JPH01320915A - Turn-control process for reaping and harvesting machine - Google Patents

Abstract

PURPOSE:To prevent the breakage, etc., of a culm to a state unsuitable for transportation and caused by the clogging of a reaping apparatus, etc., by starting the lowering of a reaping apparatus at a stable point on a ground having little disturbance of the soil surface and a point separated by a definite distance from the starting end of the next culm row to be reaped after the turning motion. CONSTITUTION:When a machine body reaches the reaping end point 6 of a culm row A, it is turned by a sequence control according to a sequence of a turning program stored in an automatic turn control device according to the round reaping operation to turn the machine body in lateral direction crossing the reaping path. After the completion of the turning motion and before the completion of the preparation of the reaping operation by lowering the reaping apparatus, the closest point S to the starting end (a) of the reaping of the next culm row A is detected, the lowering of the reaping apparatus is started at the point S and the forwarding motion of the apparatus is continued. At the same time, the automatic control of the reaping height with a reaping height sensor is started.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a turning control system for a reaping harvester, and relates to an automatic turning control device that performs automatic turning control according to a predetermined turning program at the end of reaping of a row of grain culms. It can be used for etc.

Prior Art and Problems to be Solved by the Invention When reaping standing grain culms with a reaping harvester, the reaping direction is automatically changed at the reaping end of a row of grain culms so that it goes in a lateral direction that intersects with the reaping stroke. There is an automatic turning control that performs automatic turning control, but this automatic turning control is still in the trial stage, and some are trying to perform sequence control using a preset turning program. Normally, the turning action by sequence control starts when the grain culm sensor, which turns the contact ON/OFF depending on the presence or absence of the reaped grain culm, detects the end of reaping of the grain culm row and reaches 0FFL, and then the next grain culm row is started. This continues until the start of cutting is detected and turned ON.

Moreover, at the time of this turning effect, conventionally,
According to Publication No. 18, when the turning action is performed when the grain culm row reaches the end of reaping, as the first stroke of forward movement is completed and the second stroke of reverse movement is started. Some are designed to activate cutting height control. However, when the reaping device is lowered to start reaping while it is rotating, the reaping device may collect deposits such as bundled straw bundles caused by straw knocking and cut straw culms by the straw removal cutter on the rotating soil surface. Scraping up mud, etc. from the soil surface, which has become uneven due to multiple rotations, can clog the conveyance section of the reaping device, making it impossible to convey grain culms, or in the worst case, causing damage. That will happen.

Therefore, in the present invention, during the turning operation by sequence control, by selecting a point where the soil surface condition is relatively stable and lowering the reaping gear 2, the turning operation can be performed stably and smoothly. This is what I am trying to do.

Means for Solving the Problems The present invention provides a means for solving the problems by cutting the starting end (&) or the ending end (&) of the grain culm row (A).
The grain culm rows (
In a reaping harvester that detects the end of reaping in A) and (b), and controls the turning direction by a program so as to head in a direction intersecting the reaping stroke while counting the distance traveled,
At a certain distance before the reaping start end (a) of the next grain culm row (A) at the end of turning, the reaping device (2) that reaps the grain culm row (A) starts descending and automatically controls the cutting height. The configuration is based on a turn control system, which includes an automatic turn control device (3) that performs the start and start operations.

Functions and Effects of the Invention During the reaping operation in which the grain culm rows (A, Grain culm row (A
Sequence control is performed according to a turning program preset in the automatic turning control device (3) so that the cutting ends (b) of the cutting step are automatically turned in a lateral direction intersecting the cutting stroke.

In the turning effect by such sequence control,
While counting the travel distance, for example, as shown in Fig. 7, after detecting the end of reaping (b) of the grain culm row (A) by the grain culm sensor (1), the reaping device (2) placed in the machine body as the first step
After raising the vehicle and moving straight forward, it makes a left turn, and after completing this left turn, it stops, and then as a second step, it moves backward straight from this stopping position, then makes a right turn, and after completing this right turn, it stops. First stop, then move straight forward from this stop position again in the first and third stroke, and when moving straight ahead, the reaping equipment! (2) is lowered to enter the reaping start end (a) of the next grain culm row (A) and go to the riverbank for the reaping process. At this time, the lowering start position of the reaping device (2) and The height automatic control start position is a point a certain distance before the reaping start point (L) of the next grain culm row (A),
For example, a series of turning programs are checked for each stroke, such as setting the reaping device (2) at the point with the shortest distance necessary to lower it and get ready for reaping. When the target is reached, automatic turning control is performed according to the order of the strokes.

