JP7399072B2 - vegetable harvester - Google Patents

Description

The present invention relates to a vegetable harvester.

Conventionally, as a vegetable harvesting machine, for example, the vegetable harvesting machine described in Patent Document 1 is known. Patent Document 1 discloses that a transport section ("harvesting section [3]" in the document) that is configured to be movable up and down and that pulls out crops from a field and transports them toward the rear of the machine body is provided.

JP 2018-50578 Publication

In the vegetable harvesting machine described in Patent Document 1, in order to make the front end of the conveyance section (the "soil loosening blade [5]" in the document) sneak into the field, while the driver operates the traveling machine to move forward, The operation of lowering the transport section is required, which is troublesome. That is, the vegetable harvester described in Patent Document 1 has room for improvement in that the conveying section can be easily lowered while the traveling body is traveling forward.

In view of the above situation, there is a need for a vegetable harvester that can easily lower the conveying section while moving the traveling machine forward.

The present invention is characterized by a vegetable harvesting machine that is configured to be able to rise and fall and is equipped with a conveyance section that pulls out crops from a field and conveys them toward the rear of the machine, and that includes a mechanism for lowering the conveyance section to a lowering position. A lowering operation tool and a control device are provided, and the control device executes a first lowering control for lowering the transport section to the lowering position when the lowering operation tool performs a lowering operation, and When the traveling body travels forward after the transport unit is lowered to the lowered position by the lowering control, a second lowering control is executed to lower the transport unit from the lowered position.

According to this characteristic configuration, when the driver performs a lowering operation using the lowering operation tool, the transport section automatically lowers to the lowering position, and after the transport section lowers to the lowering position, when the traveling body moves forward, The transport section will automatically descend from the lowered position. Thereby, the driver can save the effort of operating the transport unit to move down while operating the traveling body to move forward. That is, it is possible to realize a vegetable harvesting machine that can easily lower the conveying section while moving the traveling body forward.

Furthermore, in the present invention, it is preferable that, in the second lowering control, the control device lowers the transport section from the lowered position according to the forward traveling distance of the traveling body.

According to this characteristic configuration, when the traveling body travels forward, the conveying section automatically descends from the lowered position in accordance with the forward traveling distance of the traveling body. Thereby, the transport section can be smoothly lowered while the traveling body is traveling forward.

Furthermore, in the present invention, it is preferable that, in the second lowering control, the control device stops the lowering of the transporting section when the transporting section is lowered from the lowering position to the working position.

According to this characteristic configuration, when the transport section descends from the lowered position to the working position, the lowering of the transport section is automatically stopped. Thereby, the height position of the conveyance section can be maintained at a height position suitable for the work.

Furthermore, in the present invention, the working position is set at a position deeper than the field scene, and the control device controls the transporting part when the front end of the transporting part reaches the working position in the second lowering control. It is preferable to stop the descent.

According to this characteristic configuration, when the front end portion of the conveyance section enters the field and reaches the working position, the descent of the conveyance section is automatically stopped. Thereby, when carrying out work with the front end of the carrying part hidden in the field, the height position of the carrying part can be maintained at a height position suitable for the work.

Furthermore, in the present invention, an elevating operation tool for elevating and lowering the conveying section is provided, the lowering operation tool and the elevating and lowering operation tool are different from each other, and the control device controls the first lowering control or the second lowering control. When an elevating operation is performed using the elevating/lowering operating tool while the control is being executed, it is preferable to give priority to elevating/lowering the transport section based on the elevating/lowering operation using the elevating/lowering operating tool.

According to this characteristic configuration, when the driver operates the lift operation tool while the conveyance section is automatically lowered by the first lowering control or the second lowering control, the first lowering control or the second lowering control The lowering of the conveying section by the lifting operation tool is stopped, and the conveying section is raised and lowered based on the raising and lowering operation by the raising and lowering operation tool. Thereby, even when the conveyance section is being automatically lowered by the first lowering control or the second lowering control, the conveyance section can be appropriately raised or lowered based on the driver's judgment.

