direction X can be made compact. .
For example, the auxiliary step 653 may be disposed at the other end (right side) end of the step base 650 in the vehicle width direction X. In the present embodiment, the auxiliary step 653 includes a pair of front and rear swing members 653a and 653a that are erected so as to extend upward at both ends of the vehicle longitudinal direction Y. The pair of swinging members 653a and 653a are supported by a support portion 650a provided at the end of the step base 650 so as to be rotatable about a pivot axis P2 along the vehicle longitudinal direction Y. Accordingly, the auxiliary step 653 can take the getting-on / off posture and the folding posture.

The step table 650 further includes a step table handrail 654.
The step table handrail 654 can be folded and stored as the step table 650 rotates to the storage position.
Accordingly, when the step base 650 is positioned at the storage position, the step base handrail 654 can be folded and stored (see FIG. 4), and thus the step base handrail 654 can be made compact.
The step table handrail 654 is disposed at the rear end portion Y of the step table 650 in the vehicle front-rear direction. The handrail 654 for the step base is further disposed at one end (left side) end of the step base 650 in the vehicle width direction X.

In the present embodiment, the step handrail 654 includes a rod-shaped first handrail member 654a bent in an L shape in plan view, and a pair of left and right second handrail members 654b bent in an L shape in a rear view. 654c and a third handrail member 654d erected on the first handrail member 654a.
More specifically, the first handrail member 654a has a base end portion 654a ′ extending along the vehicle longitudinal direction Y from the vehicle main body portion below the conveyance end portion of the holding and conveying mechanism 70, and the vehicle main body portion. The vehicle is rotatable about an axis along the vehicle longitudinal direction Y, and is bent substantially at right angles toward the other side (right side) of the vehicle width direction X on the way to the front end portion 654a ″.
The pair of left and right second handrail members 654b and 654c have base end portions 654b 'and 654c' that are located above the vehicle front-rear direction Y rear end portion and the vehicle width direction X one side portion and the other side portion of the step base 650, respectively. And is disposed on the one side portion and the other side portion so as to be rotatable about an axis along the vehicle front-rear direction Y, and in the vehicle width direction X on the way to the front end portions 654b ", 654c". It is bent at a substantially right angle toward the side (left side).
The third handrail member 654d has one end 654d ′ extending upward from the vicinity of the bent portion of the first handrail 654a and the other end 654d ″ extending upward from the tip 654a ″ of the first handrail 654a. They are bent at substantially right angles toward the other side and one side in the vehicle width direction X so that they are connected in the middle of the extending portion.
The tip 654b ″ of the second handrail member 654b on one side supports one end 654d ′ of the third handrail member 654d so as to be rotatable about an axis along the vehicle longitudinal direction Y, and the other side The distal end portion 654c ″ of the second handrail member 654c supports the other end portion 654d ″ of the third handrail member 654d so as to be rotatable about an axis along the vehicle longitudinal direction Y.

As shown in FIG. 2, the holding and conveying mechanism 70 is disposed on one side (left side) in the vehicle width direction X and behind the foliage raising mechanism 30, and the root vegetables caused by the foliage raising mechanism 30 are arranged. It is configured so that the lifting height can be changed or lifted by sandwiching the foliage so that the vehicle can be lifted rearwardly Y2 and obliquely upward, and rotated up and down around the axis along the vehicle width direction X. ing.
In the present embodiment, the holding and conveying mechanism 70 has an upper and lower portion along the vehicle width direction X on the upper part of the support 72 in which the lower part of the conveyor support frame 71 extending downward at the rear part protrudes upward from the traveling machine base 10. The rotary shaft 72a is supported so as to be rotatable.

  As shown in FIG. 1, the holding and conveying mechanism 70 has a rear lower surface supported by the conveyor support frame 71 so as to be arranged parallel to the vehicle front-rear direction Y and inclined to a front low rear height. A frame 73a, a pair of left and right first transport pulleys 74L and 74R supported on the front side of the transport frame 73a in the vehicle front-rear direction Y, and a pair of left and right second support pulleys supported on the rear side of the transport frame 73a in the vehicle front-rear direction Y The conveying pulleys 75L and 75R and the foliage raising mechanism 30 side are respectively wound around the pair of conveying belts 73L and 73R, and the opposite side of the foliage raising mechanism 30 side is wound around the pair of conveying belts 73L and 73R, respectively. A pair of left and right transport belts 73L and 73R, with root vegetables sandwiched from both sides in the vehicle width direction X, Pair of conveying belts 73L for transporting in order upwards, and a 73R.

