JPH0125523B2 - - Google Patents
Info
- Publication number
- JPH0125523B2 JPH0125523B2 JP56062734A JP6273481A JPH0125523B2 JP H0125523 B2 JPH0125523 B2 JP H0125523B2 JP 56062734 A JP56062734 A JP 56062734A JP 6273481 A JP6273481 A JP 6273481A JP H0125523 B2 JPH0125523 B2 JP H0125523B2
- Authority
- JP
- Japan
- Prior art keywords
- time
- stem
- stem culm
- sensors
- culm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 15
- 238000005520 cutting process Methods 0.000 claims description 6
- 230000007704 transition Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 7
- 241000209094 Oryza Species 0.000 description 2
- 235000007164 Oryza sativa Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000009566 rice Nutrition 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Description
【発明の詳細な説明】
本発明は、茎稈条列に沿つての刈取作業走行を
良好に行えるように、植立茎稈導入経路の両側脇
夫々に、茎稈が前記経路の設定幅内から外れた事
を検出するセンサーを設け、前記センサー夫々に
連係して操向クラツチを自動的に切り操作する方
向制御機構を設けた茎稈刈取機に関する。DETAILED DESCRIPTION OF THE INVENTION In order to facilitate reaping work along the rows of stem culms, the present invention provides a method in which the stem culms are placed on each side of the planting stem culm introduction route within the set width of the said route. The present invention relates to a stem and culm reaper that is provided with a sensor that detects that the stem and culm have come off, and a direction control mechanism that automatically disconnects and operates a steering clutch in conjunction with each of the sensors.
従来、この種の茎稈刈取機においては、刈取走
行途中で圃場の条件、例えば圃場の乾湿状態、植
立穀稈の植付状態等が変化した場合や、走行速度
が変化した場合等に、操向クラツチの切り操作に
伴う旋回性能に差が生じていた。詳しく説明する
と、従来、茎稈刈取機の操向性能を一定に保つて
操向していたのであるが、例えば湿田を走行する
のに適するように泥によるスリツプの影響も考慮
した走行をするように茎稈刈取機を走行させてい
る途中で、湿田状態の圃場が乾田状態に変化して
いると、スリツプしにくくなるため旋回性が良く
なることにより、自動操向での左右旋回が必要以
上に繰り返されるようになつたり、あるいは逆に
超湿田状態に変化した場合には旋回性が悪くなつ
て、自動操向での方向修正に遅れが生じてしまう
こと等により走行条件が変化すると、安定した制
御ができないので、刈取不良が生じ易いという欠
点があつた。 Conventionally, in this type of stem culm reaper, when the field conditions, such as the dry/wet condition of the field or the planting condition of the planted grain culm, change during the reaping operation, or when the traveling speed changes, etc. There was a difference in turning performance due to the steering clutch disengagement operation. To explain in more detail, in the past, stem and culm reapers were steered by keeping the steering performance constant, but for example, in order to make it suitable for driving through wet rice fields, it is now possible to drive by taking into account the effects of slips caused by mud. If the field changes from a wet field to a dry field while the stem culm reaper is running, it will be less likely to slip and will have better turning performance, making it unnecessary to turn left and right using automatic steering. If the conditions become repetitive, or if conditions change to ultra-wet fields, turning performance deteriorates, and there is a delay in automatic steering direction correction. Since it is not possible to perform precise control, there is a drawback that poor cutting is likely to occur.
そこで、上記欠点の解決を図つた茎稈刈取機と
して、例えば、
特開昭54−130316号公報
又は、
実開昭53−54825号公報
に開示されたものが、従来より知られている。 Therefore, as a stem culm reaping machine that attempts to solve the above-mentioned drawbacks, for example, those disclosed in Japanese Unexamined Patent Application Publication No. 130316/1982 or Japanese Utility Model Application No. 54825/1982 have been known.
上記のものは、茎稈がセンサーに接当したこ
とを検出したその検出結果に基づいて自動操向を
行つても連続的にそのセンサーでの検出がある場
合、時間経過とともに操向能力を増大させること
により、安定した操向制御を行うようにしたもの
であるが、センサーが茎稈と接当していないと操
向能力を良好な状態にできないから、茎稈がセン
サーに接当する時点では走行条件に合つた操向制
御がなされていないこともあり、このため、茎稈
列に対して機体が大きく偏位している場合には刈
取不良がやはり生じる虞れがあつた。 The above system detects that the stem culm has come into contact with the sensor, and automatically steers based on the detection result, but if the sensor continues to detect it, the steering ability increases over time. This allows for stable steering control, but since the steering ability cannot be maintained in good condition unless the sensor is in contact with the stem culm, the point at which the stem culm comes into contact with the sensor is In some cases, steering control is not performed to suit the driving conditions, and for this reason, if the machine body is largely deviated from the stem culm row, there is a risk that poor cutting will occur.
