JPH0226241Y2 - - Google Patents

Description

[Detailed explanation of the idea]

The present invention is a combine harvester equipped with a steering control device, more specifically, it is equipped with two steering sensors at the front of the machine body that detect the position of the machine relative to the grain culm, and a grain culm pulling device with a grain culm pulling claw. , configured to output a detection signal from the steering sensor to a steering device to correct the direction of the aircraft, and one side in the width direction of the aircraft that is in front of the grain culm pulling device and is the uncut side; The present invention relates to a combine harvester in which a grain culm scraping device having grain culm scraping claws is removably attached. Generally, with this type of combine harvester, if the grain culms planted in the field are intertwined with each other between rows, a scraping device is installed in front of the hoisting device to separate the intertwined grain culms from both sides. However, in this case, the distance from the steering sensor to the tip of the raking device becomes longer, and the time it takes for the grain culms raked by the raking device to reach the steering sensor becomes longer. ,
There is a time delay in the detection of grain culms by the so-called steering sensor, and when the steering device is operated based on the output signal from this sensor to correct the direction of the aircraft, the tip of the raking device must be aligned with the grain to be harvested. There was a problem in which the grain culms that had already come off the row of culms were left uncut on the cut side, or the grain culms were pushed into the row of grain culms on the uncut side, and more rows of grain culms than the set number of reaping rows were harvested. The present invention was devised to solve this problem, and includes a grain culm with a grain culm scraping claw located in front of the grain culm pulling device and on one side in the width direction of the machine body, which is the uncut side. In a combine harvester in which the raking device is detachably attached, when the grain culm raking device is installed,
Cut off the detection signal from the steering sensor on the uncut side provided on the installation side of the raking device, output the detection signal from the steering sensor on the cut side to the steering device, and When the raking device is detached, the steering device is configured to output detection signals from the mowed side and uncut side steering sensors, and when the raking device is detached, the steering sensors are connected together. Compared to the case where only the mowed side sensor is used, steering accuracy and stability can be expected based on corrections made by the uncut side sensor. The problem with using both sensors is that when the machine leans toward the mowed side, the steering sensor on the unmoved side instructs to turn toward the mowed side, and this instruction causes the machine to turn toward the mowed side. This is intended to solve the problem caused by turning the grain to the uncut side, in other words, the tip of the scraping device divides the grain culm to be harvested to the uncut side, resulting in uncut grass on the uncut side. It is. However, in conventional combine harvesters, there are two
When the machine is equipped with several steering sensors and the machine is moved along grain culm rows in the field to harvest the grain culms, the steering is mainly located on the uncut side with respect to the direction of movement of the machine during so-called row mowing work. If the sensor is used to correct the direction of the machine, and the machine veers too far toward the non-mowing side,
It is configured to give priority to the steering sensor on the uncut side and correct the direction of the machine toward the mowed side based on the detection signal from the steering sensor on the mowed side, and measures the stability of the steering and performs what is called a sudden direction correction of the machine. It is configured to reduce the amount of grain left behind on the already cut side of the grain culm, and to reap the grain by moving the machine perpendicularly to the rows of grain culms in the field. During splitting work, there is a structure that corrects the direction of the machine using only the detection signal from the steering sensor on the cut side, preventing the machine from gently meandering and allowing the machine to perform the splitting work accurately. . The present invention is made to utilize the combine harvester configured as described above, that is, the grain culm separating device in the present invention separates the grain culm to be harvested from the grain culm to be harvested in the next step, the so-called uncut side grain culm. This raking device is installed on the uncut side in front of the grain culm pulling device, so during normal harvesting when the grain culm raking device is removed, both steering sensors are used to correct the direction of the machine. When the grain culm rake device is installed, the detection signal from the steering sensor on the uncut side is cut off, and only the detection signal from the steering sensor on the cut side is output to the steering device. This was done to correct the direction of the aircraft, and it was done to utilize two steering sensors with the functions described above. Embodiments of the present invention will be described below based on the drawings. Figures 1 and 2 partially omit the combine harvester and show the reaping device at the front of the machine. Four support rods 2a, 2b,
2c, 2d, a grass dividing plate 3 provided at the front end of each of the support rods 2a to 2d, and a grain culm lifting device 4 supported upright above the cutting blade 1 at the front of the machine body. Further, among the support rods 2a to 2d, a steering sensor 5 is attached to the support rod 2a on the left side with respect to the traveling direction of the aircraft, and a steering sensor 6 is attached to the support rod 2d on the right side. In front of the device 4, a grain culm scraping device 7 is detachably attached to a position corresponding to the support rod 2a of the machine body on the uncut side. The grain culm pulling device 4 is constructed by rotatably supporting a number of pulling claws 4b in a lifting case 4a, and as the aircraft advances, the grain culm pulled up by the weeding plate 3 is removed. The grain culms are pulled up by the pulling claws 4b and harvested by the cutting blade 1, and the harvested grain culms are supplied to a threshing device (not shown) mounted on the rear side of the machine body for threshing. The grain culm raking device 7 is constructed by rotatably supporting a number of raking claws 7b in a raking case 7a, and the grain culms planted in the field are entwined with each other between rows. It is installed in the case to separate the intertwined grain culms from both sides. Both steering sensors 5 and 6 are provided by sensor arms 52 and 6 supported on sensor boxes 51 and 61.