  As shown in FIG. 1, the pair of first transport pulleys 74 </ b> L and 74 </ b> R are respectively disposed at a predetermined interval so that the side faces the front part of the sandwiching transport mechanism 70. The pair of second transport pulleys 75L and 75R are disposed at a predetermined interval so that the side faces the rear portion of the sandwiching transport mechanism 70, respectively. The pair of transport belts 73L and 73R are considerably endless belts, wound around the first transport pulleys 74L and 74R on the foliage raising mechanism 30 side, respectively, and on the opposite side to the foliage raising mechanism 30 side, respectively. A plurality of guide pulleys 76 are provided around the pulleys 75L and 75R, and further between the first conveying pulleys 74L and 74R and the second trigger pulleys 75L and 75R. As a result, the pair of transport belts 73L and 73R can pull up the roots and leaves of the root vegetables caused by the stem and leaf raising mechanism 30 and pull them up backward Y2 and obliquely upward.

  Further, a cutter 79a for cutting the roots and leaves of the root vegetables transported by the transport belts 73L and 73R is disposed in the vicinity of the transport end portion of the sandwiching transport mechanism 70, and from the middle part of the transport to the lower surface of the rear part. An auxiliary transport conveyor 77 around which a pair of left and right transport belts (not shown) is wound is provided, and a guide for guiding roots of root vegetables to the sorting conveyor mechanism 800 below the transport end portion of the auxiliary transport conveyor 77. A member 77a is provided. As a result, the root vegetables conveyed by the conveyor belts 73L and 73R are cut by the cutter 79a at a predetermined position, and the foliage side is further conveyed by the conveyor belts 73L and 73R. From the foliage discharge guide 73b provided behind 73R, the foliage is dropped onto the field scene via a foliage discharge chute 73c disposed below the foliage discharge guide 73b. On the other hand, the root side is conveyed by the auxiliary conveyor 77 and then guided to the sorting conveyor mechanism 800 by the guide member 77a.

The sorting conveyor mechanism 800 is configured to convey the root vegetables supplied from the holding and conveying mechanism 70 from one side (left side) to the other side (right side) in the vehicle width direction X.
For example, the sorting conveyor mechanism 800 may be configured to drop the soil attached to the root vegetables while transporting the root vegetables. In the present embodiment, a pair of left and right pulleys 81 arranged in parallel in the vehicle width direction X so that the axis is along the vehicle front-rear direction Y and a wide width wound around the pair of pulleys 81. And a conveyor belt 82.
In addition, when selecting root vegetables, a sorter can be arranged separately from the operator who operates the root vegetable harvesting machine.

  As shown in FIG. 2, the lifting device 90 includes a digging mechanism lifting device 91, a foliage raising mechanism lifting device 92, and a nipping / conveying mechanism lifting device 93. In the present embodiment, the elevating devices 91, 92, and 93 are all elevating cylinders composed of hydraulic cylinders.

  The digging mechanism raising / lowering cylinder 91 is provided on a support member 12 fixed on the traveling machine base 10 so as to be rotatable about a first rotation axis P3 along the vehicle width direction X, and a cylinder rod portion 91a is provided. The lower link 25 is connected to the lower link 25 via an arm 25a extending upward from the rear end portion of the lower link 25 with reference to the fulcrum shaft 23 so as to be rotatable about the second rotation axis P4. The elevating cylinder 91 is operated by operating the first operation lever 54. Thereby, by the operation of the first operation lever 54, the vibrating blade 21 of the digging mechanism 20 (and thus the gauge ring 34 provided in the digging mechanism 20) can be moved up and down, thereby entering the soil. The depth of penetration can be adjusted.

