JPH0125525B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a reaping machine such as a combine harvester.
The present invention relates to a device that automatically controls direction by following grain culm rows.

Conventionally, a lateral direction sensor, that is, a direction sensor having a sensor arm protruding inside the machine body, is provided in the divider section on the cut side, and the direction sensor detects the rows of grain culms at the end of the cut side, and thus distinguishes between uncut and already cut sections. A directional control device has been devised that follows along between. The direction control device can control the direction not only during row mowing work but also during horizontal mowing or loose sowing work, and can perform stable control with little influence from grandchild plants, weeds, etc. However, even if the sensor arm does not come into contact with the grain culm due to gaps between plants or missing plants, a turning signal is emitted, so a timer is required to cut off such short signals. For this reason, if the row spacing suddenly changes or the row is making a sharp curve, the delay time caused by the timer may prevent the combine harvester from tracking the situation, causing the combine to plunge into the row. was occurring.

Therefore, in the present invention, a circuit for controlling the direction without using the timer is provided in addition to the circuit using the timer, and a row detection sensor is provided in the uncut side divider section, and by the operation of the row detection sensor,
To provide an automatic direction control device for a reaper which eliminates the above-mentioned inconvenience by activating a circuit for controlling the direction without using the timer and immediately controlling the direction without waiting for the delay time caused by the timer. The purpose is to

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, the combine 1 has a machine body 2 supported by crawlers (not shown), and the machine body 2 has a reaping section 3 in front and a driver's seat 4 on the right side. has been done. Further, the reaping section 3 is provided with a grain culm conveying device 7 having a large number of dividers 5a...5b, cutting blades, and a grain culm detection sensor 6, and the driver's seat 4 is equipped with a main switch 8 and a manual sensitivity switch. A switch 9 etc. are provided. A lateral direction sensor 10 is installed on the right side, that is, the cut side divider 5a, and a sensitive zone switching sensor 11 is installed on the left side, that is, the uncut side divider 5b.

The lateral direction sensor 10 has a case 12, as shown in FIGS. 2 and 3.
A shaft 13 is rotatably supported on the shaft 2 . axis 1
3, a sensor arm 15 protruding inward from the outside of the case 12 is fixed with bolts 16, etc., and three cams 18, 19, 20 are fixed in different phases within the case 12. Furthermore, the shaft 13 is cut out approximately in half in the middle, and a rod 22 biased by a spring 21 is fitted into the notch 13a, so that the shaft 13 and therefore the sensor arm 15 are cut out as shown in the solid line in the drawing. It is biased so that it is in the standing position A shown by. Additionally, the three cams 18, 19, 20 can actuate limit switches 24, 25, 26, respectively. That is, in FIG. 2, when the sensor arm 15 is in the range of positions A to B, the first switch 24 is turned on, and when the arm 15 is rotated to position B, the first switch 24 is turned on.
is turned off and the arm 15 is rotated to position C, the second switch 25 is turned on, and the arm 15 is turned on again.
When the switch rotates to position N, the third switch 26 is turned on. In the figure, 27 is a lead wire, 29 is an adjustment screw for adjusting the biasing force of the spring 21, and 30 is a lead wire.
is the lid of the case 12.

On the other hand, as shown in FIGS. 4 and 5, the sensitive zone switching sensor 11 has a case 31,
A shaft 32 is rotatably supported by the case 31. The shaft 32 has sensor arms 33 protruding on both left and right sides outside the case 31 fixed by bolts 35, and
Two cams 36 and 37 are fixed in different phases within the shaft 32, and the shaft 32 is held in the state shown in the figure by means of a spring 21' and a rod 22' similar to those described above, that is, the arm 33 is oriented in an approximately horizontal direction. It is biased to face. Also, the two cams 36, 37 can actuate limit switches 39, 40, respectively. That is, when the grain culm comes into contact with the right side 33r of the sensor arm 33 and rotates in the direction of the arrow r, the switch 39 is turned on, and when the grain culm comes into contact with the left side 33l of the arm 33 and rotates in the direction of the arrow l, Switch 40 is turned on.

