JP7323117B2 - crop harvester - Google Patents

Description

The present invention relates to crop harvesters.

Patent Document 1 discloses a root crop harvesting device equipped with a pulling transport device having a pair of left and right pulling transport belts (an example of the transport body of the present application) supported in an obliquely upwardly inclined posture from the front to the rear of the machine body. machine is described. As the machine moves forward, the crops in the field enter between the pair of left and right conveying belts from the front portion of the pair of left and right conveying belts that are rotationally driven. The crops are conveyed to the obliquely upper rear side of the machine body while being sandwiched by a pair of conveying belts and collected.

This transport device is driven by a hydraulic motor. The driving speed of the conveying device can be set by adjusting the amount of hydraulic oil supplied to the conveying hydraulic motor. The amount of hydraulic oil supplied to the hydraulic transport motor can be adjusted by manually operating a variable transport throttle valve with a transport operation dial.

JP 2016-208872 A

However, when adjusting the amount of oil supplied to the hydraulic motor that drives the conveying device by adjusting the throttle of a valve such as a throttle valve, the driving speed of the conveying device will change if the throttle of the valve is kept constant. I can put it away. For example, due to an increase in oil temperature, the opening of the valve decreases even though the throttle is constant, and the amount of oil flowing through the valve decreases. There may be fluctuations such as a decrease in It is inconvenient to sequentially perform manual operations to accommodate this variation. Therefore, it is desired to provide a crop harvester in which the conveying speed of the conveying device is kept constant.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a crop harvester in which the conveying speed of the conveying device is kept constant.

A crop harvesting machine according to the present invention for achieving the above object is characterized by: a machine body, an engine, a traveling device of the machine body, a control section, and a crop harvester that holds the leaves of the crop in the field from both the left and right sides. , a conveying unit having a conveying body that is rotationally driven in a forward rotation direction so as to convey the crop from the field toward the rear side and the upper side of the machine; and a separation unit that is rotationally driven so as to lift the leaf portion upward, the separation unit provided in front of the fuselage of the conveying unit, and the setting of the rotation speed of the separation unit a second input unit that accepts a value as a second input value; a first mode that synchronizes the rotation speed of the conveying body and the rotation speed of the separating body with the running speed of the machine body by the running device; and manual operation. and a reverse rotation button for setting the rotation direction of the conveying body to a reverse rotation direction opposite to the forward rotation direction, wherein the control When the synchronization setting unit is in the first mode, the rotation speed of the conveying body and the rotation speed of the separating body are controlled to be synchronized with the traveling speed of the machine body by the traveling device, and the synchronization When the setting unit is in the second mode, the rotational speed of the conveying body is controlled to be the first input value, the rotational speed of the separation body is controlled to be the second input value, and When the synchronization setting unit is in the second mode and the rotating direction of the conveying body is set to the forward rotating direction, the control unit drives the conveying body in the forward rotating direction and rotates the conveying body. The rotation speed of the body is controlled to be the first input value , and the control section sets the synchronization setting section to the second mode, and the conveying body is driven in the forward rotation direction. state, when the reverse rotation button is operated and the state in which the reverse rotation button is operated continues for a first set time, a stop signal for stopping the driving of the conveying body in the rotational direction is output, and the reverse rotation is performed. When the state in which the button is operated continues for a second set time after the output of the stop signal, a reverse rotation signal for driving the transport body in the reverse rotation direction is output , and the rotation speed of the transport body is set to the first input. It is in the point of controlling so that it becomes a value .

According to the above configuration, the conveying unit holds the leaves of the crop in the field from both the left and right sides by the rotationally driven conveying body, and conveys the crop from the field toward the rear side and the upper side of the machine body.

According to the above configuration, the control section controls the rotational speed of the carrier with the first input value as the target rotational speed (control target value). With this control, the speed of conveying the crops by the conveying section can be kept constant. Note that the rotation speed means the number of rotations per unit time.
Further, according to the above configuration, the separation unit lifts the leaf portion upward in the body front of the conveying unit by the rotationally driven separation body. As a result, the conveying unit can properly sandwich the leaf of the crop with the conveying body.
Further, according to the above configuration, the control section controls the rotation speed of the separation body with the second input value as the target rotation speed (control target value). With this control, it is possible to maintain a constant lifting state of the leaves by the separation unit. As a result, the state in which the leaf is lifted by the separating section can be kept constant with respect to the speed at which the crop is conveyed by the conveying body.

A further characteristic configuration of the crop harvester according to the present invention is further provided with a first sensor unit that detects the rotation speed of the carrier, and the control unit controls the rotation speed based on the rotation speed detected by the first sensor unit. The point is that the rotation speed of the conveying body is feedback-controlled.

According to the above configuration, since the control section performs feedback control so that the rotational speed of the conveying body detected by the first sensor unit becomes the first input value, the rotational speed of the conveying body is kept constant. As a result, the speed of conveying the crops by the conveying section can be kept constant.

A further characteristic configuration of the crop harvester according to the present invention is that the transport body is rotationally driven and rotated by the supply of hydraulic oil whose hydraulic pressure is determined proportionally to the rotation speed of the engine. A hydraulic motor and a first control valve that adjusts a flow rate of the hydraulic oil that flows through the first hydraulic motor are further provided, and the control unit adjusts the degree of opening of the first control valve to control the conveying It is in that it controls the rotation speed of the body.

According to the above configuration, although the hydraulic pressure of the supplied hydraulic oil is affected by the rotational speed of the engine, the amount of hydraulic oil flowing through the first hydraulic motor is adjusted by the first control valve. , the rotational speed of the carrier is kept constant by adjusting the opening of the first control valve by the control unit.

A further characteristic configuration of the crop harvester according to the present invention is further provided with a second sensor unit that detects the rotation speed of the separator, and the control unit controls the rotation speed based on the rotation speed detected by the second sensor unit. The point is that the rotation speed of the separator is feedback-controlled.

According to the above configuration, since the control section performs feedback control so that the rotation speed of the separator detected by the second sensor unit becomes the second input value, the rotation speed of the separator is kept constant. As a result, the separation state of the crops by the separating section can be kept constant.