又、上記のものは、走行条件に応じて作業者
が操向性能を手動操作で変えるものであるが、走
行条件が変化したことを作業者が気付いて初めて
その操作を行うので、これも迅速な対応ができる
ものでなく、刈取不良が生じる虞れがあつた。 In addition, in the above system, the steering performance is manually changed by the operator according to the driving conditions, but since the operator performs the operation only after noticing that the driving conditions have changed, this can also be done quickly. There was a risk that poor harvesting would occur.
本発明は、上記実状を鑑みてなされたものであ
つて、圃場での走行条件が変化しても、安定的な
自動操向ができるように、その走行条件に合つた
操向制御状態に迅速に変更できる茎稈刈取機を提
供することを目的とする。 The present invention has been made in view of the above-mentioned circumstances, and enables stable automatic steering even when the driving conditions in the field change. The purpose is to provide a stem culm reaper that can be changed to.
次に、本発明の実施例を図面に基いて詳述す
る。 Next, embodiments of the present invention will be described in detail based on the drawings.
圃場の植立茎稈を引起こす引起し装置１、引起
こされた茎稈を刈取る刈取装置２、刈取茎稈を機
本後方上方に向けて搬送しながら横倒れ姿勢に姿
勢変更してフイードチエーン３に受渡す搬送装置
４、及び、フイードチエーン３によつて挾持搬送
される刈取茎稈を脱穀処理する脱穀装置５を、順
次、左右一対のクローラ走行装置６ａ，６ｂを備
えると共に操縦部７を設けた走行車体に連設し、
もつて、走行に伴い圃場の植立茎稈を連続的に収
穫処理していくようにコンバインを構成してあ
る。 A lifting device 1 that raises planted stem culms in the field, a reaping device 2 that reaps the raised stem culms, and a reaping device 2 that reaps the planted stem culms while conveying the cut stem culms toward the rear and upwards of the machine, changes its posture to a sideways posture, and then lifts the planted stem culms. A conveying device 4 that delivers to the feed chain 3, and a threshing device 5 that threshes the harvested stem culms that are pinched and conveyed by the feed chain 3 are sequentially operated by being equipped with a pair of left and right crawler traveling devices 6a and 6b. The part 7 is connected to the traveling vehicle body provided with the part 7,
The combine harvester is configured to continuously harvest and process planted stems and culms in the field as it travels.
前記引起し装置１の下部前方に分草具８を設け
て茎稈導入経路Ｒ…を形成してあり、そして、そ
の経路Ｒ…のうちのフイードチエーン３側のもの
において、経路Ｒの両側脇夫々に、縦軸芯周りで
揺動自在に、かつ、茎稈との非接触状態で経路Ｒ
に直交する方向に突出した姿勢になるように付勢
して接触揺動センサーS1，S2を設け、その両セン
サーS1，S2からの信号を制御器９に入力し、その
制御器９からの指令信号により、前記走行装置６
ａ，６ｂ夫々に付設の操向クラツチ１０ａ，１０
ｂに対するシリンダ１１ａ，１１ｂの電磁式コン
トロールバルブＶを自動的に操作するように構成
してあり、もつて、両センサーS1，S2への茎稈接
触に伴い、左右操向クラツチ１０ａ，１０ｂを自
動的に切り操作して茎稈列に追従した走行を行え
るように方向制御機構１２を構成してある。 A weed splitter 8 is provided at the front of the lower part of the pulling device 1 to form a stem culm introduction route R, and in the route R on the feed chain 3 side, both sides of the route R are The path R can be freely swung around the vertical axis on each side and without contact with the stem culm.
Contact swing sensors S 1 and S 2 are provided so as to be biased to protrude in a direction orthogonal to According to the command signal from 9, the traveling device 6
Steering clutches 10a and 10 attached to a and 6b, respectively
The electromagnetic control valves V of the cylinders 11a, 11b for the cylinders 11a , 11b for the cylinders 11a, 11b are automatically operated. The direction control mechanism 12 is configured so that the stem can automatically cut and run to follow the stem culm row.
前記センサーS1，S2からの信号を判別回路１３
に入力し、センサーS1，S2の一方が茎稈に接触し
た外れ状態から、茎稈から離間した正常状態に移
行した時点を起点として、他方が茎稈に接触して
外れ状態を検出するまでの時間を検出するように
検出機構１４を構成してある。前記判別回路１３
からの信号と設定器１５からの信号を比較器１６
に入力し、その比較結果に基いてパルス調整回路
１７に信号を入力し、一定周期におけるパルス信
号自体の幅を変更し、その回路１７からの信号を
前記制御器９に入力し、前記コントロールバルブ
Ｖを入り操作するパルス信号の幅を変更し、操向
クラツチ１０ａ，１０ｂに対する切り操作時間
を、前記検出機構１４における検出時間を設定範
囲内に維持させるように調整機構１８を構成して
ある。 A circuit 13 for determining signals from the sensors S 1 and S 2
, and from the time when one of the sensors S 1 and S 2 shifts from the detached state where it is in contact with the stem culm to the normal state where it is separated from the stem culm, the other sensor is in contact with the stem culm and detects the detached state. The detection mechanism 14 is configured to detect the time until the end. The discrimination circuit 13
Comparator 16 compares the signal from the setter 15 with the signal from the setter 15.
