JPH03180114A - Reaper harvester - Google Patents

Abstract

PURPOSE:To eliminate the positional deviation of a reaping part by actuating a steering means when a transfer means continues to move in the same direction over a prescribed period. CONSTITUTION:The position of a reaping part is found to be excessively shifted to the right relative to a standing culm when the detected value VA of the right-side position sensor S2A exceeds a threshold value TH. In the above case, an electric motor 20 is energized to shift the reaping part to the left. When the detected value VA exceeds the threshold value TH for a period longer than a prescribed time, a solenoid valve 34 is actuated to turn the machine body to the left and the reaping part is positioned at a prescribed optimum position relative to the standing culm to be reaped. When the detected value VB of the left-side position sensor S2B exceeds the threshold value TH, the reaping part is positioned at a prescribed optimum position relative to the standing culm to be reaped by a process similar to the above procedures.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a steering means for steering a vehicle body equipped with a traveling device, and a movement mechanism for moving a reaping section provided on the vehicle body in the width direction of the vehicle body. and position detection means for detecting a positional deviation in the vehicle width direction between the reaping section and the planted grain culm to be reaped, and based on the detection information of the position detection means, the reaping The present invention relates to a reaping harvester, which is provided with a control means for adjusting the culm to an appropriate setting position relative to the planted grain culm to be reaped.

[Conventional technology]

When a reaping machine such as a combine harvester performs reaping work,
It is necessary to maintain the cutting section in the correct position relative to the planted grain culm to be harvested.

Conventionally, as a configuration for adjusting the positional deviation of the reaping section, as the positional deviation is detected by a position detection means, the vehicle body is steered or the reaping section is moved in the width direction of the vehicle body in order to correct the positional deviation. There was something that made me do it.

In other words, conventionally, the steering means was generally configured to follow the planted grain culm, but in this case, the steering caused the aircraft to shake, causing discomfort to the passengers. There are disadvantages. For this reason, in recent years, it has been considered to operate a moving means to follow the planted grain culms.

[Problem to be solved by the invention]

Whether it is preferable to operate the moving means or the steering means when a positional shift is detected depends on whether the direction of movement of the vehicle body matches the direction of the rows of planted grain culms to be harvested. .

That is, when the two directions match, it is desirable to operate the moving means, and when they do not match, it is desirable to operate the steering means to make the two directions match.

In the above-mentioned conventional technology, since the moving means or the steering means is operated regardless of the coincidence of the two directions, it is not necessarily possible to perform appropriate control, and there is a risk that the planted grain culm cannot be properly followed. was there.

For example, if only the moving means is operated, and the traveling direction of the vehicle body does not match the direction of the rows of planted grain culms to be reaped, the moving means is continued to be operated, and the reaping section is In this case, the movable means may reach the operable range and the reaping section may not be maintained in an appropriate position relative to the planted grain culm to be harvested. On the other hand, if only the steering means is activated,
This steering operation not only causes the inconvenience of causing the vehicle body to shake as described above, but also causes the steering to be difficult even though the direction of travel of the vehicle body is in line with the direction of the rows of planted grain culms to be harvested. As a result of the direction of the vehicle body changing with the steering operation, it is necessary to perform the steering operation repeatedly, and in this case as well, appropriate tracking cannot be performed.

In order to avoid such inconvenience, the control means operates the moving means as the position detecting means detects a positional shift, and the moving means is operated in the same direction a set number of times within a set time. It is conceivable to configure the steering means to be operated as the distance exceeds the threshold.

With this configuration, the reaping section is moved at high speed by the moving means to reliably eliminate the positional shift in a short time. Focusing on the fact that positional deviations occur repeatedly when the traveling direction of the vehicle body and the direction of the rows of planted grain culms do not match, the steering system The purpose of this is to operate the two directions to make the two directions coincide.

However, if the reaping section is moved at high speed by a moving means, it will respond unnecessarily quickly even to small positional deviations, so if positional deviations in the opposite direction repeatedly occur, unnecessary control will be repeated. This is disadvantageous in terms of durability and running costs.

