JPH0117131Y2 - - Google Patents

Description

[Detailed Description of the Invention] "Industrial Application Field" The present invention includes, for example, a steering sensor that is provided in front of the cutting blade of the reaping section to bring it into contact with the row of uncut grain culms, and the row of uncut grain culms is controlled by the sensor. This invention relates to an automatic steering device for a harvesting machine such as a combine harvester, which automatically controls the steering by detecting bending of uncut grain culm rows and intermittent left and right side clutches depending on the bending of the rows of uncut grain culms. "Prior Art" Conventionally, as shown in Japanese Utility Model Application Publication No. 54-108219, there has been a technique for performing row cutting work and mid-splitting work by selectively using left and right steering sensors. ``Problems that the invention seeks to solve'' For example, in a combine harvester that uses the steering sensor to automatically steer the aircraft, even if the aircraft is located at the sensor's dead zone position, that is, the aircraft is steering at the appropriate position, it will not move from stock to stock. Sensors may detect this while moving. Conventionally, as a means for erasing this erroneous signal, an on-delay circuit is built into the steering circuit, and by delaying the output time of the signal by the time constant of the on-delay circuit, the erroneous signal is smoothed and is not output. However, with this configuration, even if the spacing is constant, the appropriate delay time changes depending on the traveling speed. For example, if the time constant or delay time is fixed to a constant value, when traveling at high speed The output signal tends to lag and is easily misaligned, and contrary to the above, when driving at low speeds, the turning output signal tends to advance, resulting in the output of an erroneous signal. Therefore, as shown in Utility Model Application Publication No. 53-112530,
Equipped with left and right steering sensors that detect uncut grain culm rows, and equipped with an on-delay circuit that changes the delay time in conjunction with the travel gear shift lever, and outputs the steering output from the steering sensor via the on-delay circuit. However, it did not distinguish between row mowing work and mid-split work and used steering sensors accordingly, but only allowed row mowing work and horizontal mowing work to be performed. There were functional problems such as not being able to do the work easily. ``Means for Solving the Problems'' However, the present invention is equipped with left and right steering sensors that detect rows of uncut grain culms, as well as an on-delay circuit that changes the delay time in conjunction with the travel gear shift lever. In an automatic steering device for a harvester that outputs the steering output of a steering sensor via an on-delay circuit, there is a selector that switches between cutting in the middle using the right steering sensor and row mowing using the left and right steering sensors. A switch is provided, and the select switch is connected via an on-delay circuit to the sensor switch of the right steering sensor that detects the aircraft steering to the right, and an on-delay circuit is connected to the sensor switch of the left steering sensor that detects the aircraft's steering to the left. The present invention is characterized in that it is configured to incorporate a path that is connected to each other so that the detection of the right side of the machine during cutting work and the detection of the left side of the machine during row cutting work are performed via each separately provided on-delay circuit. It is. "Function" Therefore, by simply switching the select switch, it is possible to easily obtain the left turning output for mid-splitting work via the sensor switch of the right steering sensor. It is possible to properly detect when the aircraft is moving to the right, and it is possible to easily improve the automatic steering function by preventing misdetection of steering during in-between work, and to detect when the right steering sensor used for in-between work is moving the aircraft towards the right. Since the select switch is connected to the sensor switch for row mowing through an on-delay circuit, it is possible to simply configure a logic circuit that obtains a left or right steering output and a straight forward output based on the outputs of the left and right steering sensors. A steering function for intermediate work can be easily added without impairing the on-delay circuit operation during work.