A further characteristic configuration of the crop harvester according to the present invention is that the separator is rotationally driven and rotated by the supply of hydraulic oil whose hydraulic pressure is determined proportionally to the rotational speed of the engine. It further comprises a hydraulic motor and a second control valve that adjusts the flow rate of the hydraulic oil that flows through the second hydraulic motor, and the control unit adjusts the opening degree of the second control valve to control the separation It is in that it controls the rotation speed of the body.

According to the above configuration, the hydraulic pressure of the supplied hydraulic oil is affected by the rotational speed of the engine, but the amount of hydraulic oil flowing through the second hydraulic motor is adjusted by the second control valve. , the rotation speed of the separator is kept constant by adjusting the opening degree of the second control valve by the control unit.

It is a side view of a radish harvester. It is a top view of a radish harvester. It is a sectional view showing a support structure of a conveying device. It is a hydraulic circuit diagram showing a drive system of a hydraulic motor. It is a figure which shows the cooperation state of a control apparatus and each part. FIG. 10 is an operation flow diagram when the first conveying belt is rotated forward; FIG. 10 is an operation flow diagram when rotating the first conveying belt in reverse; FIG. 10 is an operation flow diagram when the separation belt is rotationally driven;

A crop harvester according to the present invention will be described below with reference to the drawings. In this embodiment, as shown in FIGS. 1 and 2, a radish harvesting machine 100 for harvesting radishes from a field will be described as an example of a crop harvesting machine according to this embodiment.

In the following description, the direction of arrow F is the "front side of the fuselage" (see FIGS. 1 and 2), the direction of arrow B is the "rear side of the fuselage" (see FIGS. 1 and 2), and the direction of arrow U is the "upper side." (see Fig. 1), the direction of arrow D is "downward" (see Fig. 1), the direction of arrow L is "left side of the fuselage" (see Fig. 2), and the direction of arrow R is "right side of the fuselage" (see Fig. 2). and

[Overall configuration of radish harvester]
As shown in FIGS. 1 and 2, the radish harvester 100 is supported on a body 1, right and left crawler type traveling devices 2 for supporting the body 1, a right front portion of the body 1, an operation panel 3a and a seat 3b. (see FIG. 2), a transporting device 4 (an example of a transporting part) supported along the front-rear direction at the left part of the machine body 1, and supported at the front part (front) of the transporting device 4 A separation device 5 (an example of a separation section), a transfer conveyor 7 supported along the left-right direction at a position below the rear portion of the transfer device 4, and storage as a crop recovery section supported at the rear portion of the machine body 1. Section 8, auxiliary wheels 6 and subsoiler 17 supported on the front part of the machine body 1, work deck 9 for auxiliary workers provided between the conveying conveyor 7 and the storage section 8, and the machine body 1 It is provided with a roof 10 which is supported on the upper part and extends from the operating section 3 to the storage section 8 in the front-rear direction and from the operating section 3 to the conveying device 4 in the left-right direction. The radish harvester 100 has a control device 71 (see FIG. 5, an example of a control section) as its central control device as an internal device.

[Construction of Conveying Device]
The conveying device 4 is a device for conveying from the field toward the rear side of the machine body and the upper side of the machine body. As shown in FIG. 1, the conveying device 4 is supported in a rear-up (front-down) manner. The transport device 4 is positioned at a low position near the field at the front. The transport device 4 has a rear portion located at a high position above the transport conveyor 7 .

The conveying device 4 includes right and left support frames 13, an arched transverse frame 16, a cutter 14, right and left rotating bodies 15 supported on the front and rear ends of the support frame 13, right and left First conveying belt 11 (an example of conveying body), right and left second conveying belts 12 (another example of conveying body), hydraulic motor 40 ( An example of a first hydraulic motor), a hydraulic motor 42 that rotationally drives the conveyer 7, and a rotational speed sensor 69 that detects the rotational speed of the first conveying belt 11 (an example of a first sensor section). As shown in FIG. 2, the conveying device 4 is arranged on the left side of the machine body, which is one end side in the left-right direction of the machine body. The driving unit 3 is arranged on the right side of the conveying device 4, which is the other end in the left-right direction of the machine body. A transverse frame 16 is connected across the front of the right and left support frames 13 . In addition, in this embodiment, the rotational speed means the number of revolutions per unit time.

The first conveying belt 11 pinches the leaf portion A1 of the radish A in the field from both the left and right outer sides, and conveys the radish A from the field toward the rear side and the upper side of the machine body. The first conveying belt 11 is attached across the front and rear rotating bodies 15, and the entire first conveying belt 11 is supported in a rear rising (front falling) and rotatable manner.

The second conveyor belt 12 is supported along the first conveyor belt 11 from the lower side of the intermediate portion in the front-rear direction of the first conveyor belt 11 in a rearward rising shape (frontward falling shape). A cutter 14 is supported between the first and second conveyor belts 11 and 12 at the rear of the second conveyor belt 12 .

The hydraulic motors 40 and 42 are energy conversion devices that, when supplied with hydraulic oil, convert fluid force due to the flow of the hydraulic oil into rotational power to rotate. The direction of rotation of the hydraulic motors 40 and 42 is determined in accordance with the direction of flow of hydraulic fluid. The supply of hydraulic fluid to the hydraulic motors 40, 42 will be described later.

The rotational speed sensor 69 is provided in the hydraulic motor 40, detects the rotational speed of the hydraulic motor 40, and detects and outputs the rotational speed of the first conveying belt 11 (second conveying belt 12).

[Structure of separation device]
As shown in FIGS. 1 and 2, the separation device 5 includes four sets of separation belts 18 and 19, upper and lower separation belts, which are integrally formed so that a large number of locking claws 18a and 19a are arranged at intervals. Hydraulic motor 41 (an example of a second hydraulic motor) for rotationally driving the separation belts 18 and 19, and a rotation speed sensor 70 (second sensor) for detecting the rotation speed of the separation belts 18 and 19 part)). The separation device 5 has a vertical frame 20 supported on the front part of the support frame 13 .

The two sets of separation belts 19 are rotatably supported by the vertical frame 20 with an interval in the left-right direction so that the locking claws 19a face in the left-right direction. In front of the front portions of the right and left first conveying belts 11, the locking claws 19a of the right and left separation belts 19 face each other.

Right and left separation belts 18 are rotatably supported by a vertical frame 20 with a gap in the left-right direction. The right and left separation belts 18 are arranged in front of the separation belt 19 . The locking claw 18a of the separation belt 18 faces forward.

