JPH01215207A - Controller for turning of reaping harvester - Google Patents

Abstract

PURPOSE:To make a reaping harvester turn without pushing down unreaped grain culms even if an advancing or backing distance is reduced, by changing the position of a reaping treatment part to the side of unreaped grain culms at a place before the completing end of an operation stroke, returning and moving the reaping treatment part to the standard reaping position after completing the operation stroke. CONSTITUTION:The position of a reaping treatment part (C) is changed to the side of unreaped grain culms by the set extent at a place before the completion end of an operation stroke and a travel car body 2 is turned to the side of unreaped grain culms by the set angle after completing the operation stroke. After the turning, the travel car body 2 is backed through the set distance and then turned to the side of the unreaped grain culms by the set angle (secondary turning). The travel car body is subsequently advanced after the turning. The reaping treatment part is returned to the standard reaping position after completing the operation stroke and before the secondary turning.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a reaping harvester comprising a traveling vehicle body having a pair of left and right traveling crawlers, and a reaping processing section attached to the front portion of the traveling vehicle body. The present invention relates to a turn control device that automatically travels to the next working stroke in a direction intersecting with the completion of one working stroke.

[Conventional technology]

Such a turn control device is used when a reaping/harvesting machine such as a combine is run in a rotating mode.

Conventionally, in general, after the completion of the work process, a first turning is performed in which the traveling vehicle body is turned at a set angle toward the uncut grain culm, and after that turning, the traveling vehicle body is moved backward by a set distance. , a secondary turn is made in which the traveling vehicle body is turned at a set angle toward the uncut grain culm, and after that turn, turns are performed in the order in which the traveling vehicle body is moved forward. (For example, see Japanese Patent Application Laid-open No. 111307/1983).

[Problems to be Solved by the Invention] In such a turn, as shown in FIG. 7, the forward distance (
Lf) is reduced, and the asterning distance after the first turn (Lr
), it is desirable to shorten the time required for a turn and to reduce the size of the headland.

However, during the first turning, the traveling crawler on the uncut side is suppressed from pushing down the uncut husk culm, and during the second turning, the tip of the reaping processing section is suppressed from pushing down the uncut husk culm. However, in order to ensure that the position of the reaping harvester in the width direction of the car body is the appropriate position for the next work process when moving forward after the second turning, the forward path M (Lf) and the backward movement distance must be adjusted. (Lr) could not be made sufficiently small.

By the way, in order to prevent the uncut culm from being pushed even if the primary turning position or the secondary turning position deviates slightly, turn control is performed with flexibility in response to deviations in the turning position. From this point of view, forward path 1
i! II (Lf) and retreat! There are restrictions on shortening (Lr).

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to - make effective use of the fact that there is no problem in operation even if a large amount of culm is sometimes cut in the cutting section; The object of the present invention is to shorten the forward distance and the backward distance.

[Means to solve the problem]

The turn control device for a reaping/harvesting machine according to the present invention allows a reaping/harvesting machine equipped with a traveling vehicle body having a pair of left and right traveling crawlers and a reaping processing unit attached to the front part of the traveling vehicle body to complete one work process. The vehicle automatically travels to the next working stroke in a direction intersecting the previous stroke, and the reaping processing section is provided so as to be adjustable in position in the width direction of the vehicle body.
a position changing means for changing the position of the reaping processing unit from a set standard reaping position to an end reaping position in which the position is changed by a set amount toward the uncut grain culm at a location near the end of the work process; and after the end of the work process; , a primary turning means for turning the traveling vehicle body toward the uncut grain culm side at a set angle, and after the turning,
reversing means for moving the traveling vehicle body backward a set distance; secondary turning means for turning the traveling vehicle body at a set angle toward the uncut grain culm side after the backward movement; and a secondary turning means for causing the traveling vehicle body to move forward after the turning after the completion of the working stroke and before the operation of the secondary turning means,
A return position changing means for returning the reaping processing section to the standard reaping position is provided.

Further, in order to automatically start the turn control, turn starting means is provided for determining when the traveling vehicle body has reached near the end of the working stroke and starting the turn control.

Furthermore, the first turning is to turn around the traveling crawler on the uncut grain culm side, and the second turning is to turn around the traveling crawler on the cut grain culm side.

[For production]

Next, the operation will be explained with reference to (a), (El), (c), and (d) of FIG.