It is a left side view showing a carrot harvester. FIG. 3 is a plan view showing the driving section. It is a figure showing the control structure of this harvester. FIG. 3 is a diagram showing the relationship between the height position of the soil-breaking blade and the forward traveling distance of the traveling body.

Embodiments for carrying out the present invention will be described based on the drawings. In the following explanation, the direction of arrow F is "the front of the aircraft," the direction of arrow B is "the rear of the aircraft," the direction of arrow L is "the left of the aircraft," and the direction of arrow R is "the right of the aircraft." "way".

[Overall configuration of carrot harvesting machine]
FIG. 1 shows a carrot harvester (corresponding to the "vegetable harvester" according to the present invention). This harvesting machine includes a traveling body 1, an engine E, a driving section 2 in which a driver rides, a transporting section 3 that pulls out crops from the field and transports them toward the rear of the machine, and a system that collects harvested crops. A collecting section 4, a post-transporting section 5 that transports the crops from the transporting section 3 toward the collecting section 4, and a cutter 6 that cuts the crops into a main part (a part to be harvested) and other parts (leaf parts, etc.). It is equipped with.

The traveling body 1 includes a crawler traveling device 7 and a body frame 8 supported by the crawler traveling device 7. A support frame 9 is provided on the traveling body 1. The support frame 9 supports the transport section 3 and the like.

The driving unit 2 is provided at a position offset to the right side of the traveling body 1. The engine E is provided below the operating section 2. The transport section 3 is provided at a position offset to the left side of the traveling body 1. The recovery section 4 is provided at the rear of the driving section 2. The rear conveyance section 5 is provided from below the rear part of the conveyance section 3 (below the cutter 6) to the collection section 4. The cutter 6 is provided between the rear part of the conveyance section 3 and the rear conveyance section 5.

The conveyance section 3 is provided in a state of being inclined downward toward the front. The transport section 3 is configured to be able to swing up and down around a swing axis X1 extending along the left-right direction of the machine body. The conveyance section 3 includes a soil-breaking blade 10 that is provided at the front end of the conveyance section 3 and loosens the soil around the crops in the field, and a conveyance belt 11 that pulls out the crops from the field and conveys them toward the rear of the machine. is provided.

According to such a configuration, as the traveling body 1 moves forward, the soil-breaking blade 10 vibrates while being penetrated into the field, and the soil around the crops is loosened by the soil-breaking blade 10. The crops are pulled out of the field by the conveyor belt 11 and conveyed toward the rear of the machine. After the crop is cut into parts to be harvested and leaves etc. by the cutter 6, the parts to be harvested are supplied to the rear conveyance section 5, and the leaves etc. are discharged from the rear end of the conveyance section 3. It will fall on the field. Then, in the rear conveyance section 5, the parts to be harvested are conveyed to the collection section 4, and are sorted by an assistant. Finally, in the collection section 4, the parts to be harvested are collected into a collection bag (flexible container bag), not shown.

A hydraulic cylinder 12 is provided as an actuator for driving the conveyance section 3 up and down. The hydraulic cylinder 12 is provided across the body frame 8 and the transport section 3 . As the hydraulic cylinder 12 expands and contracts, the conveying section 3 swings around the swing axis X1 and moves up and down.

A work clutch (not shown) is provided on a power transmission path from the engine E to the work devices (transport unit 3, rear transport unit 5, cutter 6, etc.). The work clutch is configured to be switchable between an engaged state in which power from the engine E is transmitted to the work device, and an off state in which power from the engine E is not transmitted to the work device.

[Operation department]
As shown in FIG. 2, the driver section 2 includes a driver's seat 13, a front panel 14, and a side panel 15. The front panel 14 is provided with a meter panel 16 and an operating lever 17 (corresponding to the "elevating operating tool" according to the present invention). The meter panel 16 is configured to display engine speed, vehicle speed, remaining amount of fuel, etc. The operating lever 17 is used to steer the traveling body 1 and to operate the transport section 3 to move up and down. The operating lever 17 is arranged at the right end of the front panel 14. That is, the operating lever 17 is arranged on the right side with respect to the driver's seat 13.