Based on the comparison result, a signal is input to the pulse adjustment circuit 17 to change the width of the pulse signal itself in a certain period, and the signal from the circuit 17 is input to the controller 9, and the signal is input to the pulse adjustment circuit 17 based on the comparison result. The adjustment mechanism 18 is configured to change the width of the pulse signal for turning on the steering clutches 10a and 10b to maintain the detection time of the detection mechanism 14 within a set range.
即ち、詳述すれば、第８図に示すように、湿田
等で旋回性が大で検出機構１４における検出時間
ｔが短かくなつた場合には、一定周期で発振され
るパルスの幅l1をそれまでのものの幅ｌよりも小
にし、他方、乾田等で旋回性が小の場合には、上
記パルスの幅を大にし、外れ状態検出時から正常
状態検出時に至るまでの操向クラツチ１０ａ，１
０ｂに対する切り操作時間を調整するものであ
る。 More specifically, as shown in FIG. 8, when the rotational property is large in wet fields or the like and the detection time t in the detection mechanism 14 becomes short, the width l 1 of the pulses emitted at a constant period becomes shorter. is made smaller than the previous width l, and on the other hand, when the turning performance is small in dry rice fields, etc., the width of the above-mentioned pulse is increased, and the steering clutch 10a is adjusted from the time when the disengaged state is detected to the time when the normal state is detected. ,1
This is to adjust the cutting operation time for 0b.
本発明としては、種々の条件変化にかかわら
ず、旋回性を変えないように操向クラツチ１０
ａ，１０ｂに対する切り操作時間を変更調整でき
れば良く、そのために、上述実施例のように一定
周期で発振されるパルス自体の幅を変更するもの
に限らず、例えば、パルス自体の幅は同じにしな
がらもその周期を変える等、各種の変形が可能で
ある。 According to the present invention, the steering clutch 10 is adjusted so as not to change the turning performance regardless of various condition changes.
It is sufficient if the cutting operation time for a and 10b can be changed and adjusted, and for this purpose, it is not limited to changing the width of the pulse itself that is oscillated at a constant period as in the above embodiment, but for example, it is possible to change the width of the pulse itself while keeping the width of the pulse itself the same. Various modifications are possible, such as changing the period.
本発明は、コンバインに限らず、バインダー
等、各種の茎稈刈取機に適用できる。 The present invention is applicable not only to combines but also to various types of stem and culm reapers such as binders.
以上要するに、本発明は、冒記した茎稈刈取機
において、前記センサーのうちの一方が茎稈と接
触する外れ状態から、両センサーがともに茎稈に
対して非接触となる正常状態に移行した時点を起
点として、他方が前記外れ状態を検出する時点ま
での時間を検出する検出機構を設け、前記検出機
構による検出時間を設定範囲内に維持させるよう
に、前記センサー夫々において前記外れ状態検出
時から正常状態検出時に至るまでの前記操向クラ
ツチに対する切り操作時間を調整する調整機構を
備えさせてあることを特徴構成とする。 In summary, the present invention, in the above-mentioned stem culm reaper, shifts from a detached state in which one of the sensors contacts the stem culm to a normal state in which both sensors are not in contact with the stem culm. A detection mechanism is provided that detects the time from a point in time to a point in time when the other detects the disconnection state, and each of the sensors detects the disconnection state so that the detection time by the detection mechanism is maintained within a set range. The present invention is characterized in that it is provided with an adjustment mechanism that adjusts the time required for the steering clutch to be operated from the time to the time when a normal state is detected.
すなわち、左右のセンサーの一方が茎稈と接触
する外れ状態から茎稈と非接触の正常状態へ移行
した時点を起点として、他方のセンサーが茎稈と
接触する時点までの時間は、種々の走行条件の変
化に応じてその長さに差が生じることに着目し、
その時間の検出結果に基づいて、旋回性が大なら
ばクラツチ切り時間を短くし、逆に、旋回性が小
ならばクラツチ切り時間を長くすることにより、
走行時の前記検出時間を設定範囲内に維持させよ
うとするから、種々の走行条件の変化に対して、
安定的に自動操向することができるとともに、セ
ンサーが茎稈と接触した時点で旋回性が決定でき
るものなので、走行条件の変化に迅速に対応した
良好な自動操向が行えることになつて、走行条件
の変化に追随できないことによる刈取不良の発生
を極力回避できるという効果を奏するに至つた。 In other words, the time from the point in time when one of the left and right sensors transitions from the detached state in which it makes contact with the stem culm to the normal state in which it does not come in contact with the stem culm to the point in time when the other sensor comes into contact with the stem culm varies depending on various driving conditions. Focusing on the fact that the length changes depending on changes in conditions,
Based on the detection result of the time, if the turning performance is high, the clutch disengagement time is shortened, and if the turning performance is low, the clutch disengagement time is lengthened.
