JPH03139209A - Harvester - Google Patents

Abstract

PURPOSE:To simplify position control of a reaper by constituting the subject harvester so as to direct whether the form of reaping is a form of striping reaping or a form of inter reaping and so as to automatically control the position of the reaper to a set position for stripe reaping or to a set position for inter reaping based on the directed information. CONSTITUTION:A reaping form-directing unit 100 for directing whether the form of reaping is a form of stripe reaping or a form of inter reaping is equipped. A reaper-position controller (D) is then automatically operated by a controller 101 based on the information of the reaping form-direction unit 100 so that the reaper may be located to a set position for stripe reaping within a movable range in case of direction of stripe reaping or to a set position for inter reaping within the movable range in case of direction of inter reaping.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a reaping harvester provided with a reaping section position adjusting means for changing and adjusting the position of the reaping section in the width direction with respect to the machine body.

[Conventional technology]

Taking a combine harvester as an example of a reaping/harvesting machine, in order to prevent the traveling device from stepping on uncut stalks when the machine is running, the reaping section is generally positioned on the uncut side in the width direction of the machine. It is installed with a bias towards the left side.

However, in this type of reaping/harvesting machine, in addition to the row mowing type in which the cutting work is performed while running along the rows of stalks lined up in the direction of movement of the machine, for example, the work area is divided in advance and the work is carried out. In order to form a so-called headland for turning, etc. outside the range, there are cases where work is done using a middle cutting method in which one extra row is cut compared to the row cutting method in which the stalks are run along the rows of stems. be.

Therefore, when working in the middle type, the position in the width direction of the machine body relative to the stem sticks is closer to the already cut side, and there is a risk of stepping on the uncut stem sticks.

Therefore, it has been considered to make it possible to change and adjust the position of the reaping section in the width direction with respect to the machine body, so that it can be adapted to both the row cutting type and the middle cutting type.

However, conventionally, the position of the reaping section relative to the machine body in the width direction has been manually adjusted.

[Problem to be solved by the invention]

Therefore, in the past, it was necessary to manually adjust the reaping section to the appropriate position for each of the row cutting type and the intermediate cutting type, which was cumbersome to operate.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable the reaping section to be automatically adjusted to positions corresponding to each of the row cutting type and the middle cutting type. be.

[Means to solve the problem]

The reaping harvester according to the present invention is provided with a reaping section position adjusting means for changing and adjusting the position of the reaping section in the width direction with respect to the machine body, and its characteristic configuration is as follows.

The first characteristic configuration is a mowing style instructing means for instructing whether the mowing style is a row mowing style or a splitting style, and the row mowing style is designated based on information of the mowing style instructing means. In this case, if the reaping section is located at the set row cutting position of the position adjustment range, and the intermediate splitting format is specified, the reaping section is located at the set row cutting position of the position adjustment range. The present invention further includes a control means for automatically operating the reaping section position adjusting means so that the reaping section position adjustment means is located at the position of the reaping section.

A second characteristic configuration is that a deviation detecting means is provided for detecting a deviation of the stem rod introduced into the reaping section from a set appropriate position range in the width direction of the machine body, and the reaping type indicating means is configured to The present invention is configured to automatically determine whether the cutting type is a row cutting type or a splitting type based on information.

[For production]

In the first characteristic configuration, it is possible to specify whether the mowing type is a row mowing type or a split type, and based on the instruction information, the position of the reaping section is set to the set row mowing position or the setting position. It automatically adjusts to the position for splitting.

In the second characteristic configuration, a deviation detection means is provided to detect deviation of the stem rod introduced into the reaping section from the set appropriate position range in the width direction of the machine body, and based on the information, it is determined whether the stem rod is of the row cutting type or the cutting is in the middle. The system automatically determines whether the type is the type and automatically adjusts the position of the reaping unit to a position corresponding to the corresponding reaping type.

〔Effect of the invention〕

Therefore, in the first characteristic configuration, simply by instructing the position of the reaping section, the position can be automatically adjusted according to the type of reaping, so that the position of the reaping section can be easily adjusted.