  The foliage raising / lowering cylinder 92 is provided on the lower link 25 so as to be rotatable about a third rotation axis P5 along the vehicle width direction X, and the cylinder rod portion 92a is a first link of the rotation link member 920. It is connected to the link 921 so as to be rotatable around a fourth rotation axis P6 along the vehicle width direction X. The rotation link member 920 includes first and second links 921 and 922 that are rotatable about a fifth rotation axis P7 along the vehicle width direction X, and one end of the first link 921. The sixth and seventh rotating shafts along the vehicle width direction X are the portion 921a on the support member 12 on the traveling machine base 10 and the other end 922a of the second link 922 on the foliage raising mechanism 30 respectively. It is provided so as to be rotatable around P8 and P9. The lifting cylinder 92 is operated by operating the second operation lever 55. Thereby, the foliage raising mechanism 30 can be moved up and down by the operation of the second operation lever 55.

  The sandwiching / conveying mechanism elevating cylinder 93 is rotatably provided around an eighth pivot axis P10 via a foliage discharge guide 73b extending upward in the sandwiching / conveying mechanism 70, and a cylinder rod portion 93a is provided. The rotary link member 920 is rotatably connected to the fifth rotary shaft P7. The elevating cylinder 93 is operated by operating the third operation lever 56. Thereby, the conveyance start end side of the holding conveyance mechanism 70 can be moved up and down by the operation of the third operation lever 56.

  In the lifting device 90 configured as described above, the digging mechanism raising / lowering cylinder 91 moves the digging mechanism 20 up and down to move the foliage raising mechanism 30 and the holding and conveying mechanism 70 up and down in conjunction therewith. In addition, regardless of the vertical movement of the digging and raising mechanism 20 by the digging and raising mechanism raising and lowering cylinder 91, the foliage raising mechanism 30 and the holding and conveying mechanism are caused by the foliage raising mechanism raising and lowering cylinder 92 and the holding and conveying mechanism raising and lowering cylinder 93. The relative position with respect to 70 can be arbitrarily changed. For example, the vertical position of the foliage raising mechanism 30 can be changed without greatly changing the vertical position of the foliage raising mechanism 30.

  In the root vegetable harvesting machine 100, when the root vegetables (for example, carrot) are harvested, the digging mechanism 20 (and thus the gauge ring 34) is obtained by operating the first to third operation levers 54 to 56 by an operator. The foliage raising mechanism 30 and the holding and conveying mechanism 70 are set to desired vertical positions, and then a harvesting operation is started.

  When the harvesting operation is started, the traveling device 11 is traveled, and the root of the radish is lifted by the vibrating blade 21 of the digging mechanism 20 while the machine body is moving along the radish row. The stems and leaves of root vegetables are sandwiched from both sides in the vehicle width direction X by the pair of trigger belts 30L and 30R wound around the pair of first trigger pulleys 31L and 31R on the side, and are raised toward the sandwich and transport mechanism 70. Further, in the holding and conveying mechanism 70, the foliage portion of the root vegetables is turned in the vehicle width direction X by the pair of conveying belts 73L and 73R wound around the first conveying pulleys 74L and 74R on the foliage raising mechanism 30 side. It is sandwiched from both sides and is transported toward the rear Y2 and obliquely upward with the root of the root vegetable, Foliage is cut by the cutter 79a provided in the middle conveyed.

  The stems and leaves of the root vegetables cut by the cutter 79a shown in FIG. 1 and FIG. 2 are transported as they are to the holding and transporting mechanism 70 and fall from the foliage discharge guide 73b to the field scene via the foliage discharge chute 73c. Is done. On the other hand, the roots of root vegetables are transported by the auxiliary transport conveyor 77 and then guided to the sorting conveyor mechanism 800 through the guide member 77a.

  In the sorting conveyor mechanism 800, the root part of the root vegetables guided by the guide member 77a is transported on the transport belt 82, and the soil attached to the root part is dropped. At this time, the root vegetables are sorted by the sorter, and the roots of the sorted root vegetables are sequentially dropped into the container C and stored in the container. When the container C containing the roots of the root vegetables is replaced with an empty container C or when all the harvesting operations are completed, the container C is loaded and unloaded, and further, there is another container in the container C containing the root vegetables. Stacking work to be stacked is performed.