Since the detection time during driving is attempted to be maintained within a set range,
In addition to being able to perform stable automatic steering, the turning ability can be determined as soon as the sensor comes into contact with the stem culm, allowing for good automatic steering that quickly responds to changes in driving conditions. This has resulted in the effect that it is possible to avoid as much as possible the occurrence of poor cutting due to the inability to follow changes in driving conditions.
尚、特許請求の範囲の項に図面との対照を便利
にする為に符号を記すが、該記入により本発明は
添付図面の構造に限定されるものではない。 Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.
図面は本発明に係る茎稈刈取機の実施例を示
し、第１図はコンバインの全体側面図、第２図は
機構図、第３図はパルスのタイムチヤートであ
る。
１０ａ，１０ｂ……操向クラツチ、１２……方
向制御機構、１４……検出機構、１８……調整機
構、Ｒ……茎稈導入経路、S1，S2……センサー。
The drawings show an embodiment of the stem and culm cutter according to the present invention, in which FIG. 1 is an overall side view of the combine, FIG. 2 is a mechanism diagram, and FIG. 3 is a pulse time chart. 10a, 10b... Steering clutch, 12... Direction control mechanism, 14... Detection mechanism, 18... Adjustment mechanism, R... Stem culm introduction route, S 1 , S 2 ... Sensor.
Claims (1)
前記経路Ｂの設定幅内から外れた事を検出するセ
ンサーS1，S2を設け、前記センサーS1，S2夫々に
連係して操向クラツチ１０ａ，１０ｂを自動的に
切り操作する方向制御機構１２を設けた茎稈刈取
機であつて、前記両センサーS1，S2のうちの一方
が茎稈と接触する外れ状態から、両センサーS1，
S2がともに茎稈に対して非接触となる正常状態に
移行した時点を起点として、他方が前記外れ状態
を検出する時点までの時間を検出する検出機構１
４を設け、前記検出機構１４による検出時間を設
定範囲内に維持させるように、前記センサーS1，
S2夫々において前記外れ状態検出時から正常状態
検出時に至るまでの前記操向クラツチ１０ａ，１
０ｂに対する切り操作時間を調整する調整機構１
８を備えさせてある事を特徴とする茎稈刈取機。1. Sensors S 1 and S 2 are provided on both sides of the planted stem culm introduction path B to detect when the stem culm has deviated from the set width of the path B, and are linked to the sensors S 1 and S 2 , respectively. The stem culm reaper is equipped with a direction control mechanism 12 that automatically disconnects and operates the steering clutches 10a and 10b, and the stem culm reaper is in a disengaged state in which one of the two sensors S 1 and S 2 comes into contact with the stem culm. From, both sensors S 1 ,
Detection mechanism 1 that detects the time from the time when both S 2 transition to a normal state in which they are not in contact with the stem culm until the time when the other one detects the detached state.
The sensors S 1 , 4 are arranged so that the detection time by the detection mechanism 14 is maintained within a set range.
In each of S2 , the steering clutches 10a and 1 from the time when the disengaged state is detected to the time when the normal state is detected.
Adjustment mechanism 1 that adjusts the cutting operation time for 0b
A stem culm reaping machine characterized by being equipped with 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6273481A JPS57177601A (en) | 1981-04-25 | 1981-04-25 | Stalk mowering machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6273481A JPS57177601A (en) | 1981-04-25 | 1981-04-25 | Stalk mowering machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS57177601A JPS57177601A (en) | 1982-11-01 |
| JPH0125523B2 true JPH0125523B2 (en) | 1989-05-18 |
Family
ID=13208894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6273481A Granted JPS57177601A (en) | 1981-04-25 | 1981-04-25 | Stalk mowering machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS57177601A (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54130316A (en) * | 1978-03-30 | 1979-10-09 | Kubota Ltd | Reaper equipped with automatic steering control mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5841768Y2 (en) * | 1976-10-12 | 1983-09-21 | ヤンマー農機株式会社 | automatic straight combine harvester |
-
1981
- 1981-04-25 JP JP6273481A patent/JPS57177601A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54130316A (en) * | 1978-03-30 | 1979-10-09 | Kubota Ltd | Reaper equipped with automatic steering control mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS57177601A (en) | 1982-11-01 |
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