The reaping processing section located at the set standard position is changed to the end reaping position where the position is changed by a set amount toward the uncut grain culm at a position before the end of the working stroke. (Figure 1 (a) l(
(Refer to D)) Incidentally, in the reaping processing unit located at the standard position, the already reaped side portion of the reaped medium is a non-reaped portion into which the culm is not introduced. Therefore, even if the position is changed to the end cutting position, the culm located on the farthest cut side will not be left uncut.

Next, after the work process is completed, the traveling vehicle body is turned at a set angle toward the uncut grain culm by, for example, turning around the traveling crawler on the uncut grain culm side. (See Figure 1 (C)) After the turn, the traveling vehicle body is moved backward a set distance, and after the backward movement is completed, the traveling vehicle body is moved toward the uncut grain culm by, for example, turning around the traveling crawler on the cut grain culm side. Rotate to the side. (See Figure 1 (d)) After the turn, the traveling vehicle body is moved forward.

Then, after the work stroke is completed and before the second turning after reversing is performed, the reaping processing section is returned to the set standard reaping position. In the illustrated example, the return movement is performed after the first turning after the completion of the work stroke.

The above-mentioned turn control may be activated by the onboard operator giving an activation command, but it can also be activated automatically as described below.

In other words, for example, the distance traveled from the starting point of the work process is
By causing the distance detecting means to detect and the traveling distance reaches a distance close to the length of the working stroke stored in the storage means, it is detected that the traveling vehicle body has reached near the end of the working stroke, etc. , it detects that the machine is near the end of its working stroke and automatically activates turn control.

〔Effect of the invention〕

Therefore, at the end of the working stroke, there will be a cut portion that protrudes toward the uncut grain culm side, and therefore, even if the forward distance after the end of the stroke is made small and the primary turning is performed,
The traveling crawler on the side of the uncut shell culm no longer pushes down the uncut shell culm.

Furthermore, due to the presence of the previously mown portion and the return movement of the reaping section to the standard reaping position, even if the reversing distance is shortened, the reaping section will not work during the second turn. There is no need to push down uncut culms.

In short, even if the forward distance and backward distance are reduced, the turn can be made without pushing down the uncut culm, the turning time can be shortened, and the size of the headland can be reduced.

Further, by automatically starting the turn control, it is possible to reliably turn the vehicle at an appropriate time.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 5, a combine harvester as an example of a reaping/harvesting machine has a pair of left and right running crawlers (1L), (1
R), a threshing device (3) mounted on the running vehicle body (2), a threshing device (3) disposed on the front side of the right lateral side of the running vehicle body (2), and a driver's seat. (4) and control tube (
5), and a reaping processing section (C) attached to the front part of the traveling vehicle body (A).

The reaping processing unit (C) includes a reaping unit (C) that raises and reaps the culm.
6) Thresh the harvested husk in a threshing bag! (3) Feed chain (
8) Transport bag to supply! (7), and is connected to the traveling vehicle body (2) so as to be movable up and down. The conveyance device (7) consists of a tip locking conveyance device (7A) and a stock clamping conveyance device (7B).

The reaping section (6) includes weeding tools (
9), a pair of left and right lifting devices (10), a clipper-type cutter (11) that cuts the base of the raised culm, and an auxiliary conveyor that locks and transports the base of the cut culm to the rear side. Device (12
).

A cylindrical reaping part support frame (13) that connects the reaping part (6) to the traveling vehicle body (2) is attached to the mounting base (1) of the traveling vehicle body (2).
A reaping section lifting cylinder (4) is supported in a vertically swingable manner and lifts and lowers the reaping section support frame (13).
15) is provided.

A support frame (16) at the rear end of the conveyance device (7) is pivotably supported around the same axis as the reaping section support frame (13), and is connected to the reaping section support frame (13). Between the support frame (16), there is a hydraulic cylinder (
17) is interposed. Therefore, transport equipment! (7) is
It is raised and lowered integrally with the reaping part (C), and is also raised and lowered independently to adjust the handling depth.
- The conveyance device (7) is connected to the support frame (16) so as to be swingable around the longitudinal axis of the support frame (16), and as described later, the reaping section (6) It is designed to swing as the position is adjusted in the width direction of the vehicle body.

Means for adjusting the position of the reaping part (6) in the width direction of the vehicle body (
0) will be explained.

This position change adjustment means (D) basically supports the reaping section (6) in a slidable manner at the tip of the reaping section support frame (13) and adjusts its position.

