JPH01108907A - Automatic control apparatus of turn of reaping machine or such - Google Patents

Abstract

PURPOSE:To improve the accuracy and stability of turning motion, by memorizing a turning pattern by the total pulse number of a transmission rotation of a pair of right and left driving shafts and operating a steering brake according to the total pulse number. CONSTITUTION:The total pulse number N generated by the transmission and rotation of a pair of right and left driving shafts is measured by a rotary sensor at every movement of the machine by a specific small distance following a turning pattern 2 in the reaping direction changing stage of a reaping culm row 1 and the detected number is memorized. In the reproduction turning operation, the turn of the machine is controlled by operating a steering brake in such a manner as to coincide the total pulse number of the inward driving shaft in the reproduction turning motion with the memorized total pulse number N of the inward driving shaft.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a turning control device for a reaping machine, etc., and relates to a turning control device for automatically controlling the turning direction of a reaping machine, etc. in the process of changing the cutting direction of a culm. Available.

BACKGROUND TECHNOLOGY AND PROBLEMS TO BE SOLVED BY THE INVENTION Conventionally, during reaping with a reaping machine, etc., the turning operation from the time of reaping of a row of grain culms to the resumption of reaping of the next row of grain culms by changing the reaping direction has been carried out. Automatic turning control is still at the stage of trial and error, and in terms of numbers, the importance and strength of steering brakes for the pair of left and right running axes as the turning operation time elapses; A system in which the turning pattern based on the number of pulses of transmission rotation based on these changes is learned and memorized in detail in the turning control device, and this learned and memorized turning pattern is faithfully reproduced to perform automatic turning control. However, this method has a structural problem that requires a large amount of memory capacity for learning and memorizing, and the detection of the reversal pattern in reproducing reversal is the confirmation of the result of reversing operation. There was a problem in the use that if the turning pattern was different from that of the previous one, the difference would only be confirmed.Therefore, the present invention was developed to solve the problem of using a learning method during reproducing turning in automatic turning control in such a reaping machine, etc. By applying the steering brake according to the total number of pallets at the time of memorization, the accuracy and stability of the turning operation are improved, and the memory capacity during learning and memorization is reduced.

Means for Solving the Problems This invention changes the turning pattern (2) in the reaping direction change process of the grain culm row (1) by changing the total number of pulses ( A turning control device for a reaping machine, etc., characterized in that it learns and memorizes the reaping direction by controlling the steering brake (4) according to the total number of pulses (N), and performs turning control to change the cutting direction. composition.

Functions and Effects of the Invention: A machine that is placed on the left and right sides of a machine such as a reaper and runs on the soil surface.
For example, in a reaping operation in which a pair of running wheels or crawlers or the like is driven by a pair of left and right running shafts (3) to reap a row of grain culms (1), a process of changing the reaping direction during reaping of the row of grain culms (1). When performing automatic turning control in
The total number of pulses (N) of the transmission rotation of the pair of left and right running axes (3) is learned and memorized according to the turning pattern (2) during the optimum cutting direction change process, that is, turning operation, operated by the operator. The learned and memorized traveling axis on the inner side of the turning (3)
For example, set the total number of pulses of the traveling axis (3) on the inner side of rotation at 1 when reproducing the rotation operation, that is, during the reproduction rotation, to the total number of pulses (N) during the rotation operation of 1, for example, in the rotation control device in advance. By performing calculation prediction based on the set standard steering brake (4) importance and its strength/weakness operation pattern and performing turning control to match, the turning pattern (2) in the turning operation is ) is the turning control? Since there is no need to learn and memorize everything in detail, and the detection of the turning pattern (2) during reproduction turning is not limited to checking the result, the memory capacity of the turning control device is This makes it possible to reduce the amount of time required and improve the accuracy and stability of the turning operation during re-turning.