The root crop harvesting machine 100 further includes a damage prevention body 700 disposed in the fall path of root vegetables to be put into the container C placed on the container table 600 from the sorting conveyor mechanism 800.
As shown in FIG. 5, the damage prevention body 700 is configured to be positioned between the transfer terminal end portion 800 b of the sorting conveyor mechanism 800 and the bottom surface of the container C below it.
By providing such a damage prevention body 700, it is possible to effectively prevent damage to the root vegetables that fall into the container C from the conveyance end portion 800b of the sorting conveyor mechanism 800.

That is, the root vegetables put into the container C placed on the container stand 600 from the sorting conveyor mechanism 800 are accommodated in the container C in a state of being cushioned by the damage prevention body 700.
Therefore, compared with the case where the root vegetables are directly put into the container C, the falling speed (that is, kinetic energy) of the root vegetables can be reduced, and thus the root vegetables are damaged. Or damage can be effectively suppressed.

  In particular, in the case where the root vegetables fall long in the container C when the container C is empty or only contains a small amount of root vegetables, the damage prevention body By 700, the impact applied to the root vegetables can be reduced more effectively.

Preferably, as shown in FIG. 5, the damage prevention body 700 is in a state in which a blocking surface 700a that collides with root vegetables input from the sorting conveyor mechanism 800 faces the conveyance end portion 800b of the sorting conveyor mechanism 800. Can be configured to tilt.
By providing such a blocking surface 700a, the root vegetables colliding with the blocking surface 700a fall while being in contact with the blocking surface 700a (for example, the blocking surface 700a slides down or rolls down). The impact on the root vegetables is alleviated, and the falling speed of the root vegetables is further reduced by the frictional resistance generated between the root vegetables and the blocking surface 700a.

Preferably, the damage prevention body 700 (in this embodiment, the blocking surface 700a) has a concave shape that opens upward. By providing such a configuration, the impact on the root vegetables can be further reduced.
The damage prevention body 700 may be formed of a material having elasticity from the viewpoint of further reducing the impact on the root vegetables, and at least from the viewpoint of further reducing the falling speed of the root vegetables. The surface may be formed of a material having a high frictional resistance.

Preferably, the position of the damage prevention body 700 can be changed. For example, the position of the damage prevention body 700 may be changed so that root vegetables are accumulated almost uniformly in the container C.
In the present embodiment, the root vegetable harvesting machine 100 includes a damage prevention body actuator 710 (in this embodiment, a damage prevention body hydraulic cylinder), and the damage prevention body 700 is based on the manual operation or automatic control. The installation position can be changed by the operation of the actuator 710 for damage prevention body.
Of course, it is also possible to change the position of the damage prevention body 700 manually.

  The root vegetable harvesting machine 100 further includes a link mechanism 720 that supports the damage prevention body 700 so as to be swingable so that the damage prevention body 700 can be moved up and down with respect to the traveling machine base 10.

In the present embodiment, as shown in FIG. 5, the link mechanism 720 supports the damage prevention body 700 so as to be swingable around a pivot axis P11 along the vehicle longitudinal direction Y.
In detail, the damage prevention body 700 is inserted into the drop path (see FIG. 5) around the pivot shaft P11 by the link mechanism 720, and the retreat retracted from the drop path. The position (see FIG. 3) can be taken.
In the present embodiment, the retracted position is a position retracted from the storage space of the container C (for example, the uppermost position positioned above the upper end of the container C).

Specifically, the link mechanism 720 has a base end portion 721 ′ coupled to the traveling machine base 10 (in the illustrated form, the second frame 640 b) so as to be swingable about the pivot shaft P 11 and a distal end portion. 721 ″ includes a first link arm 721 to which the damage prevention body 700 is pivotally connected around a pivot shaft P12 along the vehicle longitudinal direction Y. The pivot shaft P12 is configured as described above. It is provided at the base end portion 700 ′ of the damage prevention body 700.
The fixed member 710 ′ is connected to the traveling machine base 10 and the movable member 710 ″ so that the damage prevention hydraulic cylinder 710 swings the first link arm 721 about the pivot shaft P11. Is connected to the first link arm 721.