The hydraulic motor 41 is an energy conversion device that, like the hydraulic motors 40 and 42, rotates by converting fluid force due to the flow of hydraulic oil into rotational power when supplied with hydraulic oil. The direction of rotation of the hydraulic motor 41 is determined in accordance with the direction of flow of hydraulic fluid. The supply of hydraulic oil to the hydraulic motor 41 will be described later.

The rotation speed sensor 70 is provided in the hydraulic motor 41 and detects the rotation speed of the hydraulic motor 41 to detect and output the rotation speed of the separation belts 18 and 19 .

[Supporting structure of transport device]
As shown in FIGS. 1 to 3, an upper link 22, a lower link 23, a vertical link 24, and a hydraulic cylinder 25 for vertically raising and lowering the upper link 22 and the lower link 23 are provided on the left front part of the body 1. . Auxiliary wheels 6 and a subsoiler 17 are supported on front portions of the upper link 22 and the lower link 23 .

The upper link 22 and the lower link 23 are supported so as to be vertically swingable. A vertical link 24 is connected to the front portions of the upper link 22 and the lower link 23, and the upper link 22, the lower link 23, and the vertical link 24 constitute a quadruple link.

A support link 26 is swingably supported around an axis P1 in the left-right direction on the front portion of the lower link 23 . A support link 27 is swingably supported around an axis P2 in the left-right direction above the support link 26 . Support links 26 and 27 are supported by lower link 23 . A hydraulic cylinder 28 is connected across the support links 26 , 27 . The upper portion of the support link 27 is pivotally connected to the upper portion of the horizontal frame 16 .

A vertically oriented support 29 connected vertically to the left rear portion of the fuselage 1, a tubular member 30 externally fitted and supported so as to be vertically slidable along the vertically oriented support 29, and the tubular member 30. A lifting hydraulic cylinder 31 that slides up and down is provided. The rear portion of the support frame 13 is connected to the upper end portion of the tubular member 30 so as to be swingable.

By vertically sliding the cylindrical member 30 with the lifting hydraulic cylinder 31, the height of the rear end portion of the transport device 4, that is, the rear portion of the support frame 13 (second transport belt 12) can be changed. In this case, the longitudinal displacement of the support frame 13 accompanying the vertical slide is absorbed by the support links 26 and 27 swinging back and forth about the axis P1.

As will be described later, in harvesting radish A (an example of crops), for example, if the radish A is long, the height of the rear end portion of the conveying device 4 may be slightly increased. If the radish A is short, the height of the rear end of the conveying device 4 may be slightly lowered. Thereby, the vertical interval between the rear end portion of the second conveyor belt 12 and the conveyor 7 can be matched with the length of the radish A.

In addition, the hydraulic cylinder 28 is extended and contracted, the support links 26 and 27 are bent and stretched, and the position of the upper part of the support link 27 is changed up and down, so that the front of the first conveyor belt 11 (support frame 13) is moved forward. The height from the field of the part can be changed.

As described above, when the rear end portion of the conveying device 4, that is, the rear portion of the support frame 13 (the second conveying belt 12) is moved up and down by the lifting hydraulic cylinder 31, the cylindrical member 30 is positioned in the middle of the vertical slide range. 1 and 2, the left rear part 10a of the roof 10 is in a horizontal position connected to the main body part 10b of the roof 10. As shown in FIGS.

As shown in FIGS. 1 and 2, a support link 32 is supported on the front portion of the support frame 13 so as to be vertically swingable. A front portion of the support link 32 is connected to the lower portion of the vertical frame 20 so as to be swingable. The support frame 13 and the vertical frame 20 are connected via support links 32 .

An operation arm 33 and a hydraulic cylinder 34 are provided on the front left portion of the machine body 1 . The operating arm 33 is supported so as to be vertically swingable around a horizontal axis P3 in the left front portion of the machine body 1 . A front portion of the operation arm 33 is connected to an upper portion of the vertical frame 20 so as to be swingable. The hydraulic cylinder 34 is connected across the lower link 23 and the operating arm 33 . The hydraulic cylinder 34 is supported by the lower link 23 .

When the machine body 1 turns, etc., when the upper link 22 and the lower link 23 (the auxiliary wheels 6 and the subsoiler 17) are raised and lowered by the hydraulic cylinder 25, the front part of the transfer device 4 and the separation device 5 are raised and lowered together. The height of the separating device 5 from the field is changed by swinging the operation arm 33 up and down by the hydraulic cylinder 34 . Even if the height of the front portion of the first conveyor belt 11 (support frame 13) from the field is changed by the hydraulic cylinder 28, this movement is absorbed by the support link 32, and the height of the separating device 5 does not change. . Similarly, even if the height of the separation device 5 from the field is changed by the hydraulic cylinder 34, this movement is absorbed by the support link 32 and the height of the front portion of the first conveyor belt 11 (support frame 13) is increased. No change.

[Flow of Harvesting Daikon by Conveying Device and Separating Device]
As shown in FIG. 1, as the machine body 1 moves forward, a row of radishes A to be harvested enters between the right and left separation belts 18 .

so that the forwardly facing locking claws 18a of the right and left separation belts 18 move upward between the leaf portions A1 of the radish A in the row to be harvested and the leaf portions A1 of the radish A in the adjacent row; The separation belt 18 is rotationally driven to separate the adjacent leaves A1 of the radish A from each other.

Next, the row of radishes A to be harvested enters between the right and left separation belts 19, and the separation belts 19 are moved so that the opposing locking claws 19a of the right and left separation belts 19 move upward. It is rotationally driven to separate the leaves A1 of adjacent radishes A from each other in the rows of radishes A to be harvested.

The first conveying belts 11 are rotationally driven so that the opposing portions of the right and left first conveying belts 11 move rearward. Similarly, the right and left second conveying belts 12 are also rotationally driven such that the opposing portions move rearward.

The leaf part A1 of the row of radish A to be harvested enters between the right and left first conveying belts 11 from the front part of the right and left first conveying belts 11, and the right and left first conveying belts 11 While being sandwiched, the radish A is lifted (pulled out) from the field and conveyed rearward. In this case, since the subsoiler 17 breaks up the soil of the field, the radish A is lifted (pulled out) from the field without difficulty.

