JPH0147124B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is characterized in that a stem culm contact sensor is provided protruding from the side of a stem culm introduction path of a reaping device attached to a traveling machine body, and a predetermined amount of water is detected by contact of the sensor with a planted stem culm. Automatic steering that automatically controls the steering device of the traveling machine so that the planted stem culm is located within a certain range in the lateral direction with respect to the side of the introduction path by the above backward rocking displacement. The present invention relates to an automatically steered reaper provided with a control device.

In this type of automatic steering type reaper, in order to automatically steer row mowing as one row of planted stem culms introduced into one stem culm introduction path, the projection length of the sensor and the sensor when switching automatic steering are It is generally known that a backward swing angle is set.

Such a conventionally known configuration has the advantage that the number of stem culm rows for simultaneous reaping is stable, and post-processing such as bundling and threshing after reaping can be performed stably.

However, when cutting headlands such as mid-split or peripheral cutting, or when cutting at the final stage, it is advantageous in terms of improving work efficiency to cut as many rows as possible in one run. In some cases, two rows of planted stem culms are introduced into the stem culm introduction path for reaping, but in this case, because conventional automatic steering type reapers are set as described above, automatic steering is not possible. The disadvantage is that the steering cannot be performed, and even though the vehicle has an automatic control device, the steering must be controlled manually.

It is an object of the present invention to eliminate such drawbacks and to enable automatic steering even when mowing a large amount.

In order to achieve the above object, the automatic steering type reaping machine according to the present invention is arranged such that the cut side side of the stem culm introduction path corresponds to the cut side end of the cutting width. 1 formed on the most cut side.
The width of the two stem culm introduction paths is set to be larger than the row spacing, and the stem culm contact sensor protrudes inward from both left and right sides of the stem culm introduction path on the most cut side. It is constituted by first and second contact sensors, and a third contact sensor that protrudes from the uncut side of the introduction path toward the outside of this path, and The inner spacing at the time of a predetermined backward swinging displacement is approximately equal to or larger than the row spacing of the planted stem culms, and only the first and second contact sensors are used to detect the first and second A first control state in which the stem culm is steered away from the contact sensor, and when both the first and second contact sensors undergo a predetermined backward rocking displacement, the stem is in a straight-ahead state; and Control that selectively switches to a second control state in which the stem culm is steered away from the second and third contact sensors using only the second and third contact sensors attached to the cutting side. A feature of the present invention is that a switch is provided in the control device.

With this configuration, in the first control state, since the first and second contact sensors are set to be approximately equal to or larger than the row spacing of the planted stem culm, there are two rows in this introduction path. Since automatic control is performed to run straight ahead with the planted stem culms introduced, in this case, the state is suitable for automatic control of large-scale mowing.

In addition, since the second and third sensors are provided on the side of the uncut side so as to protrude left and right, in the second control state, the side of the uncut side is connected between adjacent planted stem culm rows. Automatic steering is performed by performing so-called row spacing control, which positions the uncut side portion at the position of the uncut side.

The mowed side side of the stem culm introduction path having the uncut side side is arranged to correspond to the mowed side end of the mowing width, so that it is located at the boundary between the uncut land and the mowed land. If the machine is initially arranged so that the uncut side is located between one stalk culm row and the next stalk culm row, and the machine is run, it will automatically move one stalk culm row along the introduction path. You will be able to maintain this while steering the vehicle.

As described above, in the present invention, by combining the detection of planted stem culms by the three contact sensors as described above, the number of introduced stem culm rows into the introduction path is changed to one and two, respectively. It is now possible to use automatic steering.

Furthermore, since such steering control can be changed by switching the switch, automatic steering can be easily performed in an appropriate state as needed.

Next, examples of the present invention will be described.

FIG. 1 shows a combine harvester to which this embodiment is applied, including a traveling body 1, a reaping device 2, a threshing device 3,
steering side clutches 4, 4'; a hydraulic cylinder 5 for turning on and off the side clutches 4, 4';
5', the hydraulic circuits such as the electromagnetic valves 6 that control the expansion and contraction of the hydraulic cylinders 5 and 5' are conventionally well known, and detailed explanations thereof will be omitted.

The reaping device 2 has two stem culm introduction paths 7 and 8.
are arranged in parallel, and a first stem culm contact sensor 9 and a second stem culm contact sensor 10 are protruded inward from the left and right sides of the cut side introduction path 7.

Both sensors 9 and 10 are at their forwardmost position in the posture shown by the solid line in FIG. When rocking, the first and second switches 12, 12 of the control circuit 11 as a control device
13 is closed.