For this reason, when moving the reaping section using the moving means, it is desirable to move the reaping section at a low speed. The steering means cannot be operated properly, and improvement is desired.

The present invention has been made in view of the above-mentioned circumstances, and its object is to achieve a reaping system that allows the reaping section to appropriately follow the planted grain culm even when the reaping section is moved at low speed by a moving means. The point is to provide harvesting machines.

[Means to solve the problem]

In order to achieve this object, a first feature of the reaping harvester according to the present invention is that the control means operates the moving means as the position detection means detects a positional deviation;
Further, the steering device is configured to operate as the moving device continues to operate in the same direction for a set time or more.

A second characteristic configuration specifies a preferable configuration for implementing the first characteristic configuration, in which vehicle speed detection means for detecting vehicle speed is provided, and the control means detects the vehicle speed by detecting the vehicle speed. Based on the information, the setting time is configured to be shorter as the vehicle speed increases.

[For production]

In the first characteristic configuration, the moving means is first activated when a positional shift is detected. When the traveling direction of the vehicle body matches the direction of the rows of planted grain culms to be harvested, it is thought that the positional deviation will eventually be resolved by the operation of the moving means. However, when the two directions do not match, even if the moving means is operated to eliminate the positional deviation, the positional deviation continues as the vehicle moves forward. the result,
The operation of the moving means in the same direction continues for the set time or longer. In this case, by operating the steering means, it is possible to eliminate the positional deviation while correcting the mismatch in both directions.

In the second characteristic configuration, the set time can be made appropriate depending on the vehicle speed. In other words, if the set time is too long when the vehicle speed is high, there is a risk that the operation of the steering means will be delayed, resulting in uncut parts. Conversely, if the set time is too short when the vehicle speed is slow, the operation Although there is a possibility that the control means operates too quickly and stable control cannot be performed, this can be avoided.

〔Effect of the invention〕

In the first characteristic configuration, even if the reaping section is moved at low speed by the moving means, it is possible to eliminate the misalignment of the reaping section in an appropriate manner according to the current situation, so it is possible to It is possible to obtain a reaping harvester that can improve riding comfort while appropriately following the reaping section, and is also advantageous for reducing durability and running costs.

In the second characteristic configuration, even when the vehicle speed is changed, the reaping section can be made to follow the planted grain culm more appropriately.

〔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/harvesting machine has a pair of left and right running rollers (1
A), a car body (2) equipped with (IB), and the car body (2)
) is mounted on the threshing device (3), which is located on the front side of the right side of the vehicle body (2), and is mounted on the driver's seat (4) and the control tube (
5), and a reaping processing section (C) mounted on the front part of the vehicle body (2).

The reaping processing unit (C) includes a reaping unit (C) that raises and reaps grain culms.
6) and the feed chain (
8), and a transport device (7) for supplying the vehicle body
2) is connected so that it can be raised and lowered freely. The conveyance device (7)
The ear tip locking conveyance device (7A) and the stock clamping conveyance device (7A)
B).

The reaping section (6) includes weeding tools (
9), a pair of left and right lifting devices (10), a clipper-type cutter (11) for cutting the stock base of the lifted grain culm, and an auxiliary conveyor that locks and transports the stock base of the harvested grain culm to the rear side. Device (I2
).

A cylindrical reaping section support frame (13) that connects the reaping section (6) to the vehicle body (2) is supported by a mounting base (14) of the vehicle body (2) so as to be able to swing vertically. (
A cylinder (15) for raising and lowering the reaping part is provided for raising and lowering the reaping part (13).

A support frame (16) at the rear end of the conveyance device (7) is pivotably supported around the same axis as the reaping section support frame (13), and is connected to the reaping section support frame (13). Between the support frame (16), there is a hydraulic cylinder (
17) is interposed. Therefore, the conveyance device (7)
It is raised and lowered integrally with the reaping part (C), and is also raised and lowered independently to adjust the handling depth.