The radish A is conveyed to the rear side by the first conveying belt 11, and the lower part of the first conveying belt 11 in the leaf part A1 of the radish A is conveyed while being sandwiched by the right and left second conveying belts 12, The cutter 14 cuts the upper part of the second conveyor belt 12 in the leaf part A1 of the radish A. As shown in FIG.

At the rear end of the second conveyor belt 12, the radish A falls from the second conveyor belt 12 onto the conveyor 7 and is conveyed to the right by the conveyor 7. As shown in FIG. An operator on the work deck 9 picks up non-defective radishes A from the radishes A transported by the transport conveyor 7 and places them in the storage unit 8 in an aligned state. and discharged from the right end of the transport conveyor 7 to the field.

In this case, as described above, by changing the height of the rear portion of the support frame 13 (the second conveyor belt 12), the vertical interval between the rear end portion of the second conveyor belt 12 and the conveyor 7 is adjusted to the length of the radish A. By adjusting the height, the radish A can fall from the second conveyor belt 12 to the conveyor 7 without spilling at the rear end of the second conveyor belt 12 .

The leaf portion A1 of the radish A is conveyed rearward by the first conveying belt 11 and discharged from the rear end portion of the first conveying belt 11 to the field. In this case, a guide plate 21 is provided to guide the leaf portions A1 of the radish A so that the leaf portions A1 of the radish A fall substantially directly below the rear end portion of the first conveying belt 11 .

[Outline of travel transmission system and transport transmission system]
As shown in FIG. 4 , the power of the engine 35 is transmitted from the output shaft 35 a of the engine 35 to the hydrostatic continuously variable transmission 38 via the transmission belt 36 .

The power changed by the hydrostatic continuously variable transmission 38 is transmitted to the traveling device 2, and the machine body 1 moves forward and backward. The operator manually operates a gearshift lever 78 (see FIGS. 2 and 4) provided on the front side of the seat 3b in the driver section 3 to switch the hydrostatic continuously variable transmission 38 to the forward side and the reverse side. can be operated. The travel device 2 is provided with a travel speed sensor 68 that detects the travel speed of the body 1 .

The power of the engine 35 is transmitted from the output shaft 35a of the engine 35 to the hydraulic pump 39 via the transmission belt 37, and the hydraulic pump 39 is driven. The hydraulic oil discharge pressure (an example of hydraulic pressure) from the hydraulic pump 39 increases as the rotation speed of the engine 35 increases, and decreases as the rotation speed of the engine 35 decreases (an example of the case where the hydraulic pressure is proportionally determined). . Hydraulic oil is supplied to hydraulic motors 40 , 41 , 42 by driving the hydraulic pump 39 . As a result, the hydraulic motors 40, 41 and 42 are rotated, and the first and second conveyor belts 11 and 12, the separation belts 18 and 19, and the conveyor 7 are driven to rotate.

As described above, the travel transmission system that transmits power to the travel device 2 and the transport transmission system that transmits power to the transport device 4, the separation device 5, and the transport conveyor 7 are branched in parallel from the engine 35. , the travel transmission system and the transport transmission system are independent of each other.

[Hydraulic circuit for driving conveying device and separating device]
As shown in FIG. 4, the radish harvester 100 includes a tank 43 for storing hydraulic oil, a strainer 44 for purifying the hydraulic oil, and a hydraulic pump 39 for outputting the hydraulic oil as a hydraulic circuit for driving the conveying device 4 and the separating device 5. , a control valve unit 45 for controlling the supply of hydraulic oil to the conveying device 4 and the separating device 5 . The hydraulic fluid in the tank 43 is supplied to the hydraulic pump 39 via the strainer 44 , and the hydraulic fluid of the hydraulic pump 39 is supplied to the control valve unit 45 .

The control valve unit 45 includes a control valve 46 (an example of a first control valve) and a control valve 47 (an example of a second control valve). Hydraulic oil for the hydraulic pump 39 is supplied to the control valve 46 through an oil passage 48 . Hydraulic oil for the hydraulic pump 39 is supplied to the control valve 47 through an oil passage 49 branched from the oil passage 48 .

Hydraulic oil returning from the control valves 46 and 47 is supplied from the oil passage 50 to the filter 51 and returned from the filter 51 to the tank 43 . An oil passage 52 is connected over the oil passages 48 and 50 and a relief valve 53 for protecting the control valves 46 and 47 is provided in the oil passage 52 .

The control valve 46 has a neutral position 46N in which hydraulic fluid is not passed, a forward position 46A in which hydraulic oil is passed in the direction in which the hydraulic motor 40 is driven in the forward direction, and a direction in which the hydraulic motor 40 is driven in the reverse direction. This is an electromagnetically operated spool valve whose position is variable within the range of three reverse positions 46B for causing flow. The hydraulic motor 40 can be driven forward and reverse, and a pair of oil passages 54 from the control valve 46 are connected to the hydraulic motor 40 . An oil passage 55 extending from a relief valve 40 a installed in the hydraulic motor 40 is connected to the filter 51 .

The control valve 47 is configured to be positionally variable within a range of two positions: a neutral position 47N that does not allow hydraulic fluid to flow, and a forward position 47A that allows hydraulic fluid to flow in the direction in which the hydraulic motor 41 rotates forward. Model spool valve. Since the hydraulic motor 41 is only driven forward, the oil passage 56 from the control valve 47 is connected to the hydraulic motor 41 . An oil passage 57 extending from a relief valve 41 a installed in the hydraulic motor 41 is connected to the oil passage 55 .

An oil passage 58 from the hydraulic motor 41 is connected to the hydraulic motor 42, and the hydraulic motor 42 is only driven forward. An oil passage 59 from the hydraulic motor 42 is connected to the oil cooler 60 and hydraulic oil is returned from the oil cooler 60 to the tank 43 . An oil passage 61 bypassing the hydraulic motor 42 is connected across the oil passages 58 and 59 , and a variable throttle portion 62 is provided in the oil passage 61 .