As mentioned above, after the completion of turning in one turning process, a certain distance before the reaping start point (&) of the next grain culm row (A), the soil surface condition is relatively stable with few disturbances. By starting the lowering of the reaping device (2), the reaping device (2) is lowered on the turning soil surface, as in the conventional case when the reaping device (2) is lowered during turning in the turning stroke.
The reaping device (2) scrapes up deposits such as tied straw bundles by knocking straw and cut straw culms by a straw removing cutter, as well as muddy soil on the soil surface that has become uneven due to multiple rotations.
2) There is no possibility that the grain culms cannot be transported or are damaged due to clogging of the transport section, etc., and the turning action can be performed stably and smoothly.

Embodiment: On the ward side, a traveling device (5) having a pair of left and right running rollers (4) running on the soil surface is arranged on the lower side. A threshing device (7) for threshing the grain culms that are clamped and supplied to the foot chain (6) and sorting and collecting the threshed grains is mounted on this traveling device (5), and this threshing device (7) ) on the front side of the foot chain (6). The threshing device (7
) on the - side of 'J, MC5), threshing? C position (7),
An operating device (8) for operating and controlling the reaping device (2), etc., and an operating seat (9) for this operation are respectively arranged to constitute a combine harvester body (10).

Further, the traveling device (5) is provided with an interlocking case (13) containing an interlocking gjj mechanism that automatically operates the left and right traveling sprockets (11) that drive the traveling roller (4) and the traveling shaft (12). During the interlocking path of the interlocking case (13), there are left and right steering clutches (14) that turn on and off the drive of the traveling shaft (12), and a steering brake (15) that operates together with the transverse clutch (14). and left and right mileage sensors (17) that read the rotation of the left and right counter gears (1B) in pulses and detect the mileage separately, and the steering clutch ( 14) and a bushing cylinder (18) operated by hydraulic pressure or the like for applying a steering brake (+5).

Further, a hydraulically driven H3T device (13) is connected to the upper part of the interlocking case (13), and this H5T device (19)
A swash plate sensor (21) is provided that detects the output rotation speed by the action of a swash plate arm (20) that controls the swash plate that sets the rotation direction and output rotation speed of the swash plate sensor (21).
Based on the information of 2I), a telescopic cylinder (22) operated by hydraulic pressure or the like is arranged to act on the swash plate arm (20). Also, this telescopic cylinder (22) and a solenoid valve (23) that operates this cylinder (22), the bush cylinder (18), a solenoid valve (24) that operates this cylinder (18), and this solenoid valve (24) and a proportional pressure reducing valve (25) that adjusts the action thereof are connected to each other so as to be hydraulically controllable.

Also, the above operation? At tl (8), there is a travel lever (
2B) and a power steering lever (27) that performs left-right steering control and elevation control of the reaping device (2), and the travel lever (28) is connected to the swash plate arm (20) and the wire ( 28), and the power steering lever (27
) is equipped with a steering angle sensor (
28) and the reaping al! (2) A lift angle sensor (30) for detecting the lift angle is provided.

Moreover, the reaping device a! A grain culm sensor (1) that detects the presence or absence of the erected grain culm and turns the t-point ON-OFF is installed at the rear position of each splitting body (31) arranged on the left and right sides of the front end of the erected grain culm (2). A cutting height sensor (33) for automatically controlling the cutting height is provided at a rear position of the cutting blade part (32) for cutting the grass. Also, the aircraft (
! Between the reaping device (2) and the reaping device (2), there is a telescopic cylinder (
34), and the telescopic cylinder (34) and a solenoid valve (35) for actuating the cylinder (34) are connected to each other so as to be hydraulically controllable.

Further, an orientation sensor (3B) for detecting absolute orientation is arranged at the rear of the operator seat (9).

In addition, each of the sensors (1), (17), (21), (2
3), (30), (33), (36), etc.
i4 calculation processing is performed, and depending on the result, each of the above-mentioned 'wt magnetic valves (23), (24), (25), (35), etc.
s'a automatic turning control device (3) to the operating device (
8), and this automatic rotation II control device (3) includes a CPU (37) that performs central arithmetic processing for sequence control and stores rotation programs, etc. in memory.
are mainly arranged, and the respective sensors (1), (+7), (2ri, (29),
(30), (33), (38), etc. are connected, and the respective solenoid valves (23), (24), (25), etc. are connected to the output side.
(35) etc. to form a 41i capable of automatic turning control.