That is, as shown in Fig. 4, the reaping part support frame (
A pair of front and rear elongated frames (18A) and (18B) are supported by the reaping section mounting frame (13A) at the tip of the reaping section (13) so as to be slidable in the left and right direction. 18B), three weeding tool support frames (19a), (19b), and (19c) are attached. Although not detailed, the lifting device (1
0), the cutter (11), and the auxiliary conveyance device (12), respectively, include elongated frames (18A), (18B), weeding tool support frames (19a), (19b),
(19c) will be used as a base frame to be mounted in a predetermined position.

A rotating shaft (21) with a spiral groove, which is rotated forward and backward by an electric motor (20), is a long frame (18A).

(18B) is supported by a bracket (22) attached to the reaping part mounting frame (13A), and a frame member (23) that fits on the rotating shaft (21) is fixed to the reaping part mounting frame (13A), thereby driving the electric motor (20). By forward and reverse rotation, the position of the reaping section (6), that is, the reaping processing section (C) can be adjusted from the set standard reaping position to the final reaping position, which is shifted by a set amount toward the uncut grain culm side. It has become.

The reaping section support frame (13) also serves as a case for a transmission shaft that transmits power from the traveling vehicle body (2) to the reaping section (6). The power from the transmission shaft is transmitted to various devices of the reaping section (6) using a transmission structure that allows the position of the reaping section (6) to be changed.

Further, as shown in FIG. 5, the reaping section (6) is provided with a locking rod (24) for locking the conveying device 1 (7), and is used to adjust the position of the reaping section (6). Accordingly, the conveyor device (7)
can be adjusted by swinging.

Next, as shown in Figure 6, when the combine harvester performs counterclockwise mowing, the combine harvester is moved in the direction that intersects with that stroke upon completion of one work stroke. The turn control device that automatically drives the vehicle will be explained.

First, the sensors and steering structure necessary for turn control will be explained.

As shown in FIG. 5, a direction sensor (25
) is provided.

As shown in FIG. 2, the configuration is such that the output from the engine (H) is transmitted to the traveling transmission section (27) via a hydraulic continuously variable transmission M (26). A rotation speed sensor (28) is provided which obtains information for detecting the traveling distance and vehicle speed of the traveling vehicle body (2) by detecting the rotation speed of the input shaft (27a) of the traveling transmission section (27). It is being

A pair of left and right steering clutches with brakes are installed in the running part (27) to individually turn on and off the power transmission to the left and right running crawlers (1L) and (1R), respectively, and to apply braking after the disengaged state. (29L) and (29R) are provided, and these steering clutches (29L) and (29R) are provided.
A pair of left and right steering cylinders (30L) that operate R)
.

(30R), and those cylinders (30L), (
30R) is provided.

In the figure, (32) is a control valve for the cylinder (15) for raising and lowering the reaping section, and (33a) is a rim switch that detects that the reaping section (6) is in the final reaping position (see Fig. 4). ,
(33b) is a rimming switch (see Figure 4) that detects that the reaping part (6) is in the standard reaping position, (34) is the drive circuit for the position adjustment motor (20), and (35) is the transmission device. (26) is an electric motor for speed change, and (36) is its drive circuit.

A controller (H) configured using a microcomputer is provided, and this controller (H) performs turn control based on information stored in the memory (M) and information detected from sensors. It is designed to output commands for

That is, the controller (H) is the main part, and various means described below are configured.

In other words, at a point before the end of the work stroke, the electric motor (20) is set to the limit in order to change the position of the reaping processing unit (C) from the set standard position to the end reaping position where the position is changed by a set amount toward the uncut grain culm side. a position changing means (100) that is operated until the switch (33a) is detected and activated, and a traveling crawler (1) on the mown side in order to turn the traveling vehicle body (2) at a set angle toward the uncut grain culm side after the work stroke is completed;
Steering clutch (29L) to drive only R),
A primary turning means (101) that operates the primary turning means (29R); After the turning, a reverse means (102) that operates the speed change motor (35) in order to move the traveling vehicle body (2) backward by a set distance; , the traveling vehicle body (2) should be turned at a set angle toward the uncut grain culm side (the traveling crawler (1L) on the uncut side
Steering clutch (29L), (
29R); after the turning, the forwarding means (104) operates the speed change motor (35) in order to move the traveling vehicle body (2) forward; and after the work stroke is completed. , and a secondary turning means (103)
In order to return the reaping processing section (C) to the standard reaping position, the electric motor (2
0) until the limit switch (33b) detects the return position detection means (105), a distance detection means (106) that detects the traveling distance based on the detection information of the rotation speed sensor (28), and Based on the information of the distance detection means (106) and the length information of the working stroke stored in the memory (M), it is detected that the traveling vehicle body (2) has reached near the end of the working stroke, and turn control is performed. A turn starting means (107) for activating the reaping processing section (C), which raises the reaping processing section (C) to the set position before the first turning, and raises the reaping processing section (C) to the set position before moving forward after the second turning. This includes an elevation control means (108) for lowering the vehicle.