[Control of Conveying Device and Separating Device]
The conveying device 4 and the separating device 5 are controlled by a control device 71 as shown in FIG. The control device 71 includes a tuning switch 64, a work clutch switch 63, a conveying speed setting portion 66 (an example of a first input portion), and a separation speed setting portion 67 provided on the operation panel 3a (see FIG. 2) of the operation portion 3. (an example of the second input unit), an instruction input from the direction setting unit 65 provided on the knob portion of the shift lever 78 (see FIG. 2) of the operation unit 3, and the detection values of the rotation speed sensors 69 and 70 control the rotational driving of the hydraulic motor 40 of the conveying device 4 and the hydraulic motor 41 of the separating device 5 .

The control device 71 is a device having a CPU and memory. The control device 71 has a CPU that executes software stored in a memory, whereby a transfer control unit 72 that controls the operation of the transfer device 4, a separation control unit 73 that controls the operation of the separation device 5, and a control unit for the transfer device 4. A notification control unit 74 is realized that causes the notification unit 79 to notify the operating state. In this embodiment, the notification unit 79 has a speaker 79a installed on the operation panel 3a of the operation unit 3, and can emit a buzzer sound from the speaker 79a as notification.

The direction setting unit 65 is manually operated (input operation) by the operator to receive the input of the operator's instruction. The direction of rotation of the hydraulic motor 40 (the first conveyor belt 11 and the second conveyor belt 12) can be set by performing an input operation to the direction setting unit 65. FIG. The direction setting unit 65 has a forward rotation button 65a, which is a push-lock switch, and a reverse rotation button 65b and a stop button 65c, which are push-button switches. The forward rotation button 65a, the reverse rotation button 65b, and the stop button 65c can be switched between two states, ie, the pushed state and the released state.

The stop button 65c is maintained in the pressed state only during the pressing operation by the operator or the like, and returns to the released state naturally (automatically) when the pressing operation by the operator or the like is released.

When the forward rotation button 65a is pushed by an operator or the like, it is locked in the pushed state and maintained in the pushed state. The forward rotation button 65a automatically returns to the released state when the stop button 65c is pressed.

When the forward rotation button 65a is pressed and locked in the pressed state, the direction setting section 65 outputs an instruction input to drive the hydraulic motor 40 in the forward direction to the control device 71 . In this embodiment, while the forward rotation button 65a is locked in the depressed state, the instruction input to drive the hydraulic motor 40 forward is continuously output to the control device 71 .

The reverse button 65b is maintained in the pushed state only during the pushing operation by the operator, and returns to the released state naturally (automatically) when the pushing operation by the operator is released.

The direction setting unit 65 outputs an instruction input to drive the hydraulic motor 40 in the reverse direction to the control device 71 when the reverse rotation button 65b is pressed. The direction setting unit 65 continues to output to the control device 71 an instruction input to reversely drive the hydraulic motor 40 while the reverse rotation button 65b is pressed. The direction setting unit 65 outputs an instruction input for stopping the hydraulic motor 40 to the control device 71 when the stop button 65c is pressed.

The tuning switch 64 is an on/off switch that is manually operated by an operator.
The synchronization switch 64 switches between synchronizing the rotational speed of the first conveying belt 11 with the traveling speed of the machine body 1 detected by the traveling speed sensor 68 and enabling manual operation of the rotational speed of the first conveying belt 11. . If the synchronization switch 64 is off (OFF in FIG. 5), the rotational speeds of the first conveying belt 11, the second conveying belt 12, and the separation belt 19 are set by the conveying speed setting unit 66 independent of the traveling speed of the machine body 1. and can be set by manual operation by the separation speed setting unit 67 . If the synchronization switch 64 is ON (ON in FIG. 5), the rotation speeds of the first conveyor belt 11, the second conveyor belt 12, and the separation belt 19 are set in synchronization with the running speed of the machine body 1.

The conveying speed setting unit 66 and the separation speed setting unit 67 are dial operation type output adjustment switches, and are operation interfaces for receiving input for setting the target rotational speeds of the first conveying belt 11 and the separation belts 18 and 19 . The target rotational speed of the first conveying belt 11 can be set (adjusted) by adjusting the position (setting the set value) of the memory 66a of the conveying speed setting unit 66 within the operation range from "low" to "high". The target rotation speed of the separation belts 18 and 19 can be set (adjusted) by adjusting the position of the memory 67a of the separation speed setting unit 67 in the range from "low" to "high".
The setting of the target rotation speed of the transport speed setting unit 66 and the separation speed setting unit 67 is determined proportionally to the positions of the respective memory 66a and memory 67a in the operation range from "low" to "high", for example. be able to.

The conveying control unit 72 provides feedback so that the rotational speed of the first conveying belt 11 detected by the rotational speed sensor 69 becomes the target rotational speed of the first conveying belt 11 set by the adjustment of the conveying speed setting unit 66. control. This feedback control is performed by adjusting the duty ratio of the control valve 46 (an example of adjusting the degree of opening), as will be described later. The transport control unit 72 also controls the rotation direction of the hydraulic motor 40 so that the first transport belt 11 and the second transport belt 12 are driven to rotate in the rotation direction set by the direction setting unit 65 .

When rotating the first conveyor belt 11 forward (normal rotation), the transport control unit 72 alternately and repeatedly operates the control valve 46 between the neutral position 46N and the forward rotation position 46A, thereby adjusting the period and the forward rotation position 46A. Duty control (hereinafter referred to as normal rotation control) is performed to change or adjust the duty ratio, which is the ratio to the operation time. As a result, the flow rate is controlled so that a predetermined amount of hydraulic oil is supplied (flowed) to the hydraulic motor 40 in the direction of forward rotation, and the hydraulic motor 40 is driven forward at the controlled rotational speed. be. By the hydraulic motor 40 rotating at the rotational speed controlled in this manner, the first conveying belt 11 is rotationally driven in the direction of forward rotation at the target rotational speed. Also, the second conveyor belt 12 is driven to rotate in synchronization with the first conveyor belt 11 .

When the first conveyor belt 11 is reversely rotated (reversely rotated), the transport control unit 72 alternately and repeatedly operates the control valve 46 between the neutral position 46N and the reverse position 46B, and determines the cycle and the operation time of the reverse position 46B. Duty control (hereinafter referred to as reverse rotation control) is performed to change or adjust the duty ratio, which is the ratio of . As a result, a predetermined (fixed) flow rate of hydraulic oil is supplied (flowed) to the hydraulic motor 40 in a reverse driving direction. is driven in reverse at a rotational speed of . In this manner, the first conveying belt 11 is rotationally driven in the reverse rotation direction. Also, the second conveyor belt 12 is driven to rotate in the reverse rotation direction in synchronization with the first conveyor belt 11 . The transfer control unit 72 ends the reverse rotation control when the instruction input to reversely drive the hydraulic motor 40 is no longer detected.