Further, from the uncut side of the cut side introduction path 7 (the side on which the second sensor 10 is pivotally supported),
A third stem culm contact sensor 14 is provided to protrude into the uncut side introduction path 8 .

Like the first and second sensors 9 and 10, this third sensor 14 is at its most forward position in the posture shown by the solid line in FIG. 1, and is always urged forward. The third switch 15 of the control circuit 11 is closed when the vehicle swings backward beyond the backward displacement position shown by the middle two-dot chain line. 2
1 is a clipper type cutting blade.

The control circuit 11 has a configuration shown in the logic circuit of FIG.
4 retreats and switches 12, 13, 15 are closed, the solenoid valve 6 is operated so that the stem culm is steered away from the sensor, and is configured as follows. has been done.

Solenoid 1 for clockwise rotation operation of the electromagnetic valve 6
6 ground circuit and left turning operation solenoid 17
AND circuits 18 and 19 are provided respectively in the ground circuit of , and the second switch 13 and selection switch 20 are connected to both of the AND circuits 18 and 19 in a mutually opposite state. The selection switch 20 selectively switches between the first switch 12 and the third switch 15 and is connected to the AND circuits 18 and 19, and constitutes a changeover.

In this way, by switching the selection switch 20, the first and second switches 12 and 13 are opened and closed, that is, the first control state is set by the detection of the stem culm by the first and second sensors 9 and 10, Said second and third
It is possible to switch to a second control state by opening and closing the switches 13 and 15, that is, by detecting the stem culm by the second and third sensors 10 and 14.

Further, as shown in FIG. 1, the first and second sensors 9, 10 are arranged such that the distance between their free ends is greater than or equal to the distance l in the posture shown by the two-dot chain line. There is.

In the control circuit 11, both switches 12 and 13
Alternatively, when solenoids 13 and 15 are closed at the same time, both solenoids 16 and 17 are not energized and the vehicle moves straight.

In this way, an automatic control device is constructed which can perform automatic steering along the stem culm row in each of the two control states.

The present invention is not limited to combines, but may be applied to binders.

Further, the distance between the free ends of the first and second sensors 9 and 10 may be larger than the distance between the strips.

Further, as shown in FIG. 1, the protrusion length l ₁ of the first sensor 9 may be made longer than the protrusion length l ₂ of the second sensor 10, or may be made the same length.

Further, the number of stem culm introduction routes is not limited to two, but may be one or three or more.

Incidentally, although reference numerals are written in the claims section for convenience of reference to the drawings, the present invention is not limited to the structure shown in the accompanying drawings by such entry.

[Brief explanation of drawings]

The drawings show an embodiment of the automatic steering type harvester according to the present invention, and FIG. 1 is a schematic plan view of a combine harvester, and FIG.
The figure is a logic circuit diagram showing a control circuit. DESCRIPTION OF SYMBOLS 1... Traveling machine body, 2... Reaping device, 7... Stem culm introduction route, 9... First contact sensor, 10... Second contact sensor, 14... Third contact sensor, l
...Strip spacing, 20...Switcher.

Claims (1)

[Claims] 1 Stem culm contact sensors 9, 10,
14 is provided protrudingly, and the centers 9, 10, 14
The traveling machine body 1 is moved so that the planted stem culm is located in a certain range in the lateral direction with respect to the side of the introduction path 7 by a backward rocking displacement of a predetermined amount or more due to contact with the planted stem culm. In an automatically steering type reaper that is provided with an automatic steering control device that automatically controls a traveling device, an arrangement in which the cut side side of the stem culm introduction path 7 corresponds to the cut side end of the cutting width. The width of one stem culm introduction path 7 formed on the most cut side is set to be larger than the row spacing l, and the stem culm contact sensor is connected to the stem culm on the most cut side. First and second contact sensors 9 and 10 are projected inward from both left and right sides of the introduction path 7; 3 contact sensors 14, and the inner distance of the first and second contact sensors 9, 10 at the time of the predetermined backward rocking displacement is approximately equal to or greater than the row distance l of the planted stem culm. is also made larger, and only the first and second contact sensors 9 and 10 are used.
When the stem culm is steered away from these first and second contact sensors 9 and 10, and both the first and second contact sensors 9 and 10 undergo a predetermined backward rocking displacement, a straight-ahead state is established. These second and third contact sensors 10 and 14 are controlled only by the first control state and the second and third contact sensors 10 and 14 attached to the uncut side of the introduction path 7.
An automatically steering type reaping machine, wherein the control device is provided with a control switch 20 for selectively switching to a second control state in which the steering is controlled to the side where the stem culm moves away from the stem.