This makes it possible to easily fully automate steering operations in harvesting operations and improve handling operability. "Embodiments" Hereinafter, embodiments of the present invention will be described in detail based on the drawings. Figure 1 is a side view of the combine harvester, and Figure 2 is a plan view of the same. In the figure, 1 is a truck frame equipped with a traveling transmission 2 at the center of the front end, and 3 and 4 are drive sprockets on both sides of the truck frame 1. A running crawler is installed via 5, 5 and truck rollers 6, 7 is a machine base that is fixedly supported on the truck frame 1, and 8 is a handling trunk that is mounted on the machine base 7 and has a feed chain 9 adjusted on the left side. 10 is a built-in threshing section; 11 is a straw cutter section provided on the rear side of the threshing section 8 and faces a straw removal chain connected to the terminal end of the feed chain 9; 12 is a weed dividing plate 13;
..., a grain culm lifting device 14..., a cutting blade 15, and a grain culm transport mechanism 16, and the machine base is connected and supported in front of the machine base 7 via a reaping frame 17, and is operated by a hydraulic cylinder 19 around a rotational fulcrum shaft 18. The reaping section 20 is raised and lowered together with the grain culm tube 21, and the threshing section 8
22 is an engine that drives each part of the combine including the traveling crawlers 3 and 4, 23 is a driver's cab, 24 is a driver's seat,
Reference numeral 25 denotes a driving operation unit having left and right side crimp levers 26, 27, etc., and is configured to continuously reap and thresh grain culms. FIG. 3 is an automatic steering system diagram, in which the traveling mission 2 includes a main shaft 28, a countershaft 29, and a side clutch shaft 30, and a human pulley 31 that is interlocked with the engine 22 is attached to the main shaft 28. Support me,
The respective shafts 28 and 29 are interlocked and connected by a transmission gear group 32. A side clutch input gear 34 is engaged with a ring gear 33 which is engaged and pivotally supported on the countershaft 29, and the left and right sprocket shafts 35, 3 are connected to each other.
The gear shift output of the countershaft 29 is transmitted to final gears 37 and 38 which are engaged and supported by the countershaft 29 through left and right side clutches 39 and 40, respectively. A 3-position, 4-port electrohydraulic switching valve 41 is mounted on the upper surface of the traveling transmission 2, and a hydraulic pump 44 is connected to the main shaft 28 to the left and right steering cylinders 42, 43 for disengaging the left and right side clutches 39, 40. Hydraulic connection is made via the switching valve 41, and an automatic steering control circuit 47, which is a turning signal output circuit, is electrically connected to the right turning and left turning solenoids 45, 46 of the switching valve 41. an automatic steering sensor 4 electrically connected to the circuit 47;
8 and 49 are the left and right dividing rods 5 of the reaping section 14.
The sensors 48 and 49 are equipped with steering sensor arms 52 and 53, which are provided at the front of the cutting blade 15 to detect the rows of uncut grain culms.
5, 56 (see FIG. 4), and the sensor 49
are equipped with sensor switches 57, 58 (see FIG. 4), and sensor arms 52, 53 detect the distance between the sensors 48, 49 and the uncut grain culm, and the sensor switches 54, 55, 56 and 57, 58 is configured to be turned on and off. Next, referring to FIG. 4, the automatic steering control circuit 4
To explain the specific configuration of 7, in the same figure, 5
9 is a battery, 60 is an automatic steering switch which also serves as a main switch, 61 is a transistor 62, 6
3 and a resistor 64, this circuit 60 is connected to excite one solenoid 46. A second switching circuit 64 is composed of transistors 65, 66 and a resistor 67, and this circuit 64 is connected to excite the other solenoid 45. Furthermore, 68 is two AND circuits 69, 70
, three inverters 71, 72, 73, an OR circuit 74, and five resistors 75, 75a, 76, 77.
A select switch 78 is provided between this logic circuit 68 and the sensor switch 57 described above, and each of the sensor switches 54,
The solenoid 45 or 46 is energized via the first or second switching circuit 61 or 64, as shown in the attached truth table, by appropriately turning on and off the solenoid 55, 56, 57, 58. . The select switch 78 is a switching terminal 78
c and two contacts 78a and 78b, and when the switching terminal 78c is connected to one contact 78, the steering control adapted to the middle cutting work is performed using only the output signal from the right sensor 49, and When the switching terminal 78c is connected to the other contact 78b, the steering control suitable for row mowing and horizontal mowing operations is performed as shown in the attached truth table using the output signals from both the left and right sensors 48 and 49. It is composed of Furthermore, an on-delay circuit 83 consisting of a variable resistor 79, a diode 80, a capacitor 81, and a resistor 82 is provided between the select switch 78 and the sensor switch 57;
A variable resistor 84 is connected between the sensor switch 56 and the sensor switch 56.
Diode 85, capacitor 86 and resistor 87
The variable resistors 79, 84 are interlocked and connected to the main travel shift lever 89 provided on the driver's seat 24, and when the lever 89 is changed to the high speed side, the resistors 79, 84
By reducing the resistance value of these on-delay circuits 83,
While reducing the time constant of lever 88,
When converting the resistor 9 to the low speed side, the resistor 7
9 and 84 are made large, and the time constants of these ON delay circuits 83 and 88 are made large. On the other hand, 90 is a manual priority switch connected to the pace electrodes of the respective transistors 62, 65 via diodes 91, 92;
A transistor 9 is connected between the switch 92 and the switch 90.