The switches 25 to 26, 39, 40, the main switch 8, the manual sensitivity switch 9, and the switch 7' of the grain culm detection sensor 7 are
The wires are connected as shown in the figure. That is, the switches 39 and 40 of the sensitive zone switching sensor 11 are connected to relays 41 and 42, respectively.
When energized, the normally open contact 41a is turned on and the normally closed contacts 41b, 41c are turned off, and when the relay 42 is energized, the normally open contacts 42a, 42b, 42c,
42d is turned on, and the normally closed contacts 42e, 42f,
Turn off 42g and 42h. Further, the first switch 24 of the direction sensor 10 is connected via the contact 42b.
Timer 4 that cuts short signals from between plants, etc.
3, and the timer 43 turns on the normally open contact 43a when the power is continuously applied for a predetermined period of time. Further, the second switch 25 is connected to a relay 45, and when energized, the relay 45 turns on the normally open contact 45a and turns off the normally closed contacts 45b and 45c.
Further, the third switch 26 is connected to a relay 46 via a contact 42e, and the relay 46 turns on a normally open contact 46a when energized. Furthermore, contact 42f
A timer 47 similar to the timer 43 is connected in series with the timer 45b, and when the timer 47 is continuously energized for a predetermined period of time, it turns on the normally open contact 47a. In addition, the manual sensitivity switch 9 can be switched to contacts X, Y, or neutral position N, and the contact X is connected to the relay 42, and the contact Y is connected to the diode 4.
It is connected to the relay 41 via the relay 9, and is also branched and connected to the relay 50.
turns off the normally closed contact 50a when energized. In addition,
In the figure, 51l and 51r are the left and right solenoids of the solenoid valve. When the left solenoid 51l is energized, it disengages the left clutch of the crawler and turns the combine harvester 1 to the left. When the right solenoid 51r is energized, it turns the combine harvester to the right. towards

Since the present embodiment has the above-described configuration, as shown by arrow A in FIG. If the row on the left side is not in contact with the sensor arm 33 of the sensor 11 for changing the sensitive zone, both switches 39 and 40 are not turned on, and therefore both relays 41 and 42 are not energized, so the contact 42b is turned off. state, and the contact 42e is in the on state. In this state, when the sensor arm 15 of the direction sensor 10 contacts the grain culm and rotates to position C, the second switch 25 is turned on. Then, the contact 45b turns off and the timer 4
7 is cut off, the contact 45c is turned off, and the contact 45a is turned on, but the contact 42d is in the off state, so both solenoids 51l and 51r are not energized, and the combine 1 moves straight. When the combine harvester 1 is shifted to the right from this state and the sensor arm 15 is returned from position C and the second switch 25 is turned off, the relay 45 is de-energized, the normally closed contact 45b is turned on, and the timer 47 is turned on. Power is applied. Then, the contact 47a turns on, and the contacts 42g,
The left solenoid 51l is energized via 47a,
Combine 1 is modified to the left. Additionally, when the combine harvester 1 shifts to the left and the sensor arm 15 rotates significantly to position N, the third switch 26
is turned on, and the relay 46 is energized to turn on the contact 46a, which energizes the right solenoid 51r via the contacts 42h and 46a, and the combine 1 is corrected to the right. Therefore, the dead zone width in this state is a relatively narrow width a located on the already-cut side, which is formed between positions C and D of the sensor arm 15.

In addition, as shown by arrow B in FIG. 1, when the row width is narrower than the cutting width of the combine harvester 1, the
The grain culm next to the cutting width one row comes into contact with 3l, and the arm 33 is rotated in the direction of arrow l in FIG. Then, the switch 40 is turned on, energizing the relay 42 via the contact 41c, and the relay 42 also connects the contacts 41b and 4.
2a and at the same time the contact 42
b is turned on, and contact 42e is turned off.
In this state, when the direction sensor 10 does not come into contact with the grain culm or comes into contact shallowly and is returned from position B to A, the switch 24 is turned on and the timer 43 is energized to turn on the contact 43a. Contact 42
The left solenoid 51l is energized via the pins c and 43a, and the combine 1 is corrected to the left. Also,
When the sensor arm 15 is rotated to position C,
The switch 25 is turned on, and the relay 45 is energized to turn on the contact 45a, which causes the contacts 42d and 4 to turn on.
The right solenoid 51r is energized via the solenoid 5a, and the combine 1 is corrected to the right. Therefore, the dead zone width in this state is the width b located on the uncut side, which is formed between the positions B and C of the sensor arm, and the direction of the combine 1 is thereby controlled to the right.

