JPH0394609A - Reaping harvester - Google Patents

Abstract

PURPOSE:To reduce trouble such as pushing down of planted grain culms or occurrence of residual unreaped grain culms by operating either or both of a moving means and a steering means according to the extent of positional deviation of a reaping part. CONSTITUTION:Positional deviation is sensed in plural stages by a means (S2) for sensing the positional deviation of a reaping part. When the positional deviation is small, either of an electrically operated motor 20 and a control valve 27 is operated. When the positional deviation is great, both of the control valve 27 and the electrically operated motor 20 are operated. The reaping part is moved by the electrically operated motor 20 and a car body is steered by the control valve 27.

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, position detection means have been configured to be able to detect positional deviation in one step. As the positional deviation is detected, 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.

[Problem to be solved by the invention]

In the above-mentioned conventional technology, the same control is performed whether the positional deviation is small or large.

As a result, when the positional shift is large, the rise time becomes long, resulting in a lack of quick response.

On the other hand, if the gain is set to dog in order to improve the quick response of the control, the control becomes unstable and there is a possibility that hunting may occur.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned conventional drawbacks and to obtain a reaping and harvesting machine with excellent reaping performance.

[Means to solve the problem]

In order to achieve this object, the reaping and harvesting machine according to the present invention is characterized in that the position detecting means is configured to be able to detect positional deviation in multiple stages, and the control means is configured to move the position when the positional deviation is small. One of the steering means and the steering means is actuated, and when the positional deviation becomes large, both the steering means and the moving means are actuated.

[For production]

As described above, since the steering means and the moving means are used together to adjust the position of the reaping section, it is possible to improve responsiveness without impairing control stability.

〔Effect of the invention〕

Since the speed of controlling the position of the reaping section can be improved, it is possible to reduce the risk of problems such as pushing down the planted grain culm or leaving uncut areas. In other words, it is possible to obtain a reaping harvester with excellent reaping performance.

〔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 traveling crawlers (I) as a traveling device.
A vehicle body (2) equipped with a vehicle body (L, IR), a threshing device (3) mounted on the vehicle body (2), a threshing device (3) disposed on the front side of the right side of the vehicle body (2), and a driver's seat ( 4) and control tube (5)
The vehicle is equipped with a driving and riding section (A) equipped with the following, and a reaping processing section (C) attached to the front part of the vehicle body (2).

The reaping processing unit (C) includes a reaping unit (C) that raises and reaps grains.
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)
is a tip locking conveyance device (7A) and a stock support conveyance device (7A).
B).

The reaping section (6) includes a splitting tool (
9), a pair of left and right raising devices (IO), a clipper-type cutter (11) that cuts the base of the raised grain culm, and an auxiliary conveyor that locks and transports the base of the harvested grain culm to the rear side. Device (12
).

A cylindrical reaping section support frame (l3) 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 to raise and lower the reaping part (l3).

A support frame (l6) at the rear end of the conveyance device (7) is pivotably supported to be vertically swingable about the same axis as the reaping section support frame (13), and the reaping section support frame. A hydraulic cylinder (17) for adjusting the handling depth is interposed between the frame (l3) and the support frame (l6). Therefore, the conveyance device (7) is raised and lowered integrally with the reaping section (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 (M) 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 (l3
) A pair of front and rear elongated frames (18A), (18B) are supported by the reaping part mounting frame (13A) at the tip of the
A), (18B), three leather splitting tool support frames (1
9A). (19B). (19C) is installed. Although not described in detail, each of the pulling device (IO), cutter (l1), and auxiliary conveyance device (l2) is equipped with a long frame (18A), (18B) or a weeding tool support frame ( 19A), (19B). (19C) will be used as a base frame and will be mounted in a predetermined posture.

A rotating shaft (2l) with a spiral groove, which is rotated forward and backward by an electric motor (20), is connected to an elongated frame (18A), (
A frame member (23) that fits on the rotating shaft (2l) is fixed to the reaping part mounting frame (13A), and is supported by the bracket (22) attached to the electric motor (20). The position of the reaping section (6) can be adjusted by forward and reverse rotation.

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 splitting 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 toward the rear.
(26B) are attached, and those sensor bars (26A
), (26B) using a potentiometer to detect the amount of rearward displacement (S2A). (SOB
) is attached.