  Preferably, in the link mechanism 720, in addition to the first link arm 721, a base end portion 722 ′ extends along the vehicle longitudinal direction Y with respect to the traveling machine base 10 (the second frame 640b in the illustrated form). The second link arm 722 is connected to the pivot shaft P13 so as to be swingable, the one end portion 723 ′ is coupled to the pivot shaft P12 so as not to be relatively rotatable, and the other end portion 723 ″ is connected to the second link arm 722. A third link arm 723 connected to the pivot shaft P14 along the vehicle longitudinal direction Y of the free end portion 722 "so as to be swingable about the pivot shaft P14.

In such a preferred embodiment, the damage preventing body 700 is supported by the third link arm 723 so that the base end portion 700 ′ is not relatively movable.
That is, with such a configuration, when the first link arm 721 is rotated downward around the pivot shaft P11 in order to position the damage prevention body 700 from the retracted position to the insertion position, the damage prevention body 700 700 rotates around the pivot shaft P12 in a direction approaching the sorting conveyor mechanism 800, whereby the damage prevention body 700 can be deeply inserted into the container C.
Further, according to such a configuration, when the damage prevention body 700 is positioned at the insertion position by the damage prevention body actuator 710, the damage prevention body 700 is slightly swung around the pivot shaft P12. It becomes possible.
That is, when the root vegetables introduced from the sorting conveyor mechanism 800 collide with the damage prevention body 700 located at the insertion position, the damage prevention body 700 swings around the pivot shaft P12, thereby The impact force added to root vegetables can be relieved.

Preferably, the sorting conveyor mechanism 800 can be repositioned.
In the present embodiment, the sorting conveyor mechanism 800 is configured such that the conveyance direction end portion 800b can be repositioned along the vehicle width direction X. Thereby, since the relative position with respect to the container C of the sorting conveyor mechanism 800 can be set arbitrarily, the workability of the sorter is improved. For example, when the container C has a collapsible wall, it is advantageous when the collapsible wall of the container C is tilted or raised.
Specifically, the root vegetable harvesting machine 100 reciprocates the sorting conveyor mechanism 800 along the vehicle width direction X and the sorting conveyor actuator 810 (in this embodiment, an electric motor) that drives the sorting conveyor mechanism 800. The sorting conveyor mechanism 800 is repositioned along the vehicle width direction X by the operation of the sorting conveyor actuator 810 based on human operation or automatic control. .
Of course, the position of the sorting conveyor mechanism 800 can be changed manually.

The root vegetable harvesting machine 100 further includes the installation position of the damage prevention body 700 and / or the sorting conveyor mechanism 800 according to the accumulation state of root vegetables in the container C placed on the container stand 600. The installation position is automatically changed.
Specifically, the root vegetable harvesting machine 100 controls the operation of the integrated state detection device 900 and the damage prevention body actuator 710 and the sorting conveyor actuator 810 based on the detection signal of the detection value of the integrated state detection device 900. And a control device 101 that manages the above.

  FIG. 6 shows a schematic block diagram of the control device 101. FIG. 7 shows a schematic state transition diagram in which the installation position of the damage prevention body 700 is changed as viewed from the back. FIG. 8 shows the relative position of the sorting conveyor mechanism 800 with respect to the container C being changed. FIG. 9 is a schematic diagram showing a state in which the installation positions of both the damage prevention body 700 and the sorting conveyor mechanism 800 are changed in a complex manner. A state transition diagram is shown.

As shown in FIG. 6, the control device 101 receives a signal from the integrated state detection device 900 and receives the damage prevention body actuator 710, the sorting conveyor actuator 810, the sorting conveyor mechanism 800, and other components. A control signal is output to a series of harvesting mechanisms (here, the digging and raising mechanism 20, the foliage raising mechanism 30 and the holding and conveying mechanism 70).
Specifically, the control device 101 stores a central processing unit (CPU) 102 including a control calculation means for executing calculation processing based on a signal input from the integrated state detection device 900, a control program, and the like. Or the ROM 103 for storing predetermined data relating to various arithmetic expressions, and the RAM 104 for temporarily storing data generated during the calculation of the CPU 102.