The sensor arms 62, 52 extend slantingly toward the inside of the aircraft at the rear in the direction of movement of the aircraft. When it comes into contact with the grain culms A and B as it moves forward, it rotates backward, and when there are no grain culms A and B, it rotates forward due to the spring action in the sensor boxes 51 and 61. In addition, each switch in the sensor boxes 51 and 61 is configured to be operated depending on the rotational position of the sensor arms 52 and 62. In addition, during normal grain culm reaping work, the steering sensor 5 placed on the left side with respect to the moving direction of the machine is on the uncut side, and the steering sensor 6 placed on the right side is on the cut side. In the following description, the sensor 5 on the uncut side in the direction of travel will be referred to as a left sensor, and the sensor 6 on the already cut side will be referred to as a right sensor. However, the left sensor 5 has three switches S.
-LL, S-LR ₁ and S-LR ₂ are connected to the right sensor 6.
The aircraft is equipped with two switches S-RL and S-RR, and by the combination of the opening and closing operations of these switch groups, the steering system is controlled via the steering control circuit shown in Figure 3, and the aircraft is controlled. It is constructed so as to correct the direction. That is, in FIG. 3, the steering device is indicated as a whole by number 8, and includes a left turning solenoid SOL-L and a right turning solenoid SOL-R. is connected to the power source E via an operating switch SW ₁ and a main switch SW that are linked to a threshing device (not shown), and a switching circuit Tr ₁ is connected to each earth side line of the solenoids SOL-L and SOL-R. While interposing Tr ₂ ,
I/O interface rotation control input terminals IN-1 to IN- in the microcomputer 9
Connect each switch of both sensors 5 and 6 to 5, and connect the input terminals IN-6 to IN for switching the turning force.
-8 is the turning force changeover switch SW ₂ , and the input terminal for intermediate cutting work IN-9 and the input terminal for row mowing work IN-10 is the intermediate row cutting changeover switch SW ₃ , and the input terminal for manual operation is
The configuration is such that manual priority switches SW ₄ are connected to IN-11, and the ON signals of each switch are input to the microcomputer 9, and the output terminals OUT-1 and OUT of the I/O interface in this microcomputer 9 are connected to the manual priority switches SW4. -2, the switching circuits Tr ₁ and Tr ₂ are connected, and the switching circuit is activated by the output from the microcomputer 9.
It is configured to open and close Tr ₁ and Tr ₂ . In addition, the switch S-LL of the left sensor 5 is
The switch S-LR ₁ is turned ON only when the sensor arm 52 comes into contact with the grain culm A in the area shown in FIG. 2, and is turned OFF in other areas. The switch S-LR ₂ is turned "ON" when the sensor arm 52 contacts the grain culm A in the area, or "OFF" when the sensor arm 52 does not contact the grain culm A in the area. , is set to be "ON" in other areas, and the switch S-RL in the right sensor 6 is set to be "ON" when the sensor arm 62 comes into contact with the grain culm B in the area shown in FIG. The switch S-RR turns "ON" when the sensor arm 62 comes into contact with the grain culm B in the region, and when the sensor arm 62 comes into contact with the grain culm B in the region, both switches S-RL and S
-RR is set to "OFF". Further, the output from the microcomputer 9 is performed as a pulse signal, and when the input terminal IN-6 is selected by the changeover switch _SW2 , the ON width of the pulse signal becomes small, and the solenoid SOL-L, SOL -R's excitation time becomes shorter, and as a result, the turning force (direction correction force) of the aircraft becomes smaller.