The conveyance device (7) is connected to the support frame (16) so as to be swingable around the axis along the longitudinal direction of the support frame (16), and as described later, the reaping section (6) is connected to the vehicle body. It is designed to be swung as the position is adjusted in the width direction.

A moving means CM) for slidingly moving the reaping section (6) in the width direction of the vehicle body is provided.

To explain further, as shown in FIG. 3, a cylindrical reaping section support frame (13
) A pair of front and rear elongated frames (18A) and (18B) are supported by the reaping part attachment frame (13A) at the tip of the
A), (18B), three weeding tool support frames (1
9A), (19B), and (19C) are installed. Although not described in detail, each of the pulling device (10), cutter (11), and auxiliary conveyance device (12) is equipped with a long frame (18A), (18B) or a weeding tool support frame ( 19A), (19B), and (19C) are used as the base frame to be mounted in a predetermined posture.

A rotating shaft (21) with a spiral groove, which is rotated forward and backward by an electric motor (20), is an elongated frame (18A).

(18B) is supported by a bracket (22) attached to the reaping part mounting frame (13A), and a frame member (23) that fits on the rotating shaft (21) is fixed to the reaping part mounting frame (13A), thereby driving the electric motor (20). The position of the reaping section (6) can be adjusted by rotating the reaping section (6) forward or backward.

The reaping section support frame (13) also serves as a case for a transmission shaft that transmits power from the vehicle body (2) to the reaping section (6). The power from the transmission shaft is transmitted to various devices of the reaping section (6) using a transmission structure that allows position adjustment of the reaping section (6).

Further, the reaping section (6) is provided with a locking rod (24) that locks the conveying device (7), so that the conveying device (7) can be adjusted as the position of the reaping section (6) is adjusted. The swing can be adjusted.

As shown in Fig. 3, the weeding tool support frame (19B) located at the center is biased to return to the front side of the vehicle body, and is applied to the base of the planted grain culm introduced into the reaping section (6). A pair of left and right sensor bars (26A) that are in contact with each other and can be freely displaced to the rear side;
(26B) are attached, and those sensor bars (26A
), (26B) position sensor (S2A) that detects the amount of backward displacement using a potentiometer, (S2e
) is attached.

In other words, the sensor bars (26A), (26B) and the position sensors (S2A), (32B) detect the positional deviation between the reaping section (2) and the planted grain culm to be reaped in the vehicle width direction. This corresponds to the means (S2).

Next, the steering means (F) for steering the vehicle body (2) will be explained.

As shown in Fig. 1, the output from the engine (E) is transmitted through the hydraulic continuously variable transmission (30) to the driving mission (30).
31).

A roller (LA) runs left and right from the mission (31).
), (IB), a steering clutch brake (32A), (32B), which operates the clutch brake (32A), (32B), a hydraulic cylinder (33A), (33B), and These hydraulic cylinders (33A).

(33B) are respectively provided.

The vehicle body (2) can be turned by operating the - side of the clutch brakes (32A) and (32B).

Note that (S3) in the figure is a vehicle speed sensor as vehicle speed detection means.

Next, the electric motor (20) and the electromagnetic valve (34)
A control configuration for adjusting the reaping section (6) to an appropriate setting position with respect to the planted grain culm to be reaped by operating the reaping section (6) will be described.

As shown in FIG. 1, a control device (H) using a microcomputer is provided, and the control device (H) includes a selection switch (S,) for selecting automatic mode and manual mode, the position sensor (S2A), (S2r3), the vehicle speed sensor (S,), the clutch brake (32A) in manual mode
), (32B) in order to turn on and off the solenoid valve (3
4), and a slide movement switch (S4) that operates the electric motor (20) to slide the reaping part (6) in the manual mode.
5) are connected.

The control device (H) controls the electric motor (2) based on preset and stored information and various input information.
0) and the electromagnetic valve (34) to control the reaping part (
6) is configured to adjust its position relative to the planted grain culm.