In the second characteristic configuration, the mowing type can be automatically determined and the position of the reaping section can be automatically adjusted, so that accurate mowing work can be performed according to the mowing type.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 4, a combine harvester as an example of a reaping and harvesting machine includes a body (V) equipped with a pair of left and right crawler running devices (1), and a threshing device (2) mounted on the body (V).
), and a driving and boarding section (5) which is located at the front side of the right side of the fuselage (V) and includes a driver's seat (3) and a control section (4).
), and a reaping part (6) attached to the front part of the body (v).

The reaping unit (6) transfers the reaped stalks to the threshing device (
The conveyor device (8) that supplies the foot chain (7) of 2)
), a weeding tool (9) arranged in parallel in the width direction of the machine, a pair of left and right raising devices (10), a clipper-type cutting blade <11) that cuts the base of the raised stalk, and a clipper-type cutting blade <11) that cuts the base of the raised stalk. An auxiliary conveyance device (12
).

It is connected to the fuselage (V) so that it can be raised and lowered, and its position can be changed in the width direction of the fuselage.

The elevating and lowering operation structure of the reaping section (6) will be explained as follows.
A cylindrical scraping part support frame (13) that connects the reaping part (6) to the machine body (V) is supported on a stand (14) for vertical swinging when the machine body (V) is mounted; A hydraulic cylinder (15) for raising and lowering the scraping part is provided for vertically swinging the scraping part support frame (13) to raise and lower the cutting part (6).

To explain the operation structure for changing the position of the reaping section (6), as shown in FIG. A pair of long frames (18
A), (18B) are supported so as to be slidable in the width direction of the fuselage, and these elongated frames (18A), (
18B), three weeding tool support frames (19a),
(19b) and (19c) are attached. That is, each of the weeding tools (9) is attached to each of the tips of the three weeding tool support frames (19a), (19b), and (19c).

Although not described in detail, each of the raising device (10), the cutting blade (11), and the auxiliary conveyance device (12) includes the long frames (18A) and (18B).
and the weeding tool support frame (19a), (19b),
(19c) will be used as a base frame to be assembled in a predetermined posture.

A rotating shaft (21) with a spiral groove is driven in forward and reverse directions by a horizontal sliding electric motor (20) serving as an actuator for sliding the reaping section (6) in the width direction of the machine body. Square frame (18
A), is supported by a bracket (22) attached to (18B), and the reaping part mounting frame (13A) has a frame member (23) fixed to the rotating shaft (21). . This constitutes a reaping section position adjusting means (D) that changes the position of the reaping section (6) in the width direction of the machine body by rotating the electric motor (20) in forward and reverse directions.

In the figure, (24a) and (24b) are a pair of limit switches attached to the reaping part that are turned on when the frame (13A) reaches the left and right limits of its position change, and these limit switches are The information is that the reaping part is attached to the frame (13A
) is used as control information for automatically stopping the drive of the electric motor (20) when the left and right limits of the position change are reached.

However, although not detailed, the scraping part support frame (13
) is also used as a case of a transmission shaft that transmits power from the machine body (v) to the reaping section (6).

Further, as shown in FIG. 4, the reaping section 6) is provided with a locking rod (25) for locking the conveying device (7),
As the position of the reaping section (6) is adjusted, the conveying device (
7) whose position can be adjusted by swinging.

Next, the reaping section (
6) The control configuration for automatically adjusting the position will be explained.

As shown in FIGS. 3 and 4, the weeding tool support frame (19b) located in the center of the machine among the three weeding tool support frames (19a), (19b), and (19c)
is provided with a contact type steering control sensor (Sl) as a deviation detection means for detecting deviation of the stalk introduced into the reaping part (6) from a set appropriate position range in the width direction of the machine body. There is.

To further explain the steering control sensor (Sl), it includes a pair of left and right sensor bars (26) that are biased back toward the front of the fuselage and are rotatably supported toward the rear of the fuselage with the base end as a fulcrum; The sensor bar (26) is equipped with a pair of switches (not shown) that are turned ON as the sensor bar (26) rotates toward the rear of the machine by a predetermined angle or more. As the position of the sensor bar (26) deviates from the set proper position range, that is, the proper reaping position range, the sensor bar (26) contacts the base of the stalk and rotates toward the rear of the machine. When the switch is turned on, it is possible to detect that the mowing position has deviated from the set appropriate position range. Since there is a pair of left and right switches for detecting the sensor bar (26) and its rotation, it is possible to determine whether the sensor bar (26) is deviated in the left or right direction based on which of the left and right switches is turned on. It is designed so that it can be determined.