If input terminal IN-8 is selected with SW ₂ , the turning force will be increased, but normally, selecting input terminal IN-7 with changeover switch SW ₂ will cause the aircraft to turn by applying a medium turning force. That's what I do. In addition, input terminal IN-9 is set by switch SW ₃ .
If you select , the detection signal from the left sensor 5,
Essentially switches S-LL, S-LR ₁ , S-LR ₂
After receiving only the detection signal from the right sensor 6, the microcomputer 9 outputs to the switching circuits Tr ₁ and Tr ₂ , and the changeover switch SW ₃ outputs the output from the input terminal IN-1 to the switching circuits Tr 1 and Tr 2.
When 0 is selected, the microcomputer 9 outputs to the switching circuits Tr ₁ and Tr ₂ based on the detection signals from both the sensors 5 and 6. Thus, in the combine harvester as described above, when the grain culm lifting device 7 is installed in front of the grain culm pulling device 4 and on one side in the width direction of the machine body which is the uncut side, the left sensor 5 The configuration is such that the detection signal is cut off and the detection signal from the right sensor 6 is output to the steering device 8 via the microcomputer 9. Specifically, as shown in FIG. A detection switch 10 is provided on the front side of the lifting device 4 to be moved, and the detection switch 10 is configured to be pushed when the scraping device 7 is installed _.
, the row cutting side terminal and input terminal of selector switch SW ₃ .
Although the changeover switch SW ₃ is installed between IN-9 and IN-10 and selects the row cutting side terminal, when the scraping device 7 is installed, the detection switch 10 is pushed. Switching contact SW ₅ is input terminal IN− for row mowing work.
Cut off the 10 connections and use the input terminal for intermediate work.
It is configured to select IN-9. The steering control device of the present invention is constructed as described above, and when the main switch SW is turned on, the threshing device is driven and the operation switch SW ₁ is turned on.
By switching the changeover switch SW ₃ to the intermediate cutting work side, it is possible to perform steering control according to the intermediate control method shown in Table 1 below, and by switching the changeover switch SW ₃ to the row cutting work side. By switching, it is possible to perform steering control using the row mowing control method shown in Table 1. Note that the work method is horizontal mowing work, but in this case, steering control using the row mowing control method may be used.

[Table] During row mowing work, if the grain culms planted in the field are intertwined with each other between rows, the width of the machine that is in front of the grain culm lifting device 4 and on the uncut side. A grain culm scraping device 7 is installed on one side in the direction to separate the intertwined grain culms from both sides. When the grain culm scraping device 7 is removed, the first
As shown in the table, in row mowing and horizontal mowing, when the right sensor 6 is in the area, that is, when the machine is biased towards the already cut side (right side in Figure 3), if the left sensor 5 is in the area, This left sensor 5 also outputs a left turn instruction and controls the left turn, but if the left sensor 5 is in the area, even though the right sensor 6 is outputting a left turn instruction. , does not control the left turn, and if the left sensor 5 is in the area, the left sensor 5 does not control the left turn even though the right sensor 6 outputs a left turn instruction.
The right turn command is given priority to control the right turn. This control allows for more accurate steering along the row of grain culms on the uncut side. However, when the grain culm scraping device 7 is installed on one side of the machine that is the uncut side, and when the steering control is performed according to Table 1, when the right sensor 6 is located in the area, the left sensor The following problem occurs when 5 is located in the area. That is, in this case, since the left sensor 5 instructs the right turn as described above, the tip of the grain culm ripping device 7 attached to one side of the machine body on the uncut side is directed against the left sensor 5. Since it is located far away, it turns sharply to the right and ends up weeding the grain culm that should be reaped, which is the uncut side of the grain culm. Moreover, this rightward turning continues until the left sensor 5 is located in the area with respect to the grain culm on the reaping side before being divided by the scraping device 7, and only after being located in the area is the left turning corrected. Therefore, after weeding is done by the raking device 7, the grain culms to be harvested remain uncut until the left sensor 5 is located in the area. In contrast, in the present invention, the installation of the scraping device 7 is detected by a detection switch 10, and the switch 1
0 switching contact SW ₅ is used to switch the grain culm reaping mode from the row cutting mode to the mid-splitting mode, and the on-signal of each switch S-LL, S-LR ₁ , S-LR ₂ in the so-called left sensor 5 is micro-controlled. The computer 9 cuts off both switches S-RL in the right sensor 6,
Only the S-RR ON signal is input to the microcomputer 9, and the solenoids SOL-L and SOL-
The above-mentioned problem can be solved by controlling the drive of R, that is, by controlling the steering device 8 to correct the direction of the aircraft. That is, when the scraping device 7 is installed, the instruction from the left sensor 5 is cut off, and the steering is controlled only by the instruction from the right sensor 6.