  In the control device 101 having such a configuration, an input system is electrically connected to the integrated state detection device 900, and an output system is the damage prevention body actuator 710, the sorting conveyor actuator 810, and the sorting conveyor mechanism. 800, electrically connected to the digging and raising mechanism 20, the foliage raising mechanism 30 and the holding and conveying mechanism 70.

The accumulation state detection apparatus 900 is configured to detect the height of the root vegetable accumulation body Q accumulated in the container C placed on the container table 600. The integrated state detection device 900 may be a non-contact type sensor or a contact type sensor as long as it can detect the height of the root vegetable integrated body Q.
The integrated state detection device 900 may be configured to detect the weight of the root vegetable aggregate Q instead of the height of the root vegetable aggregate Q. In this case, the control device 101 determines the root vegetable aggregate Q from the weight of the root vegetable aggregate Q based on the outer shape of the root vegetable aggregate Q (that is, the angle of repose of the root vegetable aggregate to be accumulated). May be configured to calculate the height of. That is, the ROM 103 can store in advance a relational expression and a table map indicating the correspondence between the total weight and height of the root vegetable aggregate Q.

  In the present embodiment, the integrated state detection device 900 has an ultrasonic sensor. For example, as shown in FIGS. 1 to 3, the ultrasonic sensor is disposed on the lower surface of the roof member 600 so as to be positioned above the container C.

First, the case where the control device 101 performs automatic control of the damage prevention body actuator 710 based on the detection signal of the integrated state detection device 900 will be described.
When starting the harvest of root vegetables T, the control device 101 operates the damage prevention body actuator 710 so that the damage prevention body 700 is located at the insertion position. In this state, the root vegetable T is harvested and selected (see FIG. 7A), and the control device 101 uses the accumulation state detection device 900 to set the height of the root vegetable accumulation body Q to a predetermined level. When it is detected that the height h1 has been reached (see FIG. 7B), the control device 101 operates the damage prevention body actuator 710 to move the damage prevention body 700 from the insertion position to the retracted position. Position (FIG. 7 (c)).
By performing such control, when the root vegetables T are put into the container C from the sorting conveyor mechanism 800, the root vegetables T are automatically removed from the container while effectively preventing the root vegetables T from being damaged. It can be accommodated so that it can be accumulated almost uniformly in C.

Furthermore, when the height of the root vegetable accumulation body Q becomes lower than h1 by moving the damage prevention body 700 from the insertion position to the retracted position, the control device 101 again causes the damage prevention body 700 to be interposed. The actuator for damage prevention body 710 can be controlled to be located at the insertion position.
At this time, since the root vegetables T are accommodated at a predetermined height in the container C, the control device 101 can prevent the damage prevention body 700 from interfering with the root vegetables accumulation body Q in the container. The damage prevention body 700 is positioned at the insertion position.
That is, the control device 101 operates the damage prevention body actuator 710 with a control amount based on the height of the root vegetable accumulation body Q in the state of FIG. .
By performing such control, the root vegetables T can be accumulated substantially evenly up to the upper end position of the container C.

Next, the case where the control device 101 performs automatic control of the sorting conveyor actuator 810 based on the detection signal of the integrated state detection device 900 will be described.
When starting the harvesting of root vegetables T, the control device 101 causes the conveying direction end portion 800b of the sorting conveyor mechanism 800 to be positioned on the other side (right side) of the container housing space S in the vehicle width direction X. Then, the sorting conveyor actuator 810 is operated. In this state, the root vegetable T is harvested and selected, and the control device 101 determines that the height of the root vegetable accumulation body Q has reached the predetermined second height h2 by the accumulation state detection device 900. (See FIG. 8 (a)), the control device 101 causes the conveying direction end portion 800b of the sorting conveyor mechanism 800 to be positioned on one side (left side) of the container accommodating space S in the vehicle width direction X. Then, the sorting conveyor actuator 810 is operated (see FIG. 8B).