A main shift lever 18 and a working clutch lever 19 are provided on the side panel 15. The main shift lever 18 is used to shift a hydrostatic continuously variable transmission as a main transmission (not shown) that shifts the power from the engine E. By changing the speed of the main transmission device using the main speed change lever 18, it is possible to switch forward, reverse, and stop the traveling body 1, and to change the speed steplessly. The working clutch lever 19 is used to switch the working clutch between the engaged state and the disengaged state. The main shift lever 18 and the working clutch lever 19 are arranged on the left side with respect to the driver's seat 13.

The main shift lever 18 is provided with an auxiliary shift switch 20 and a lift switch 21. The auxiliary transmission switch 20 is for operating a gear type transmission as a auxiliary transmission (not shown) that changes the speed of the power from the main transmission. The lift switch 21 is for raising and lowering the transport section 3. The lift switch 21 includes a rise switch 21A and a fall switch 21B (corresponding to a "fall operation tool" according to the present invention). The lift switch 21A is used to raise the transport section 3 to a raise position (more specifically, a raise position H1 to be described later). The lowering switch 21B is used to lower the transport section 3 to a lowering position (more specifically, a lowering position H2 to be described later).

[Control configuration]
FIG. 3 shows the control configuration of this harvester. The control structure of this harvester includes a control device 22, a lift switch 21, an operation lever sensor 23, a work clutch lever sensor 24, a travel distance sensor 25, a height position sensor 26, a first hydraulic control valve 27, and a second hydraulic control valve. A valve 28 and a third hydraulic control valve 29 are provided. The lift switch 21, the operation lever sensor 23, the work clutch lever sensor 24, the mileage sensor 25, and the height position sensor 26 are electrically connected to the control device 22 so that their respective electric signals are input to the control device 22. has been done.

The operating lever sensor 23 detects the amount by which the operating lever 17 is moved up and down. The work clutch lever sensor 24 determines whether the work clutch lever 19 is located at the engaged position where the work clutch is placed in the engaged state, or whether the work clutch lever 19 is located at the disengaged position where the work clutch is brought into the disengaged state. Detect. The traveling distance sensor 25 detects the traveling distance of the traveling aircraft 1.

The height position sensor 26 detects the height position of the transport section 3. Specifically, the height position sensor 26 detects the swing angle of the transport section 3 around the swing axis X1. In this embodiment, height position sensor 26 is a potentiometer.

The first hydraulic control valve 27, the second hydraulic control valve 28, and the third hydraulic control valve 29 control hydraulic fluid from a hydraulic pump (not shown).

A first hydraulic motor 30 is provided as an actuator for transporting the transport section 3 . The first hydraulic control valve 27 controls hydraulic oil supplied to the first hydraulic motor 30. The first hydraulic motor 30 is driven or stopped by the first hydraulic control valve 27 controlling the hydraulic oil.

A second hydraulic motor 31 is provided as an actuator for transporting the rear transport section 5 and driving the cutter 6 for cutting. The second hydraulic control valve 28 controls hydraulic oil supplied to the second hydraulic motor 31. The second hydraulic motor 31 is driven or stopped by the second hydraulic control valve 28 controlling the hydraulic oil.

The third hydraulic control valve 29 controls hydraulic oil supplied to the hydraulic cylinder 12. The third hydraulic control valve 29 controls the hydraulic oil, so that the hydraulic cylinder 12 is extended, retracted, or stopped.

〔Control device〕
The control device 22 includes an ascent control section 32, a descent control section 33, a first conveyance drive control section 34, a second conveyance drive control section 35, a cutting drive control section 36, and a storage section 37. It is being

The lift control unit 32 performs control regarding the lift drive of the transport unit 3 . Specifically, the lift control unit 32 controls the hydraulic cylinder 12 to extend via the third hydraulic control valve 29 . When the lift control unit 32 switches the third hydraulic control valve 29 and the hydraulic cylinder 12 is extended, the conveyance unit 3 is driven upward.