Even if the left sensor 5 is located in the area, the left turn control is performed in response to the left turn instruction from the right sensor 6, and the problem caused by the right turn control described above can be solved. . In this case, the direction is corrected by controlling the steering device 8 only by the signal from the right sensor 6, and a left turn is performed, but this left turn causes the tip of the scraping device 7 to It will rush into the row of uncut grain culms immediately, but due to the left turn, the right sensor 6
is located in the area, the left turning is stopped and the normal running direction is restored, which is done more quickly than the restoration by the left sensor 5 described above, and the scraping device 7 Problems caused by the pruning of the mower into the uncut side can be minimized. As explained above, a combine equipped with the steering control device of the present invention has a cut side steering sensor and an uncut side steering sensor, which detect the position of the machine relative to the grain culm, and A grain culm lifting device having a grain culm lifting claw is provided, and detection signals from each of the steering sensors are outputted to the steering device to correct the direction of the aircraft, and the In a combine harvester in which a grain culm scraping device having grain culm scraping claws is removably attached in front of the grain culm pulling device and on one side in the width direction of the machine body which is the uncut side, the grain culm scraping device When installing the raking device, cut off the detection signal from the steering sensor on the uncut side installed on the installation side of the raking device, and output the detection signal from the steering sensor on the cut side to the steering device. and when the grain culm raking device is detached, the detection signals from the cut side and uncut side steering sensors are output to the steering device, so that when the grain culm raking device is detached, the culm raking device is detached. When performing reaping work, each of the above-mentioned steering sensors is used together, and based on the corrections made by the non-mowing side sensor, steering stability can be achieved and sudden direction corrections of the machine body can be reduced,
In addition, when performing reaping work with the above-mentioned scraping device installed while preventing uncut leaves on the mowed side,
The problem with using each of the above steering sensors together is that when the machine is biased towards the mowed side, the uncut side steering sensor instructs to turn towards the mown side, and this instruction causes the machine to turn towards the mowed side. By controlling the swivel to the left, it is possible to solve the problem that the tip of the scraping device divides the grain culm to be harvested to the uncut side, resulting in uncut grass on the uncut side. By controlling the steering using only the cutting-side steering sensor, even if the scraping device pushes toward the uncut side, the amount of thrust can be minimized.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; Fig. 1 is a partially omitted perspective view, Fig. 2 is a schematic plan view of the main parts, Fig. 3 is a steering control circuit diagram, and Fig. 4 is a perspective view of main parts. 4... Grain culm lifting device, 4b... Pulling claw, 5, 6
...Steering sensor, 7...Grain culm scraping device, 7b...
...Scraping claw, 8...Steering device.

Claims (1)

[Scope of utility model registration request] At the front of the machine, a cut side steering sensor and an uncut side steering sensor are provided on both sides in the width direction of the machine body to detect the position of the machine with respect to the grain culm, and a grain culm lifting device having a grain culm lifting claw is provided. is configured to correct the direction of the aircraft by outputting the detection signals from each of the steering sensors to the steering device, and to adjust the width of the aircraft on the uncut side in front of the grain culm pulling device. In a combine harvester in which a grain culm scraping device having grain culm scraping claws is removably attached to one side in the direction,
When installing the grain culm scraping device, cut off the detection signal from the steering sensor on the uncut side provided on the installation side of the grain culm scraping device, and cut off the detection signal from the steering sensor on the cut side. A steering device characterized in that the steering device is configured to output detection signals from the cut side and uncut side steering sensors to the steering device when the grain culm scraping device is detached. Combine harvester with control equipment.