When the hydraulic motor 40 is to be stopped, the transport control unit 72 sets the control valve 46 to the neutral position 46N and performs prohibition control to prohibit the supply of hydraulic oil to the hydraulic motor 40 . As a result, the hydraulic motor 40 is stopped and the rotational drive of the first conveyor belt 11 is also stopped. The second conveyor belt 12 also stops in synchronization with the first conveyor belt 11 .

The transport control unit 72 starts and continues the forward rotation control during a period in which the direction setting unit 65 outputs an instruction input to drive the hydraulic motor 40 in the forward direction. The transport control unit 72 executes reverse rotation control at least within a period during which an instruction input to reversely drive the hydraulic motor 40 output by the direction setting unit 65 is detected.

When detecting an instruction input to reversely drive the hydraulic motor 40 output by the direction setting unit 65 during normal rotation control, the transport control unit 72 sequentially performs the following controls during the period in which the instruction input is detected. .

When an instruction input to drive the hydraulic motor 40 in the reverse direction is detected, the forward rotation control is continued for a predetermined period (for example, 2.0 seconds as the predetermined period). Thereafter, the forward rotation control is temporarily stopped and prohibition control is performed to prohibit the supply of hydraulic oil to the hydraulic motor 40, thereby stopping the hydraulic motor 40. The transport control unit 72 continues the prohibition control for a predetermined period (for example, 2.5 seconds as the predetermined period). After that, reverse rotation control is started. When the instruction input to reversely drive the hydraulic motor 40 is no longer detected during the reverse rotation control, the temporarily stopped forward rotation control is resumed.

When detecting an instruction input to stop the hydraulic motor 40 output by the direction setting section 65 , the transport control section 72 sets the control valve 46 to the neutral position 46N to stop the hydraulic motor 40 . As a result, the first conveyor belt 11 and the second conveyor belt 12 are stopped.

The transport control unit 72 also executes on-counting and zero-counting, which will be described later. The operation flow of the rotational speed control of the first conveying belt 11 by the conveying control unit 72, the direction setting unit 65, and the conveying speed setting unit 66 will be described later separately for forward rotation and reverse rotation.

The separation control unit 73 performs feedback control so that the rotation speed of the separation belts 18 and 19 detected by the rotation speed sensor 70 becomes the target rotation speed of the separation belts 18 and 19 set by the adjustment of the separation speed setting unit 67. I do. This feedback control is performed by duty control of the control valve 47, as will be described later.

The separation control unit 73 alternately and repeatedly operates the control valve 47 between the neutral position 46N and the forward rotation position 47A to change or adjust the duty ratio, which is the ratio between the period and the operation time at the forward rotation position 47A. control. As a result, the hydraulic motor 41 is supplied (flowed) with a predetermined amount of hydraulic oil, and the flow rate of the hydraulic oil is controlled, so that the hydraulic motor 41 is driven forward at the controlled rotational speed. The separation belts 18 and 19 are rotationally driven at the target rotational speed by the hydraulic motor 41 rotating at the rotational speed controlled in this way.

The operation flow of rotation speed control of the separation belts 18 and 19 by the separation control section 73 and the conveying speed setting section 66 will be described later.

The notification control unit 74 performs notification control for outputting an operation command for emitting a notification sound to the notification unit 79 according to the operation state of the conveying device 4 . The notification control unit 74 in this embodiment outputs an operation command to the notification unit 79 to emit a notification sound when the conveying device 4 is rotating in the reverse direction. The notification control unit 74 acquires the operating state of the transport device 4 from the transport control unit 72 .

The notification control by the notification control unit 74 will be described later together with the control flow when the first conveying belt 11 is rotated in the reverse direction.

[Operation flow when rotating the first conveyor belt in the forward direction]
FIG. 6 shows a control flow for forward rotation of the first conveyor belt 11 . This control flow is executed by the transport control unit 72 while the control device 71 is operating. Note that the second conveyor belt 12 is rotationally driven in synchronization with the first conveyor belt 11 in this embodiment, so the description of the second conveyor belt 12 is omitted below.

If the engine 35 has started (#61, YES), it is determined whether manual operation is possible (#62). If the engine 35 has not started (#61, NO), it waits. In this embodiment, the tuning switch 64 is turned off, the work clutch switch 63 of the radish harvester 100 is turned on (ON in FIG. 5), and the forward rotation button 65a of the direction setting unit 65 is pushed and locked. For example, it is determined that manual operation is possible (#62, YES), and based on the position of the memory 66a of the conveying speed setting unit 66, the target rotational speed (an example of the first input value) of the first conveying belt 11 and The corresponding target rotational speed of the hydraulic motor 40 is obtained (#63). Then, a control value for setting the duty ratio of the control valve 46 is obtained based on this target rotation speed, and a predetermined real number adjustment value (hereinafter referred to as "first adjustment value") is obtained for the control value. is added, and this is output as a control signal to the control valve 46 (#64). The control valve 46 performs forward rotation control based on this control signal.

After outputting the control signal (#64), the rotational speed of the first conveying belt 11 detected by the rotational speed sensor 69 is not too slow (not insufficiently rotated) with respect to the target rotational speed (#65, NO), In addition, if the rotation speed is not too high relative to the target rotation speed (not over-rotation) (#67, NO), the process returns to #62 and is repeated thereafter.

After outputting the control signal (#64), if the rotational speed of the first conveying belt 11 detected by the rotational speed sensor 69 is too slow (insufficient rotation) with respect to the target rotational speed (#65, YES) , performs feedback control to increase the first adjustment value (#66), returns to #62, and repeats thereafter.

After outputting the control signal (#64), the rotational speed of the first conveyor belt 11 detected by the rotational speed sensor 69 is not too slow (not under-rotated) with respect to the target rotational speed (#65, NO). , if the rotation speed is too fast (excessive rotation) with respect to the target rotation speed (#67, YES), feedback control is performed to decrease the first adjustment value (#68) and the process returns to #62; Repeat the following.