The lowering control section 33 performs control regarding the lowering drive of the transport section 3. Specifically, the lowering control unit 33 performs control to retract the hydraulic cylinder 12 via the third hydraulic control valve 29 . When the lowering control section 33 switches the third hydraulic control valve 29 and the hydraulic cylinder 12 is retracted, the conveyance section 3 is driven downward.

The first conveyance drive control section 34 controls the conveyance drive of the conveyance section 3 . Specifically, the first conveyance drive control section 34 controls driving the first hydraulic motor 30 via the first hydraulic control valve 27 . When the first conveyance drive control section 34 switches the first hydraulic control valve 27 and the first hydraulic motor 30 is driven, the conveyance section 3 is conveyed.

The second conveyance drive control section 35 controls the conveyance drive of the rear conveyance section 5. Specifically, the second conveyance drive control section 35 controls driving the second hydraulic motor 31 via the second hydraulic control valve 28 . When the second conveyance drive control section 35 switches the second hydraulic control valve 28 and the second hydraulic motor 31 is driven, the rear conveyance section 5 is conveyed.

The cutting drive control unit 36 controls cutting drive of the cutter 6. Specifically, the cutting drive control unit 36 controls driving the second hydraulic motor 31 via the second hydraulic control valve 28 . The cutting drive control unit 36 switches the second hydraulic control valve 28 to drive the second hydraulic motor 31, thereby driving the cutter 6 to cut.

The storage unit 37 contains programs for realizing the functions of the first conveyance drive control unit 34, the second conveyance drive control unit 35, the cutting drive control unit 36, the lowering control unit 33, and the ascending control unit 32, as well as detailed information. A raised position H1, a lowered position H2, a working position H3, etc., which will be described later, are stored.

The rising position H1 is set to a height position before the conveyance section 3 reaches its rising limit. Specifically, the raised position H1 is set to the height position of the conveyance section 3 when the hydraulic cylinder 12 is extended to just before the stroke end.

The lowering position H2 is set to a height position before the front end of the conveyance unit 3 touches the field. Specifically, the lowering position H2 is set to a height position before the soil breaking blade 10 touches the field.

The work position H3 is set at a position deeper than the field scene. Specifically, the working position H3 is a height position at which the soil breaking blade 10 sneaks into the field, and is set at a height position suitable for the soil breaking blade 10 to loosen the soil around the crops. has been done.

When the lifting operation using the operating lever 17 is performed, the lifting control unit 32 raises the conveyance unit 3 according to the amount of lifting operation of the operating lever 17 . The lift control unit 32 raises the transport unit 3 to the lift position H1 when the lift switch 21A performs a lift operation. Specifically, when the work clutch lever 19 is in the engaged position and the lift switch 21A is operated to lift, the lift control unit 32 raises the conveyance unit 3 to the lift position H1. When the lift switch 21A is pressed once (press and release operation), the conveyance section 3 rises to the rise position H1.

When the lowering operation of the operating lever 17 is performed, the lowering control unit 33 lowers the conveyance unit 3 according to the amount of lowering operation of the operating lever 17 . The lowering control unit 33 lowers the transport unit 3 to the lowering position H2 when the lowering switch 21B performs a lowering operation. Specifically, when the lowering switch 21B is operated to lower the work clutch lever 19 at the engaged position, the lowering control section 33 lowers the conveying section 3 to the lowering position H2. When the lowering switch 21B is pressed once (pushing and releasing), the conveying section 3 is lowered to the lowering position H2.

When the lowering operation by the lowering switch 21B is performed, the lowering control section 33 executes a first lowering control to lower the conveying section 3 to the lowering position H2, and the lowering control section 33 lowers the conveying section 3 to the lowering position H2 by the first lowering control. After that, when the traveling body 1 moves forward, a second lowering control is executed to lower the transport section 3 from the lowered position H2. In the present embodiment, in the second lowering control, the lowering control unit 33 lowers the transporting unit 3 from the lowering position H2 according to the forward traveling distance of the traveling body 1, and also moves the transporting unit 3 from the lowering position H2 to the work position. When it descends to H3, the conveyance section 3 stops descending. Specifically, in the second descending control, the descending control section 33 stops the descending of the conveying section 3 when the soil breaking blade 10 reaches the working position H3.