Then, the relative loading position of the root vegetables T with respect to the container C is gradually shifted to one side (left side) in the vehicle width direction X, and the root vegetable accumulation body Q is moved to one side in the vehicle width direction X of the conveyor accommodating space S ( (Left side) (FIG. 8 (c)). At this time, since the root vegetables T are stored at a predetermined height in the container C, there is little influence of damage or the like on the input root vegetables T or the already stored root vegetables T.
By performing such control, when root vegetables T are put into the container C from the sorting conveyor mechanism 800, the root vegetables T are automatically accommodated in the container C so that they can be accumulated substantially evenly. be able to.
The first height h1 and the second height h2 may be set to be different, but here the first height h1 and the second height h2 are set to be the same. Has been.

Next, the case where the control device 101 automatically controls both the damage prevention body actuator 710 and the sorting actuator 810 based on the detection signal of the integrated state detection device 900 will be described.
When starting the harvesting of root vegetables T, the control device 101 operates the damage prevention body actuator 710 so that the damage prevention body 700 is located at the insertion position, and the sorting conveyor mechanism 800. The sorting conveyor actuator 810 is operated so that the conveying direction end portion 800b is positioned on the other side (right side) of the container housing space S in the vehicle width direction X. In this state, the root vegetable T is harvested and selected (see FIG. 9A), and the control device 101 uses the accumulation state detection device 900 to set the height of the root vegetable accumulation body Q to a predetermined level. When it is detected that the height h1 has been reached (see FIG. 9B), the control device 101 operates the damage prevention body actuator 710 to move the damage prevention body 700 from the insertion position to the retracted position. Position (FIG. 9 (c)).

When the height of the root vegetable accumulation body Q becomes lower than h1 by moving the damage prevention body 700 from the insertion position to the retracted position, the control device 101 again causes the damage prevention body 700 to move to the insertion position. The actuator for damage prevention body 710 may be controlled to be positioned at the position.
Next, when the accumulation state detection device 900 detects that the height of the root vegetable accumulation body Q has reached a predetermined second height h2 (see FIG. 9 (d)), the control device 101 performs the control. The apparatus 101 operates the sorting conveyor actuator 810 so that the conveying direction end portion 800b of the sorting conveyor mechanism 800 is positioned on one side (left side) in the vehicle width direction X of the container housing space S (FIG. 9). (e)).

Then, the relative loading position of the root vegetables T with respect to the container C is gradually shifted to one side (left side) in the vehicle width direction X, and the root vegetable accumulation body Q is moved to one side in the vehicle width direction X of the conveyor accommodating space S ( (See FIG. 9F). At this time, since the root vegetables T are stored at a predetermined height in the container C, there is little influence of damage or the like on the input root vegetables T or the already stored root vegetables T.
By performing such control, when the root vegetables T are put into the container C from the sorting conveyor mechanism 700, the damage prevention body 700 effectively prevents the root vegetables T from being damaged while preventing the damage. The root vegetables T can be automatically accommodated in the container C so that they can be accumulated almost uniformly in the body 700 and the sorting conveyor mechanism 800.

Next, when the control device 101 detects that the height of the root vegetable integrated body Q has reached a predetermined third height h3 (see FIG. 9F) by the integrated state detection device 900, the control device 101 performs the control. The apparatus 101 stops the conveyance of the sorting conveyor mechanism 800. In the present embodiment, in addition to the sorting conveyor mechanism 800, the driving of the digging and raising mechanism 20, the foliage raising mechanism 30 and the nipping and conveying mechanism 70 is also stopped.
In the third control state, the control device 101 determines that the height of the root vegetable accumulation body Q is the first height h1 and the second height based on the detection value from the accumulation state detection device 900. It is preferable that the transport of the sorting conveyor mechanism is stopped when it is determined that h2 has been exceeded even a little.
The third height h3 is preferably set as a height corresponding to a limited capacity for storing the root vegetables T of the container C. Thereby, for example, in the stacking operation in which other containers are stacked on the container C in which the root vegetables T are stored, it is possible to ensure good stability of the stacked containers.