That is, by using the control device (H), the control means (1
00) is configured.

Note that the control device (H) is the position sensor (S2A).

(32a) It is determined that a positional deviation has occurred as each of the detected values (VA) and (va) exceeds a threshold value (TH).

Furthermore, as will be described later, the steering means (F) is operated as the movement of the moving means 0i() in the same direction continues for a set time or more. The larger it gets, the shorter it becomes.

Next, the operation of the control device (H) will be explained based on the flowchart shown in FIG.

As the control is activated, the selection switch (
Based on the information of Sl), it is detected whether the mode is automatic mode or manual mode.

In the manual mode, the vehicle body (2) is steered based on the information of the steering switch (S4) and the slide operation switch (S), and the reaping section (6) is slid.

If in automatic mode, the position sensor (S2A).

(32B) The detected values (VA) and (VB) are the threshold (
TH) tl- Check whether it is exceeded.

If the detected value (VA) of the right position sensor (S2A) exceeds the threshold value (TH), the position of the reaping part (6) is too far to the right with respect to the planted grain culm. Therefore, in order to correct the position to the left, the electric motor (20) is operated to slide the reaping part (6) to the left. If the time during which the detected value (VA) exceeds the threshold value (TH) exceeds the set time, the electromagnetic valve (34) is actuated to steer the vehicle body (2) to the left. let Thereby, the reaping section (6) is adjusted to an appropriate position relative to the planted grain culm to be reaped.

On the other hand, if the detected value (v8) of the left position sensor (32B) exceeds the threshold value (TH), the same process as described above is performed to move the reaping part (6) to the planted grain culm to be reaped. Adjust the setting to the appropriate position.

Detected values of both position sensors (S2A) and (32B) (
VA).

(■8) is below the threshold value (TH), it is assumed that the reaping part (6) is in the appropriate setting position, and the moving means (M)
and the steering means (F).

[Another example]

In carrying out the present invention, the configuration of each part can be changed as described below instead of the above embodiment.

Wheel-type devices may be used as the traveling devices (1A) and (IB).

When the traveling device is a crawler type, the steering means (F) may be configured to simply intermittent driving.

The moving means (M) may be configured to swing the reaping section (6) about the vehicle body as a fulcrum.

In the above embodiment, the position detecting means (S2) is configured using a potentiometer, but it may also be configured using a limit switch.The specific configuration of other parts 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 drawings]

The drawings show an embodiment of the reaping and harvesting machine according to the present invention, FIG. 1 is a block diagram of the control configuration, FIG. 2 is a flowchart of control operation, FIG. 3 is a plan view of main parts showing the moving means, and FIG. 4 is a schematic side view of the combine harvester. (2)...Car body, (6)...Reaping part,
(100)...Control means, (1A), (1B
)...Traveling device, (F)...Steering means, (M)...Movement means, (S2)...
Position detection means, (S3)...Vehicle speed detection means.

Claims (1)

[Claims] 1. Steering means (F) for steering a vehicle body (2) equipped with traveling devices (1A) and (1B), and a reaping section (6) provided on the vehicle body (2). a moving means (M) for moving the crop in the width direction of the vehicle body, and a position detection means (S_2) for detecting a positional deviation between the reaping part (6) and the planted grain culm to be harvested in the width direction of the vehicle body. ) is provided, and its position detection means (S_
A reaping harvester is provided with a control means (100) for adjusting the reaping part (6) to an appropriate setting position with respect to the planted grain culm to be reaped based on the detection information of 2), The means (100) is the position detecting means (S_2
) operates the moving means (M) when positional deviation is detected, and when the moving means (M) continues to operate in the same direction for a set time or longer, the steering means (F)
A reaping harvester configured to operate a reaping harvester. 2. The reaping harvester according to claim 1, further comprising vehicle speed detection means (S_3) for detecting vehicle speed, and the control means (
100) is a reaping harvester configured to shorten the set time as the vehicle speed increases, based on the detection information of the vehicle speed detection means (S_3).