As will be described in detail later, the steering control sensor (S
The information l) is used as control information for controlling the steering so that the machine m automatically travels along the row of stems, and also when the mowing type is the Miki weeding tool support frame/-
(19a), (19b).

(19c), or the three weeding tool support frames (19a), (19b), (19c).
Automatically determines whether the mowing work is in the middle type, in which two rows of stalks are introduced between the support frame (19b) located in the center and the support frame (19c) located on the already-cut side. It has come to be used as information for making specific judgments.

As shown in FIG. 1, the pair of left and right traveling devices (1) includes a transmission device (27) that changes the speed of power from an engine (E).
) is driven via a pair of left and right steering clutches (28) that are turned on and off separately for the left and right sides.

However, although not described in detail, the steering clutch (28) is equipped with a travel brake (not shown) so that the brake is applied as the clutch is further operated from the disengaged state to the disengaged side. There is.

In other words, when the clutch is disengaged, the vehicle can turn slowly, and when the brakes are applied, the vehicle can turn sharply with a smaller radius than when the clutch is disengaged.

A pair of steering hydraulic cylinders (29L) are configured to separately operate the left and right steering clutches (28), respectively.
), (29R) and their steering hydraulic cylinders (29R).
An electromagnetically operated steering control valve (30) is provided to control the supply of hydraulic oil to L) and (29R), and the mowing style is set to row mowing based on the information from the steering control sensor (31). Reaping format instructing means (10
0), and the steering control sensor (Sl
), a steering control means for controlling the operation of the steering control valve (30) based on the information of the reaping type instructing means (
100), the reaping section position adjusting means (D
) is provided with a control device (3 pieces) using a microcomputer, which constitutes a control means (101) that automatically operates the control means (101).

In the figure, (32) is the horizontal slide electric motor (2).
0) drive circuit, (33) the steering control valve (30);
This steering lever is provided in the boarding control section (4) for manually operating the steering wheel with priority over the steering operation by the steering control sensor (Sl). Further, (34) is a pair of switch-type sensors that detect the operation state of the steering lever (33), and the output thereof is input to the control device (31). In other words, the control device (3
1), when the steering lever (33) is manually operated,
Even during steering control by the steering control sensor (Sl), priority is given to manual operation by the steering lever (33).

Further, in order to enable the position change operation of the reaping section (6) to be performed manually, a manually operated position change lever (35) and a pair of switch type sensors for detecting the operating state thereof are provided. (36) are provided.

Next, the configuration of the reaping format instruction means (100) and the control means (101) will be described in detail while explaining the operation of the control device (31) based on the flowchart shown in FIG.

By the way, if the reaping operation is started before the reaping format has been determined, there is a risk of leaving uncut parts or crushing the stalks. The control operation is started with the row mowing position set at the left end corresponding to the standard row mowing format.

When the control operation is started, the information of the steering control sensor (St) is read at set time intervals, and it is determined whether the reaping section (6) is out of the set appropriate position range with respect to the stem row. It will be necessary to determine whether

Then, as the set distance is traveled from the start of the work, or as the set time elapses, the mowing style is determined based on the frequency of deviation in the same direction relative to the set appropriate position range detected during that time. Determine whether it is a row-cut type or a split-cut type.

To explain the determination of the cutting type, the position of the cutting part (6) is the row cutting position (corresponding to the row cutting type).
When performing row mowing work in the state at the left end), as mentioned above, the three weeding tool support frames (19a),
(19b) and (19c), since the cutting work is performed with each row of stalks introduced, the steering control sensor (Sl) deviates from the appropriate setting position range. Although the frequency of detecting the weeding device is low, in the case of a mid-split type, the support located in the center of the three weeding tool support frames (19a), (19b), and (19c) Since the mowing operation is to be carried out with two stalks introduced between the frame (19b) and the support frame (19c) located on the already cut side, the steering control sensor (S1) is activated. The frequency of detecting deviation from the set appropriate position range to the already-mowed side, that is, to the right side, increases. Therefore, the steering control sensor (Sl) is moved from the setting appropriate position range to the already mowed side (right side).
If the frequency of detecting a deviation is less than a set threshold, it is determined to be a row-cut type, and if the dog is a dog, it is determined to be a middle-split type based on the set threshold.