Example On the mouth side, there is a traveling device (7) with a pair of crawlers (6) arranged on the left and right sides of the lower end of the combine harvester body (5), which runs on the soil surface, and a reaping device on the upper side of this traveling device (7). A threshing device (8) that threshes the grain culms, and a reaping device (9) that reaps the grain culm row (1) on the front side of this threshing device N (8).
), and an operating device (lO) for operating the machine body (5) and an operating seat (11) for operating the machine are disposed on the front side of the threshing device (8) and on the right side in plan view. In addition, a shell culm sensor (13) is provided on the inlet side of the reaped shell culm scraping transfer device (12) of the reaping device (9) to detect the presence or absence of a shell culm by turning ON/OFF. In addition, a pair of left and right running shafts (
3) and a running wheel (10), and a guide wheel (15) that stretches and guides the crawler (6) on the rear end side, and an interlocking mechanism that transmits power to the running wheel (14) is installed inside. An interlocking case (18) is provided on the front end side of the traveling device (7), and the crawler (6) is provided in the path of the interlocking mechanism of the interlocking case (16).
) left and right side clutches (17) that turn on and off the travel drive of the
The stroke of turning on and off this clutch (17) causes the left and right steering brakes (4) to be applied after the clutch (17) is disengaged, and the counter gear (1) in this path.
8) are provided with left and right rotation sensors (13) for detecting the number of pulses caused by the rotation. Also, there is a hydraulically driven H5T installed on the upper side of the interlocking case (!8)! 1 (20) in series, and a swash plate arm (2) that rotates the swash plate that adjusts the rotation direction and output rotation speed of this H3T (20), and the rotation angle of this arm (21) A speed sensor (22) is provided to detect the rotational speed of the HST (20).A hydraulic pressure is also provided which is connected to the arm (21) and rotates the arm (21) based on the detection of the speed sensor (22). respectively provided with a telescopic cylinder (23) and a hydraulic bushing rod for actuating the clutch (17) and the steering brake (4);
The cylinder (23) and a solenoid valve (24) that operates the cylinder (23)
), the push rod and a solenoid valve (
25) and a proportional pressure reducing valve (26) that adjusts the action of the electromagnetic valve (25) are connected to each other so as to be hydraulically controllable. The control device again! (10) A top panel portion (27) is provided with a travel lever (28) for controlling forward and backward traveling of the aircraft (5) and a power steering lever (28) for controlling left and right direction, and the travel lever (28) and the swash plate arm (21)
and are connected via a wire (30). The panel section (27) also has a learning memory mode in which the operator attempts the turning pattern (2), and the total number of pulses of the counter gear (18) according to the turning pattern (2) in this learning memory mode. For (N), a mode changeover switch (31) is provided to switch between the reproduction turning mode in which the turning operation is performed to match the total number of pulses during the reproduction turning, and this cut moss sweet 2,000 (
31) which performs processing based on each mode by switching (32) to the operating device! 1 (10) and installed internally. This turning control device again! (32) is equipped with a CPU (33) that performs central calculation and memory processing in the center, and the CPU (33) is connected to the culm sensor (2), the left and right rotation sensor (tS), and the speed sensor. (22), the power steering lever (29), the mode selector switch (
31) are connected to each other, and the CPU (33) is connected to each of the electromagnetic valves (24) (25) and the proportional pressure reducing valve (2B).

By operating the travel lever (28), the swash plate arm (21) is rotated via the wire (30) and the ST device (20
) through the interlocking case (15) to drive the traveling device F (7) to start the machine (5), and with this start, the reaping device M
In a combine harvester operation in which the grain culm row (1) is reaped by the grain culm row (1) and the harvested husk is threshed by the threshing device 2t (8), for example, in normal reaping, the H3T (20) is detected by the speed sensor (22). In many cases, the cutting speed is controlled by adjusting the speed, and circular mowing is performed in which the grain culm row (1) is reaped in one direction. When reaching the
The running shaft (3) on the inner side of turning is moved to a radius (
At R1), turn the turning angle (θ) to the point (A) to the left,
After stopping at point (a), the traveling axis (3) on the inside of the turning direction is controlled in accordance with the above stroke by moving backward, and the radius (R2
) to turn the turning angle (02) to point (b) to the right, and (
After stopping at point b), a turning operation is performed in which reaping of the next grain culm row (1) is resumed by moving forward again, but in this turning operation, the mode changeover switch (31) is set to learning and memory mode. 1. Turning is determined by the speed of travel caused by the operator's operation of the travel lever (28), the on/off of the side clutch (17) by the operation of the power steering lever (2B), the strength of the steering brake (4), etc. The rotation sensor (18) calculates the total number of pulses (N) based on the transmission rotation of the left and right running shafts (3) at every fixed minute distance by the rotation pattern (2) that performs the operation. Detected by
This detected value is converted into a control device! (32) CPU (33)
Memory processing to the memory of. This allows subsequent grain culm rows (
1) At the end of reaping, the mode changeover switch (31)
By switching and setting the culm sensor (13) to the reproduction turning mode, at the same time as detecting the OFF position of the culm sensor (13), for example, the C
Turning is performed according to standard operation patterns such as the speed of travel during turning operation set in advance by the PU (33), the importance of the side clutch (17), and the strength of the steering brake (4). At the time of turning, for example, from the total number of pulses (N) of the running axis (3) on the inside of the turning in the learning/memory mode, for example, calculate the number of pulses (N) of the running axis (3) on the inside of the turning in the reproducing turning mode. A constant initial number of pulses until the beginning of turning, that is, the steering brake (4) is fully activated, and the turning path,
In other words, the remaining intermediate pulse number is calculated by subtracting the constant final pulse number after the steering brake (4) has finished working, and this intermediate pulse number is combined with the total pulse number 1) in the learning/memory mode. By performing turn control so that the number of pulses corresponding to the intermediate pulse number coincides with the number of pulses of the part corresponding to the intermediate pulse number by the operator measurement of the CPU (33), the total number of the turn patterns (2) in the learning memory mode is The memory capacity of the CPU (33) can be saved since there is no need to store the information, and the accuracy and stability of the turning operation can be improved by calculating the intermediate pulse number during re-turning.

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
Fig. 2 is a partial plan view, Fig. 3 is a partially sectional front view, Fig. 4 is a partial front sectional view, Fig. 5 is a partial working mechanism diagram, Fig. 6 7 is a block diagram of an electric circuit. In the figure, (1) is a row of grain culms, (2)
is the turning pattern, (3) is the running axis, and (4) is the steering brake. (N) indicates the total number of pulses. Figure 2 B1 Figure 3 Figure 4 Figure 5 Figure 7 ↓

Claims (1)

[Claims] The turning pattern (2) in the reaping direction change process of the grain culm row (1) is learned and memorized by the total number of pulses (N) of the transmission rotation of the pair of left and right running shafts (3), and this total number of pulses (N
) A turning control device for a reaping machine or the like, characterized in that the steering brake (4) is activated to control the turning direction and change the cutting direction.