That is, the position where the sensor bars (26A), (26B) and the position sensors (S2A), (32B) detect the positional deviation between the reaping part (2) and the planted grain culm to be reaped in the vehicle width direction. It corresponds to the detection 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 (l4) to the driving transmission (
15).

The left and right crawler traveling devices (
Clutch brakes (16A), (16B) for steering that intermittent power transmission to IA), (IB), hydraulic cylinders (17A), (17B) that operate these clutch brakes (16A), (16B), and an electromagnetic valve (
27) are provided.

The vehicle body (2) can be turned by operating one of the clutch brakes (16A) and (16B).

Next, the electric motor (20) and the electromagnetic valve (27
) to adjust the reaping section (6) to an appropriate setting position with respect to the planted grain culm to be reaped will be explained.

As shown in FIG. 1, a control device (H) using a microcomputer is provided, and the control device (H) includes a selection switch (S1) for selecting automatic mode and manual mode, and the position sensor (S2A). (32B), a steering switch (S4) that operates the electromagnetic valve (27) to turn on and off the clutch brake (16A) and (16B) in manual mode, and slides the reaping part (6) in manual mode. Each of the slide movement switches (S5) that actuates the electric motor (20) is 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 (27) 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.

A configuration for detecting positional deviation in two stages based on the detection information of the position sensors (S.A), (S..) will be described.

As shown in FIG. 3, the first threshold value (T[{.) corresponding to a small positional deviation and the second threshold value (T}I.) corresponding to a large positional deviation. are set respectively. The control device (H) is a position sensor (S2A)
, (32B) respectively, the detected values (VA) and (VB) are the first
It is determined that a small positional deviation occurs as the threshold value (THE) is exceeded, and that a large positional deviation occurs as the second threshold value (TH2) is further exceeded.

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 in S1), 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 (S5), and the reaping section (6) is slid.

In automatic mode, the position sensors (S2A), (S
2B)"Detected value (VA).(VB) is the first threshold (T
Check whether it exceeds HI).

If the detection value (■A) of the right position sensor (S2A) exceeds the first threshold (TH,), the reaping part (6)
Since the position is too far to the right with respect to the planted grain culms, the electric motor (20) is operated to slide the reaping part (6) to the left in order to correct the position to the left. Then, it is checked whether the detected value (vA) exceeds a second threshold (TH2). If it exceeds the limit, the electromagnetic valve (27) is operated to steer the vehicle body (2) to the left. 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 (VB) of the left position sensor (32B) exceeds the first threshold (TH1), the reaping part (6) is It is adjusted to the appropriate setting position relative to the standing grain culm.

In other words, when the positional deviation is small, the moving means (M) is operated, and when the positional deviation is large, both the steering means (F) and the moving means (M) are operated. .

Both position sensors (S2A). (32B) detection value (
■When A) and (v8) are below the first threshold value (THI), it is assumed that the reaping part (6) is in the appropriate setting position, and both the moving means (M) and the steering means (F) are activated. to stop.

[Another example]

In the above embodiment, when the positional deviation is small, the moving means (M
), but the steering means (F) may also be operated.

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

As the traveling device (IL, IR), a wheel type device may be used.

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 detection 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, in which 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 the main parts of the reaping section, and Fig. 4 is a It is a schematic side view of a combine. (IL, IR)... Traveling device, (2)...
... Vehicle body, (6) ... Reaping section, (100)
...control means, (F) ...steering means, (
M)...Movement means, (S2)...Position detection means.

Claims (1)

[Scope of Claims] A steering means (F) for steering a vehicle body (2) equipped with a traveling device (1L, 1R), and a reaping portion (6) provided on the vehicle body (2) that is connected to a vehicle body width. a moving means (M) for moving in the direction, and a position detecting means (M) for detecting a positional deviation between the reaping section (6) and the planted grain culm to be harvested in the vehicle width direction;
control means (S_2) for adjusting the reaping section (6) to an appropriate setting position with respect to the planted grain culms to be reaped based on the detection information of the position detection means (S_2);
100), the position detection means (S_2) is configured to be able to detect positional deviation in multiple stages, and the control means (100) is configured to
When the positional deviation is small, one of the moving means (M) and the steering means (F) is operated, and when the positional deviation is large, the steering means (F) and the moving means (M) are operated. A reaping harvester configured to operate both.