Here, FIG. 3 shows the relationship between the height position of the earth-breaking blade 10 and the forward traveling distance of the traveling body 1. In FIG. 3, the position of the traveling body 1 (traveling start position) with the soil breaking blade 10 located at the lowered position H2 is P1, and the traveling body 1 is traveling with the soil breaking blade 10 located at the working position H3. The position of the machine body 1 (work start position) is indicated by P2.

As shown in FIG. 3, in the first lowering control, the lowering control section 33 lowers the conveying section 3 until the soil breaking blade 10 reaches the lowered position H2. Then, after the conveying unit 3 descends until the soil breaking blade 10 reaches the lowering position H2, the lowering control unit 33 controls the soil breaking blade 10 according to the forward traveling distance of the traveling body 1 in the second lowering control. The conveying section 3 is lowered until it reaches the working position H3. In this way, when the traveling body 1 travels forward from the traveling start position P1, the conveyance section 3 descends as the forward travel distance of the traveling body 1 increases until the soil-breaking blade 10 reaches the working position H3. It turns out.

Here, when a lifting operation is performed using the operating lever 17 while executing the first lowering control or the second lowering control, the lowering control unit 33 moves the conveying unit 3 up and down based on the lifting operation using the operating lever 17. Prioritize doing so. That is, the lowering control unit 33 gives priority to the command from the operating lever 17 over the command from the lowering switch 21B.

The first conveyance drive control section 34 stops the conveyance drive of the conveyance section 3 when the conveyance section 3 rises to the raised position H1. Specifically, when the working clutch lever 19 is in the engaged position and the conveying section 3 is being driven to convey, the raising operation is performed by the operation lever 17, or the raising operation is performed by the raising switch 21A. When the conveyance section 3 is raised to the raised position H1 by the lift control section 32, the first conveyance drive control section 34 stops the conveyance drive of the conveyance section 3. That is, when the lift switch 21A performs a lifting operation, the control device 22 raises the transport unit 3 to the raised position H1, and when the transport unit 3 rises to the raised position H1, stops the transport drive of the transport unit 3. .

Then, after the conveyance section 3 rises to the raised position H1, when the conveyance section 3 descends from the raised position H1 to the lowered position H2, the first conveyance drive control section 34 drives the conveyance section 3 to convey. Specifically, when the work clutch lever 19 is in the engaged position and the conveying section 3 is not being driven to convey, the operation lever 17 is lowered, or the lowering switch 21B is lowered. When the transport section 3 is lowered from the raised position H1 to the lowered position H2 by the lowering control section 33, the first transport drive control section 34 drives the transport section 3 to transport.

Here, the first conveyance drive control section 34 controls the conveyance section 3 when the conveyance section 3 is lowered from the raised position H1 to the lowered position H2 based on either the lowering operation by the operation lever 17 or the lowering operation by the lowering switch 21B. Transport drive. In other words, even if the transport unit 3 falls from the raised position H1 to the lowered position H2 due to circumstances unintended by the driver (for example, vibrations during driving), the first transport drive control unit 34 will cause the transport unit 3 to Not driven.

Here, as described above, the first conveyance drive control section 34 stops the conveyance drive of the conveyance section 3 when the conveyance section 3 rises to the raised position H1. However, the second conveyance drive control section 35 does not stop the conveyance drive of the rear conveyance section 5 even if the conveyance section 3 rises to the raised position H1. Similarly, the cutting drive control section 36 does not stop the cutting drive of the cutter 6 even if the conveyance section 3 rises to the raised position H1.

[Another embodiment]
(1) In the embodiment described above, the second conveyance drive control section 35 does not stop the conveyance drive of the rear conveyance section 5 even if the conveyance section 3 rises to the raised position H1. However, the second conveyance drive control section 35 may stop the conveyance drive of the rear conveyance section 5 when the conveyance section 3 rises to the raised position H1. In this case, the second conveyance drive control section 35 may stop the conveyance drive of the rear conveyance section 5 when the traveling body 1 turns after the conveyance section 3 rises to the raised position H1.