3, 94 and a resistor 95, a manual priority switching circuit 96, an inverter 97, 98, a resistor 99, a diode 100, and a capacitor 101.
As shown in FIG. 3, the left and right side clutch levers 26, 2
When either one of the switching circuits 7 is operated, the switch 90 is turned on in conjunction with this, and the base potential of the transistors 62 and 65 is made equal to the ground potential, thereby providing automatic steering input to these switching circuits 61 and 64. The configuration is such that manual operations are prioritized. When the switch 90 is turned on, it immediately cuts off the automatic steering input, giving priority to manual operation, and when the switch 90 is turned off, the off delay circuit 102 causes the automatic steering to start after a certain period of time. It is designed to return to. The present embodiment is constructed as described above, and its operation will be explained below with reference to the attached truth table. Now, when the engine 22 is driven, its driving force is transmitted to the main shaft 28 in the transmission 2 through the input pulley 31, and is transmitted to each gear group 32.
The shaft 29 transmits the rotational force to the sprocket shafts 35, 36 via gears 33, 34, side clutches 39, 40, and final gears 37, 38 to rotate the drive sprockets 5, 5. Then, the left and right traveling crawlers 3 and 4 are driven to make the machine travel. By the way, when performing the middle splitting work, the switching terminal 78c of the select switch 78 is connected to one contact 7.
When the combine harvester is moving straight along the grain culm row, the right sensor arm 53 is connected to the right sensor arm 53.
is located in the zone shown in FIG. 3, neither of the sensor switches 57 and 58 are turned on, and a "0" signal is output to both the OR circuit 74 and the output stage of the inverter 72, so the combine is Keep going straight. However, during this middle splitting operation, when the combine machine moves to the left, the sensor arm 53 is pressed by the uncut grain culm and shifts to the zone. Therefore, the sensor switch 58 is turned on, and this "1" signal is transmitted to the second switch via the inverters 72 and 73.
The signal is applied to the switching circuit 64, turns on the circuit 64, and excites the solenoid 45. When the solenoid 45 is energized, the electromagnetic switching valve 41 shown in FIG.
3, the drive of the right crawler 4 is stopped and the traveling direction of the combine is corrected to the right. On the other hand, if the combine machine moves to the right during this middle splitting operation, the sensor arm 53 shifts to the zone. Therefore, the sensor switch 57
is turned on, and this “1” signal is output to the inverter 71.
and is applied to the first switching circuit 61 via the OR circuit 74, turning on the circuit 61 and exciting the solenoid 46. When the solenoid 46 is energized, the electromagnetic switching valve 41 shown in FIG. 3 switches in the opposite direction to that described above, and in order to supply hydraulic oil to the cylinder 42, the drive of the left crawler 3 is stopped. The direction of travel of the combine is corrected to the left. Next, automatic steering action in row mowing and horizontal mowing will be explained. When performing this row mowing and horizontal mowing work, the switching terminal 78c of the select switch 78 is switched to the other contact 78b. When driving, the right sensor arm 53 is, for example, the third
Since it is located in the zone shown in the figure, the combine machine maintains straight movement regardless of the zone in which the left sensor arm 52 is located. This is almost the same as traveling straight during the middle splitting work. Also, if the combine machine moves to the left during row mowing or horizontal mowing, the sensor arm 5
3 is pressed by the uncut grain culm and moves to the zone, and the drive of the right crawler 4 is stopped via each element in the same way as during the middle splitting operation, and the traveling direction of the combine is corrected to the right. Ru. Furthermore, during row mowing and horizontal mowing operations,
When the combine machine moves to the right and the right sensor arm 53 is in the zone and the left sensor arm 53 is in the zone, each sensor switch 57, 54, 56 is turned on, so the input to the AND circuit 69 is One signal is applied to both,
This signal is applied to the first switching circuit 61 via the OR circuit 74, turning on the circuit 61 and exciting the solenoid 46. The solenoid 4
6 is excited, the traveling direction of the combine is corrected to the left in the same manner as described above. Furthermore, during row mowing and horizontal mowing operations, when the combine harvester body moves to the left and the right sensor arm 53 is located in the zone and the left sensor arm 53 is located in the zone, each sensor switch 57, 55, 56 is turned on. Therefore, “1” signals are applied to both inputs of the AND circuit 70,
This signal is applied to the second switching circuit 64 via the inverter 73, turning on the circuit 64 and exciting the solenoid 45. When the solenoid 45 is energized, the traveling direction of the combine is corrected to the right in the same manner as described above. Further, during row mowing and horizontal mowing operations, when the right sensor arm 53 is located in the zone and the left sensor arm 53 is located in the zone or in the zone, and the combine machine is traveling properly along the grain culm, Sensor switches 57 and 56 or 55 are turned on, and two AND circuits 69,
A “1” signal is applied to one input terminal (upper terminal in Figure 4) of 70, and a “0” signal is applied to the other input terminal (lower terminal in Figure 4). These respective AND circuits 69, 70
Since both output "0" signals, neither of the switching circuits 61 and 64 turns on.