However, although detailed description will not be provided, until the mowing type is determined, the vehicle is driven with the steering control described below stopped. In other words, when the steering control is performed to follow the stem row, the positional relationship between the steering control sensor (Sl) and the stem rod row changes, so the reference position of the detected deviation state changes. There is a risk that the detection information will be inaccurate. Therefore,
Until the mowing type is determined, the vehicle will be driven without steering control.

When the row mowing type is determined, the reaping section (6) is moved to the left end of the position adjustment range as the set row mowing position and stopped. The part (6) is moved to the right end of the setting middle position of the position adjustment range and then stopped.

In other words, the stem rod introduced into the reaping section (6) detected by the steering control sensor (St) while traveling a set distance from the start of the work or while a set time elapses. The process of automatically determining the reaping format based on the information on the deviation from the set appropriate position range in the machine width direction corresponds to the reaping format instructing means (100), and the reaping unit (100) automatically determines the reaping format based on the information on the determined reaping format. 6)
The process of setting the position adjustment range to the left end or right end corresponds to the control means (101).

After determining the reaping type and adjusting the position of the reaping section (6) according to the corresponding reaping type, the steering control valve (30) is adjusted based on the information of the steering control sensor (Sl). ) to perform steering control so that the aircraft (V) follows the row of stems and rods lined up in the aircraft's traveling direction.

To explain the steering control, although it will not be described in detail, one of the pair of steering clutches (28) is disengaged for a set time in response to the direction of deviation, thereby correcting the direction of travel of the aircraft. I will let you do it. Incidentally, if the orientation of the aircraft cannot be corrected by - times of steering operations, the steering clutch (28) is repeatedly disengaged and operated until the detected deviation disappears.

[Another example]

In the above embodiment, the mowing type is determined with the reaping section (6) initially set to the row mowing position. It may be set and discriminated, or it may be set at an intermediate dividing position and discriminated.

In addition, in the above embodiment, the steering control sensor (S1) is configured as a switch type that detects only the occurrence of positional deviation. Using a potentiometer that can output a detected value, it is possible to detect the amount of positional deviation in the machine width direction with respect to the stem row, and the mowing type can be determined based on the detected positional deviation amount. The steering operation may be performed with a steering operation amount depending on the amount of positional deviation.

Further, in the above embodiment, the case where the reaping type is automatically determined is illustrated, but for example, a manually operated switch or the like for instructing the reaping type is provided, and the position of the reaping section is determined based on the operating state of the switch. It is also possible to artificially instruct the mowing format so that it is automatically adjusted.

Further, in the above embodiment, the present invention is applied to a combine harvester, but it can be applied to various types of reaping and harvesting machines, and the specific configuration of each part can be changed in various ways.

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.

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping harvester according to the present invention, in which Fig. 1 is a block diagram of the control configuration, Fig. 2 is a flowchart of the control operation, and Fig. 3 is a partially cutaway plan view of the reaping section position changing means. , FIG. 4 is a schematic side view of the front part of the combine. (6)... Reaping section, (V)... Airframe,
(D)... Reaping part position adjustment means, (Sl)...
. . . Misalignment detection means, (100) . . . Reaping format instruction means, (101) . . . Control means.

Claims (1)

[Claims] 1. A reaping harvester provided with a reaping section position adjustment means (D) for changing and adjusting the position of the reaping section (6) in the width direction with respect to the machine body (V), which has a reaping type. Reaping format instructing means (100) for instructing whether it is a row reaping format or a split reaping format, and its reaping format instructing means (100)
If the row cutting format is specified based on the information, the reaping section (6) is located at the set row cutting position in its position adjustment range, and if the intermediate splitting format is specified. is provided with a control means (101) for automatically operating the reaping section position adjusting means (D) so that the reaping section (6) is located at a predetermined splitting position in the position adjustment range. A reaping harvester. 2. The reaping harvester according to claim 1, wherein the reaping section (
6) is provided with a deviation detecting means (S_1) for detecting a deviation of the stem stick introduced in the machine body width direction from a set appropriate position range, and the mowing type indicating means (100) is provided with a deviation detecting means (S_1). A reaping harvester configured to automatically determine whether the reaping format is a row reaping format or a split reaping format based on information on the reaping method.