(2) In the embodiment described above, the cutting drive control unit 36 does not stop the cutting drive of the cutter 6 even if the conveyance unit 3 rises to the raised position H1. However, the cutting drive control unit 36 may stop the cutting drive of the cutter 6 when the conveyance unit 3 rises to the raised position H1. In this case, the cutting drive control section 36 may stop the cutting drive of the cutter 6 when the traveling body 1 turns after the conveyance section 3 rises to the raised position H1.

(3) In the embodiment described above, the first transport drive control unit 34 drives the transport unit 3 to transport when the transport unit 3 descends from the raised position H1 to the lowered position H2. However, the first transport drive control unit 34 may transport the transport unit 3 when the transport unit 3 descends from the raised position H1 (that is, at the same time as the transport unit 3 starts to descend from the raised position H1).

(4) In the embodiment described above, the lowering position H2 is set to a height position before the soil breaking blade 10 touches the field. However, the lowering position H2 may be set to a height position where the soil-breaking blade 10 touches the field.

(5) In the above embodiment, the raised position H1 is set to the height position of the conveyance section 3 when the hydraulic cylinder 12 extends to just before the stroke end. However, the raised position H1 may be set to the height position of the conveyance section 3 when the hydraulic cylinder 12 is extended to the stroke end.

(6) In the embodiment described above, when the lifting operation using the operating lever 17 is performed while executing the first lowering control or the second lowering control, the lowering control unit 33 performs a control based on the lifting operation using the operating lever 17. Priority is given to raising and lowering the transport section 3. However, even if an ascending/descending operation is performed using the operating lever 17 while executing the first descending control or the second descending control, the descending control section 33 gives priority to the first descending control or the second descending control. It's okay.

(7) In the embodiment described above, the first transport drive control unit 34 stops the transport drive of the transport unit 3 when the transport unit 3 rises to the raised position H1. However, a switch may be provided to switch whether or not the first conveyance drive control section 34 executes such control.

(8) In the embodiment described above, the collecting section 4 is configured to collect into a collecting bag. However, the collection unit 4 may be configured to collect into a collection container.

The present invention can be used not only for carrot harvesting machines but also for radish harvesting machines and cabbage harvesting machines.

1 Traveling body 3 Transport section 17 Operation lever (elevating operation tool)
21B Lower switch (lower operating tool)
22 Control device H2 Lowering position H3 Working position

Claims (5)

A vegetable harvesting machine that is configured to be able to rise and fall and is equipped with a transport section that pulls out crops from a field and transports them toward the rear of the machine,
a lowering operation tool for lowering the transport section to a lowering position;
comprising a control device;
When a lowering operation is performed using the lowering operation tool, the control device executes a first lowering control to lower the transport section to the lowering position, and the first lowering control lowers the transport section to the lowering position. After that, when the traveling body moves forward, the vegetable harvester executes a second lowering control to lower the conveying section from the lowered position. The vegetable harvester according to claim 1, wherein, in the second lowering control, the control device lowers the conveyance section from the lowered position according to a forward traveling distance of the traveling machine body. The vegetable harvester according to claim 1 or 2, wherein the control device stops the lowering of the transport unit when the transport unit descends from the lowered position to the working position in the second lowering control. The working position is set at a position deeper than the field scene,
The vegetable harvester according to claim 3, wherein, in the second lowering control, the control device stops the lowering of the transport unit when the front end of the transport unit reaches the working position. comprising an elevating operation tool for elevating and lowering the conveyance section,
The lowering operating tool and the lifting operating tool are different from each other,
The control device is configured to raise and lower the conveyance section based on the lifting operation by the lifting operation tool when the lifting operation by the lifting operation tool is performed while executing the first lowering control or the second lowering control. The vegetable harvesting machine according to any one of claims 1 to 4, wherein priority is given to:

Images