If it is determined that manual operation is possible at #62 (#62, NO), zero is output as the output of the control signal to the control valve 46 (#69), the process returns to #62, and the process is repeated thereafter. When zero is output (#69) as the output of the control signal, the control valve 46 assumes the neutral position 46N, and the hydraulic motor 40 does not rotate, or if the hydraulic motor 40 is rotating, it stops rotating thereafter.

[Operation flow for reverse rotation of the first conveyor belt]
FIG. 7 shows a control flow for rotating the first conveyor belt 11 in the reverse direction. This control flow is executed by the transport control unit 72 while the control device 71 is operating.

If the engine 35 has started (#71, YES), it is determined whether the reverse is possible (#72). If the engine 35 has not started (#71, NO), it waits. In this embodiment, if the tuning switch 64 is off, the work clutch switch 63 of the radish harvester 100 is on, and the reverse rotation button 65b of the direction setting unit 65 is pressed, it is determined that reverse rotation is possible ( #72, YES) to start or continue the on-count (#73). Note that the on-count means measurement of the time during which it is determined that reverse rotation is possible (#72, YES).

After the on-count is started or continued (#73), if the on-count value has passed for a predetermined time (2.0 seconds in the case of FIG. 7) or more (#74, YES), the control valve 46 is turned on. Zero is output as the output of the control signal (#75), and zero count is started or continued (#76). When zero is output as the output of the control signal (#75), the control valve 46 assumes the neutral position 46N, and the hydraulic motor 40 does not rotate, or if the hydraulic motor 40 is rotating, it stops rotating thereafter. If the ON count has not passed the predetermined time or more (#74, YES), the process returns to #71. Note that the zero count refers to the measurement of the time during which zero is output (#75) as the output of the control signal to the control valve 46. FIG.

After the zero count is started or continued (#76), if the zero count value has passed a predetermined time (2.5 seconds in the case of FIG. 7) or more (#77, YES), the reverse rotation control is executed. (#78). The reverse rotation control drives the first conveying belt 11 to rotate in the reverse rotation direction. In this embodiment, when the reverse rotation control is executed (#78), the notification control section 74 performs notification control (#78). By the notification control, the notification unit 79 emits a buzzer sound from the speaker 79a installed on the operation panel 3a of the operation unit 3. FIG. After executing the reverse rotation control and the notification control (#78), the process returns to #71 and is repeated thereafter.

If it is not determined that reverse rotation is possible (#72, NO), the ON count and zero count are cleared to zero, and a reset is performed to end reverse rotation control and notification control (#79), and the process returns to #71. .

[Operation flow when rotating the separation belt]
FIG. 8 shows a control flow when the separation belts 18 and 19 are rotationally driven. This control flow is executed by the separation control unit 73 while the control device 71 is operating.

If the engine 35 has started (#81, YES), it is determined whether manual operation is possible (#82). If the engine 35 has not started (#81, NO), it waits. In this embodiment, if the tuning switch 64 is off, the work clutch switch 63 of the radish harvester 100 is on, and the forward rotation button 65a of the direction setting unit 65 is pushed and locked, manual operation is possible. It is determined that there is (#82, YES), and based on the position of the memory 67a of the separation speed setting unit 67, the target rotation speed (an example of the second input value) of the separation belts 18 and 19 and the corresponding hydraulic motor 41 A target rotation speed is acquired (#83). Then, a control value for setting the duty ratio of the control valve 47 is obtained based on this target rotation speed, and a predetermined real number adjustment value (hereinafter referred to as "second adjustment value") is obtained for the control value. is added, and this is output as a control signal to the control valve 47 (#84). The control valve 47 performs forward rotation control based on this control signal.

After outputting the control signal (#84), the rotational speed of the separation belts 18 and 19 detected by the rotational speed sensor 70 is not too slow (not under-rotated) with respect to the target rotational speed (#85, NO), In addition, if the rotation speed is not too high relative to the target rotation speed (not over-rotation) (#87, NO), the process returns to #82 and is repeated thereafter.

After outputting the control signal (#84), if the rotation speed of the first conveying belt 11 detected by the rotation speed sensor 69 is too slow (insufficient rotation) with respect to the target rotation speed (#85, YES) , performs feedback control to increase the second adjustment value (#86), returns to #82, and repeats thereafter.

After outputting the control signal (#84), the rotational speed of the separation belts 18 and 19 detected by the rotational speed sensor 70 is not too slow (not under-rotated) with respect to the target rotational speed (#85, NO). , if the rotation speed is too fast (excessive rotation) with respect to the target rotation speed (#87, YES), feedback control is performed to decrease the second adjustment value (#88) and the process returns to #82; Repeat the following.

Incidentally, if it is not determined in #82 that manual operation is possible (#82, NO), zero is output as the output of the control signal to the control valve 47 (#89), and the process returns to #82, and repeats thereafter. When zero is output as the output of the control signal (#89), the control valve 47 assumes the neutral position 47N and the hydraulic motor 41 does not rotate, or if the hydraulic motor 41 is rotating, it stops rotating thereafter.

[Other Embodiments] (1) In the above embodiment, the first conveyor belt 11 and the second conveyor belt 12 are rotationally driven by the hydraulic motor 40, and the second conveyor belt 12 rotates in synchronization with the first conveyor belt 11. Although the case where the target rotational speed of the first conveying belt 11 is set by the conveying speed setting unit 66 which is driven and is an output adjusting switch has been described, the present invention is not limited to this.

Each of the first conveying belt 11 and the second conveying belt 12 may be rotationally driven by separate hydraulic motors instead of the hydraulic motor 40 . When the first conveying belt 11 and the second conveying belt 12 are rotationally driven by separate hydraulic motors, the target rotational speeds may be set by separate output adjustment switches instead of the conveying speed setting unit 66. . The rotational speeds of the first conveyor belt 11 and the second conveyor belt 12 may or may not be synchronized in any case.

(2) In the above embodiment, the separation belts 18 and 19 are rotationally driven by the hydraulic motor 41, and the target rotation speed of the separation belts 18 and 19 is set by the separation speed setting unit 67, which is an output adjustment switch. It is not limited to this.