Note that the length of the work process is determined by inputting the length of each side of the rectangular field. However, if a turn is made, it will be corrected based on the reaping part. The length of each side can be entered using a keyboard or the like, but generally speaking, the distance detection means (
106) is often automatically input based on the detected information.

Further, the detection information of the distance scraping means (106) is also used as information for determining the turning point of the first turning and the turning point of the second turning, and the detection information of the direction sensor (25) is It will be used to determine the end of the first turn or the second turn.

FIG. 3 is a flowchart showing the operation of turn control, in which processes corresponding to each of the above-mentioned means are sequentially executed.

Note that stopping the vehicle in the flowchart means disengaging the left and right steering clutches (29L) and (29R) and operating the transmission (26) to a neutral state.

[Another example]

The present invention is applicable not only to combines but also to various types of reaping and harvesting machines. However, in a combine harvester, the reaping part (6) is originally such that no culm is introduced into the cut side part of the reaping part in the standard reaping position, and therefore, there are few modifications to the reaping part (6). Can be implemented.

Further, when carrying out the present invention, it is preferable to carry out the invention in combination with a steering control means for automatically driving the machine along the working process.

Further, various specific configurations required to carry out the present invention can be modified in various ways.

Further, in the above-described embodiment, the case where the mowing is performed in a counterclockwise direction is exemplified, but it can be similarly implemented in the case where the mowing is performed in a clockwise direction.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the invention is not limited to the structure of the attached drawings by such entry.

[Brief explanation of the drawing]

The drawings show an embodiment of the turn control device for a reaping harvester according to the present invention, and FIG. 3 is a block diagram showing the control configuration, FIG. 3 is a flowchart showing control operation, FIG. 4 is a partially cutaway schematic plan view of the position adjustment means, and FIG.
The figure is a side view of the front part of the combine, FIG. 6 is a schematic plan view showing a running form of round mowing, and FIG. 7 is a plan view showing a turn pattern. (1L), (1R)... Traveling crawler, (
2)... Traveling vehicle body, (100)... Position changing means, (101)... Primary turning means,
(102)... Reverse means, (103)...
. . . Secondary turning means, (104) . . . Advancement means, (105) . . . Position changing means for return, (1
07)...Turn starting means, (C)...
・Reaping processing section.

Claims (1)

[Claims] 1. A traveling vehicle body (2) having a pair of left and right traveling crawlers (1L) and (1R), and a reaping processing unit (C) attached to the front of the traveling vehicle body (2). A turn control device that automatically moves a reaping and harvesting machine to the next working process in a direction intersecting with the completion of one working process,
The reaping processing section (C) is provided so that its position can be changed and adjusted in the width direction of the vehicle body, and at a location near the end of the working stroke, the reaping processing section (C) is moved from the standard reaping position to the uncut grain culm side by a set amount. a position changing means (100) for changing the position to the changed end reaping position; and a primary turning means (100) for turning the traveling vehicle body (2) at a set angle toward the uncut grain culm after the completion of the working process. 101), and a reversing means (101) for reversing the traveling vehicle body (2) by a set distance after the turn.
102), and after moving forward, the traveling vehicle body (2)
secondary turning means (1
03), a forwarding means (104) for advancing the traveling vehicle body (2) after the turning, and a forwarding means (104) for advancing the traveling vehicle body (2) after the completion of the working stroke and before the operation of the secondary turning means (103), A turn control device for a reaping harvester, comprising a return position changing means (105) for returning the processing section (C) to the standard reaping position. 2. Turn control for a reaping harvester according to claim 1, further comprising a turn starting means (107) for detecting that the traveling vehicle body (2) has reached near the end of the working stroke and starting the turn control. Device. 3. The first rotation is carried out by the traveling crawler (1) on the uncut grain culm side.
3. Turn control of the reaping harvester according to claim 1 or 2, wherein the second turning is made to turn around a traveling crawler (1R) on the harvested grain culm side. Device.