A combine harvester maintains straight running. Furthermore, when the traveling speed of the aircraft is decreased or increased to a low or high speed by operating the main shift lever 89 during automatic steering as described above, the delay circuit 8
As a result of changing the resistance values of the variable resistors 79 and 84 of No. 3 and 88, the delay time becomes smaller as the speed increases, and becomes larger as the speed becomes slower. It is possible to eliminate inconveniences such as a delay in the output of a turning signal or the output of an erroneous signal due to changes in the traveling speed when the vehicle is running.
Reliable automatic steering can be achieved by automatically controlling the resistance values of the resistors 79 and 80 so that an appropriate delay time suitable for the working speed is always obtained. "Effect of the invention" As is clear from the above embodiments, the present invention has the following advantages:
and on-delay circuits 83 and 88 that change the delay time in conjunction with a traveling speed change lever 89, and outputs the steering output of the steering sensors 48 and 49 via the on-delay circuits 83 and 88. In the automatic steering system, a select switch 78 switches between a middle cutting operation performed by the right steering sensor 49 and a row mowing operation using the left and right steering sensors 48 and 49.
A select switch 78 is connected via an on-delay circuit 83 to a sensor switch 57 that detects the steering of the aircraft to the right by the right steering sensor 49, and a sensor switch 55 that detects the steering of the aircraft to the left by the left steering sensor 48. , 56 has an on-delay circuit 88
are connected to each other, and the detection of the right-hand side of the machine during splitting work and the left-hand side of the machine during row cutting work are carried out via separate on-delay circuits 83 and 88. Sensor switch 5 of right steering sensor 49 can be activated just by operating
7, it is possible to easily obtain the left turning output for the middle cutting work, and compared to the conventional system, automatic steering control can properly detect the right side of the machine during the middle cutting work, making it easier to operate the machine during the middle cutting work. It is possible to easily improve the automatic steering function by preventing erroneous direction detection, and
Since the select switch 78 is connected via the ON delay circuit 83 to the sensor switch 57 that detects the movement of the right steering sensor 49 to the right, which is used for the middle splitting operation, the left or The logic circuit 68 that obtains the right steering output and the straight forward output can be simply configured, and the steering function for mid-splitting work can be easily added without impairing the operation of the on-delay circuit 83 during row cutting work. This has practical effects such as full automation of steering operation and improved handling operability. 【table】

[Brief explanation of the drawing]

FIG. 1 is an overall side view of a combine harvester showing an embodiment of the present invention, FIG. 2 is a plan view thereof, FIG. 3 is an automatic steering system diagram, and FIG. 4 is an electrical circuit diagram of the main parts. 48, 49... Steering sensor, 55, 56, 57
...sensor switch, 58...select switch, 83, 88...on delay circuit, 89...travel gear shift lever.

Claims (1)

[Scope of utility model registration request] Left and right steering sensors 4 that detect uncut grain culm rows
8 and 49, and an on-delay circuit 83 that changes the delay time in conjunction with the traveling speed change lever 89;
88, and outputs the steering outputs of the steering sensors 48 and 49 via the on-delay circuits 83 and 88, in which the right steering sensor 49 performs intermediate splitting work and left/right steering. Sensor 48, 4
The select switch 78 is connected to the sensor switch 57 which detects the steering of the aircraft to the right by the right steering sensor 49 via the ON delay circuit 83, and the select switch 78 is connected to the sensor switch 57 which detects the right steering of the aircraft by the right steering sensor 49. On-delay circuits 88 are connected to sensor switches 55 and 56 that detect when the sensor 48 is running to the left of the machine, and each on-delay circuit 83 is separately provided to detect the machine to the right during splitting work and to the left during row mowing work. , 88 . . , 88 .