Each of the separation belts 18 and 19 may be rotationally driven by separate hydraulic motors instead of the hydraulic motor 41 . When the separation belt 18 and the separation belt 19 are rotationally driven by separate hydraulic motors, separate output adjustment switches may be used instead of the separation speed setting unit 67 to set the target rotational speeds. The rotational speeds of the separation belts 18 and 19 may or may not be synchronized in any case.

(3) In the above embodiment, the rotational speeds of the first and second conveyor belts 11 and 12 of the conveying device 4 and the rotational speeds of the separating belts 18 and 19 of the separating device 5 are feedback controlled. Illustrated, but not limited to. Only one of the rotational speeds of the first conveyor belt 11 and the second conveyor belt 12 of the conveyor device 4 or the rotational speeds of the separation belts 18 and 19 of the separation device 5 may be feedback-controlled.

(4) In the above-described embodiment, the transport control unit 72 and the separation control unit 73 determine whether the rotational speeds of the first transport belt 11 and the separation belts 18 and 19 are too fast or too slow with respect to the target rotational speed. Although the case where feedback control is performed by so-called proportional control, which controls the rotation speeds of the one-conveyor belt 11 and the separation belts 18 and 19, the present invention is not limited to this. Feedback control can combine different control methods such as proportional control, derivative control, and integral control as needed.

(5) In the above-described embodiment, the notification unit 79 has a speaker 79a installed on the operation panel 3a of the operation unit 3, and a case has been described in which a buzzer sound can be emitted from the speaker 79a as notification. It is not limited to a sound such as a buzzer sound. Instead of the speaker 79a, the notification unit 79 may be a device that notifies by emitting light (for example, a blinking lamp) or a device that notifies by oscillating vibration (for example, a so-called vibrator).

(6) In the above embodiment, the radish harvester 100 for harvesting the radish A from the field was illustrated as an example of the crop harvester according to the present invention, but the crop harvester is limited to the radish harvester 100 for harvesting the radish A. do not have. The crop harvesting machine according to the present embodiment can also be used as a harvesting device for root vegetables such as carrots, turnips, and burdocks, and leafy vegetables such as onions, cabbages, lettuce, and broccoli, instead of radishes A. .

It should be noted that the configurations disclosed in the above embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are exemplifications, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention.

The invention is applicable to crop harvesters.

Reference Signs List 1: Machine body 2: Travel device 3: Operation unit 3a: Operation panel 4: Transfer device (transfer unit)
5: Separation device (separation part)
11: First conveyor belt (conveyor)
12: Second conveyor belt (conveyor)
18: Separation belt (separator)
19: Separation belt (separator)
35: Engine 40: Hydraulic motor 41: Hydraulic motor 46: Control valve (first control valve)
47: control valve (second control valve)
65: Direction setting section 66: Conveyance speed setting section (first input section)
67: Separation speed setting unit (second input unit)
69: rotation speed sensor (first sensor section)
70: rotation speed sensor (second sensor section)
71: control device (control unit)
72: Conveyance control unit (control unit)
73: Separation control unit (control unit)
78: gear shift lever 79: notification unit 100: radish harvester (harvester)
A: Radish (crop)

Claims (5)

Airframe and
engine and
a running device of the airframe;
a control unit;
a conveying unit having a conveying body that is rotationally driven in a forward rotation direction so as to hold the leaves of crops in a field from both left and right outer sides and convey the crops from the field toward the rear side and upper side of the machine;
a first input unit that receives a set value of the rotation speed of the carrier as a first input value;
a separation unit provided in front of the fuselage of the conveying unit, having a separation body that is rotationally driven so as to lift the leaf portion upward;
a second input unit that receives a set value of the rotational speed of the separator as a second input value;
Synchronization that can be set to either a first mode in which the rotational speed of the carrier and the rotational speed of the separation body are synchronized with the traveling speed of the machine body by the traveling device, or a second mode in which manual operation is possible. a setting unit ;
a reverse rotation button for setting the rotation direction of the carrier to a reverse rotation direction opposite to the forward rotation direction;
with
When the synchronization setting unit is in the first mode, the control unit controls the rotational speed of the conveying body and the rotational speed of the separating member so as to synchronize with the traveling speed of the machine body by the traveling device. and controlling the rotational speed of the conveying body to be the first input value, and controlling the rotational speed of the separating body to be the second input value when the synchronization setting unit is in the second mode. death,
When the synchronization setting unit is in the second mode and the rotation direction of the transport body is set to the forward rotation direction, the control unit drives the transport body in the forward rotation direction and rotates the transport body in the forward rotation direction. controlling the rotation speed of the conveying body to be the first input value ;
When the reverse rotation button is operated in a state in which the synchronization setting unit is in the second mode and the conveying body is driven in the forward rotation direction, the controller controls the rotation of the reverse rotation button. is operated for a first set period of time, a stop signal for stopping the driving of the conveying body in the rotational direction is output, and the state in which the reverse rotation button is operated continues for a second set period of time after the stop signal is output. and outputting a reverse rotation signal for driving the carrier in the reverse rotation direction to control the rotational speed of the carrier to the first input value . further comprising a first sensor unit for detecting the rotation speed of the conveying body,
2. The crop harvesting machine according to claim 1, wherein the control section feedback-controls the rotation speed of the carrier based on the rotation speed detected by the first sensor section. a first hydraulic motor that rotationally drives the conveying body and rotates by supplying hydraulic oil whose hydraulic pressure is determined proportionally to the rotational speed of the engine;
a first control valve that adjusts the flow rate of the hydraulic oil that flows through the first hydraulic motor;
The crop harvesting machine according to claim 1 or 2, wherein the control section controls the rotation speed of the conveying body by adjusting the degree of opening of the first control valve. Further comprising a second sensor unit for detecting the rotational speed of the separator,
The crop harvester according to any one of claims 1 to 3, wherein the control section feedback-controls the rotational speed of the separator based on the rotational speed detected by the second sensor section. a second hydraulic motor that rotates the separator and is rotated by the supply of hydraulic oil whose hydraulic pressure is determined proportionally to the rotational speed of the engine;
a second control valve that adjusts the flow rate of the hydraulic oil that flows through the second hydraulic motor;
The crop harvester according to any one of claims 1 to 4, wherein the controller controls the rotation speed of the separator by adjusting the degree of opening of the second control valve.

Images