In the combine harvester constructed as described above, the swash plate arm (20) is rotated via the wire (28) by manual operation of the travel lever (2B), and this rotation drives the H5T device (19). From the interlocking case (+3) to the traveling axis (1
2) and a running sprocket (11) to run the roller (4).

Through this traveling, the grain culm row (A) is reaped by the reaping device (2), and when it reaches the reaping end (b) of this grain culm row (A), the grain culm row (A) is reaped in a horizontal direction that intersects with this reaping process. The machine (+0) is rotated and lowered (+0) by sequence control according to the order of the turning program preset in the automatic turning control device (3).
Perform the regeneration process of 1o).

As shown in Fig. 7, the turning action by this sequence control is achieved by detecting the direction at regular intervals by the direction sensor (36) during the reaping process of the grain culm row (A), and by detecting the direction by the g2f'J sensor (1). When the end of reaping (b) is detected and the power is turned OFF, the travel distance sensor (17) checks the cumulative travel distance, and the direction detected at a point a certain distance before the end of reaping (b) is used as the reference. Based on this reference direction, the approach angle of the next grain culm row (A) to the cutting start end (a) after turning is determined.

After determining this approach angle, point (C) is detected by a VT calculation check of the traveling distance, and at this point (C), the reaping device (
2), go straight ahead, and detect point (d) by checking the total travel distance. From this point (d), the first
The state of change in the direction detection value detected by the direction sensor (36) at every minute distance for the left turn of the stroke is converted into the difference in travel distance of the left and right rollers (4), and this converted value is used. While checking with the mileage sensor (17), the automatic turning control device (3) is activated based on the reference direction.
) until the turning angle (01) calculated by At the reached point (e), the aircraft (10) is stopped once.

In addition, in the next second stroke, the swash plate arm (2
0), activate the H3T device (19) from forward to reverse, go straight in reverse, detect point (f) by checking the cumulative travel distance, and from point (f) follow the procedure for turning left as described above. Next time'! The aircraft (lO) is turned to the right at f-diameter (R2), and at point (g) when the turning angle (θ2) is reached, the aircraft (lO) is stopped.

In the next third step, switch from reverse to forward at this stop position, go straight ahead, and check the total travel distance to find, for example, the point (S) where the vehicle has advanced approximately 3θ centimeters after starting a, or after the end of turning. A point (S) approximately 70 cm before the cutting start point (a) of the next grain culm row (A),
In other words, the shortest distance point (5) necessary to lower the reaping device (2) and prepare for reaping is detected, and this (S
), the reaping device 2i(2) starts lowering and continues to move forward, and at the same time starts automatic control of the reaping height by the reaping height sensor (33).

Further, by this straight movement, the grain culm sensor (1) detects the reaping start end (b) of the next grain culm row (A) and when it is turned ON, the reaping process is started.

In the sequence control described above, a certain distance before the reaping start point (a) of the next grain culm row (A) in the turning process, the soil surface condition is relatively stable with few disturbances.
By selecting (S) and starting the descent of the reaping device (2), the reaping device (
2), the reaping device (2) removes deposits, such as bundled straw bundles by the discarding knotter and cut straw culms by the displacing cutter, on the rotating soil surface.

The machine scoops up mud, etc. on the soil surface that has become uneven due to multiple rotations, and then reaps the material. It is possible to stably and smoothly perform the turning action without causing the grain culm to be unable to be transported or damaged due to clogging of the transporting section of the e-position (2).

[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 block diagram of a part of the operating mechanism, Fig. 6 is a block diagram of the control system, Fig. 7 is a partial working method diagram, and Fig. 8 is a block diagram of an electric circuit. (3) indicates an automatic turning control device.

Claims (1)

[Claims] A grain culm sensor (1) that detects the reaping start end (a) or end (b) of the grain culm row (A) respectively detects the reaping end (b) of the grain culm row (A), and the distance traveled is counted. In a reaping/harvesting machine whose turning is controlled by a program so as to move in a direction that intersects with this reaping process, the grain culm is Starting descent of the reaping device (2) for reaping the row (A);
Automatic turning control device (3) that starts automatic control of cutting height
A turning control system with a