FIG. 1 is a plan view showing a schematic configuration of a root vegetable harvesting machine according to an embodiment of the present invention. FIG. 2 is a side view showing a schematic configuration of a root vegetable harvesting machine according to the embodiment of the present invention. FIG. 3 is a rear view showing a schematic configuration of the root vegetable harvester according to the embodiment of the present invention. FIG. 4 is a diagram illustrating a state in which the step base is positioned at a storage position that does not overlap with the container placed on the container base in the rear view in the state illustrated in FIG. 3. FIG. 5 is a diagram illustrating a state in which the sorting conveyor mechanism is located at the forward position in the state illustrated in FIG. 3 and the damage preventing body is located at the insertion position inserted in the root vegetable drop path. FIG. 6 is a schematic block diagram of a control device provided in the root vegetable harvester according to the embodiment of the present invention. FIG. 7 is a schematic state transition diagram when the state where the installation position of the damage prevention body is changed is viewed from the back. FIG. 8 is a schematic state transition diagram when the relative position of the sorting conveyor mechanism with respect to the container is viewed from the back. FIG. 9 is a schematic state transition diagram of the state in which the installation positions of both the damage prevention body and the sorting conveyor mechanism are changed in a complex manner as viewed from the back.

DESCRIPTION OF SYMBOLS 10 ... Traveling machine stand 30 ... Stem and leaf raising mechanism 50 ... Driver's seat 70 ... Nipping conveyance mechanism 70a ... Conveyance terminal part of nipping conveyance mechanism 100 ... Root crop harvesting machine 101 ... Control device 600 ... Container stand 650 ... Step stand 700 ... Damage prevention body Reference numeral 710: Actuator for damage prevention body 800: Sorting conveyor mechanism 800a: Transfer start end of sorting conveyor mechanism 810: Actuator for sorting conveyor 900: Accumulation state detection device C: Container h1: First height h2 of root vegetable accumulation body: Root vegetables Second height of the integrated body R ... Step X ... Vehicle width direction Y ... Vehicle longitudinal direction

Claims (2)

A traveling machine base, a sandwiching and transporting mechanism disposed on one side in the vehicle width direction so as to sandwich the roots and leaves of the root vegetables and pulling them up obliquely upward, and in front of the traveling machine base on the other side in the vehicle width direction It is arranged along the vehicle width direction so that the driver's seat arranged, the container stand arranged behind the driver's seat, and the conveyance start end portion are located below the conveyance termination portion of the holding conveyance mechanism. A sorting conveyor mechanism that transports the root vegetables supplied from the sandwiching and transporting mechanism toward the other side in the vehicle width direction, and a drop from the sorting conveyor mechanism to a container placed on the container table A damage prevention body that can be inserted into the fall path of the root vegetables, and the installation position of the damage prevention body can be changed by the operation of the actuator for the damage prevention body, and the accumulation state of the root vegetables contained in the container Inspect Comprising a stacked state detecting apparatus for, and a control device,
The damage prevention body can be turned up and down around a pivot axis along the vehicle longitudinal direction by the damage prevention body actuator,
In the sorting conveyor mechanism, the relative position with respect to the container placed on the container table can be changed along the horizontal direction by the operation of the actuator for the sorting conveyor.
The accumulation state detection device is configured to detect the height of a root vegetable accumulation body accumulated in a container placed on the container table,
The control device determines that the height of the root vegetable accumulation body accumulated in the container placed on the container table is equal to or less than a predetermined first height based on the detection value from the accumulation state detection device. In this case, the damage prevention body actuator is operated so that the damage prevention body is positioned at the insertion position inserted in the drop path, and the transfer terminal portion of the sorting conveyor mechanism is Performing a first control to actuate the sorting conveyor actuator so as to be positioned on the other side in the vehicle width direction;
In the first control state, the damage prevention body rotates upward when it is determined that the height of the root vegetable accumulation body exceeds the first height based on the detection value from the accumulation state detection device. Performing the second control to actuate the damage prevention body actuator,
In the second control state, when it is determined that the height of the root vegetable aggregate has exceeded a predetermined second height based on the detection value from the accumulation state detection device, the transfer terminal portion of the sorting conveyor mechanism is A root crop harvesting machine that performs a third control to operate the actuator for the sorting conveyor so as to move to one side in the vehicle width direction of the container housing space . In the third control state, when the control device determines that the height of the root vegetable accumulation body exceeds a predetermined third height based on the detection value from the accumulation state detection device, the sorting conveyor mechanism The root vegetable harvesting machine according to claim 1 , wherein the root vegetable harvesting machine is configured to stop the conveyance of the root vegetables.

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