Also, as shown by arrow C in Figure 1, if the width between the rows is wider than the cutting width of the combine 1, or if the width between the rows suddenly becomes narrower, or if the rows suddenly curve. Then, the grain culm comes into contact with the right side 33r of the sensor arm 33 of the sensitive zone switching sensor 11, and the arm 3
3 in the direction of arrow r in Fig. 4, switch 3
9 turns on, energizes the relay 41, and contacts 41b,
41c is turned off to release the self-holding of the relay 42, and at the same time, the contact 41a is turned on. Then, the contact point 42b is turned off and the contact point 42e is turned on, and the dead zone width is positioned on the already-cut side, similar to the state in which the grain culm is not in contact with the sensor arm 33 of the sensitive zone switching sensor 11 described above. The width a is set to be relatively narrow. In this state, direction sensor 1
When the sensor arm 15 of No. 0 is largely rotated to position N, the third switch 26 is turned on, the right solenoid 51r is energized as described above, and the combine harvester 1 is immediately corrected to the right. Further, when the sensor arm 15 is returned from position C to the standing direction and the second switch 25 is turned off, the relay 45 is de-energized and the normally closed contacts 45b and 45c are turned on.
Then, without waiting for the timer 47 to be activated by the contact 45b, the left solenoid 51l is energized directly via the contacts 50a, 41a, and 45c, and the combine 1 is immediately corrected to the left.

In addition, since it is not necessary to switch the dead zone as described above during horizontal mowing or loose sowing, the manual switch 9 for changing the sensitive zone is set to contact X or contact Y, and the dead zone is set to The width can be set to a or b. At this time, when the manual switch 9 is switched to contact Y, the relay 41 is energized and the dead band width is set to b.
At the same time, the relay 50 is also energized, and the normally closed contact 50a
is turned off, and the combine 1 is stopped from turning immediately without using the timer 47.

In addition, in the above-mentioned embodiment, a device according to the present invention that immediately issues a turning command without waiting for the delay time by a timer is applied to an automatic direction control device that switches the dead band widths a and b according to the strip width. Although the sensor for detecting rows installed on the uncut side is used as a sensor for switching sensitive zones, the present invention is not limited to the above-mentioned embodiments, but can of course be applied to ordinary sensors that do not switch dead zones. In this case, the row detection sensor 11 may be a double-sided sensor type or a side sensor type.

As explained above, according to the present invention, the lateral direction sensor 10 is provided on the already-cut side divider 5a, and the direction can be controlled not only during row mowing work but also during horizontal mowing or loose sowing work, and it is possible to Although it is possible to perform stable control with little influence from weeds, etc., when the row detection sensor 11 installed on the uncut side divider 5b side is operating, the lateral direction sensor 10
controls the direction without using a timer, so
Even if the width between rows suddenly changes or the rows are curved, the direction of the reaper 1 can be corrected immediately, thereby avoiding inconveniences such as delays in controlling the direction of the reaper 1 and the row coming off the row. It can be prevented.

[Brief explanation of drawings]

Fig. 1 is a plan view showing a combine harvester to which the present invention is applied, Fig. 2 is a plan view showing its direction sensor, Fig. 3 is a sectional view thereof, and Fig. 4 is for sensitive zone switching (row detection). FIG. 5 is a plan view showing the sensor, FIG. 5 is a sectional view thereof, and FIG. 6 is an electric circuit diagram according to the present invention. DESCRIPTION OF SYMBOLS 1... Reaper, 5a... Already cut side divider, 5b... Uncut side divider, 10... Lateral direction sensor, 11... Row detection (for sensitive zone switching) sensor, 15... Sensor arm, 24 ~
26...Turning command switch, 45, 46...Relay, 47...Timer.

Claims (1)

[Claims] 1. A lateral direction sensor that has a sensor arm that protrudes to one side, and that operates a turning command switch based on the rotation angle based on the contact state of the arm with a grain culm, etc., and further operates a timer or relay to control the direction. In a reaper installed in the divider section on the cut side, a circuit operated by a turn command switch on the uncut side of the direction sensor includes a circuit that controls the direction without going through the timer, in addition to the circuit via the timer. Further, a row detection sensor is provided in the uncut side divider section, and when at least the row detection sensor detects a row within the cutting width of the reaper, a circuit for controlling the direction is activated without using the timer. An automatic direction control device for a reaper configured to control the direction immediately without waiting for the delay time set by the timer.