JPH0662607A - Stem culm position detector of reaping harvester - Google Patents

Abstract

PURPOSE:To reduce the possibility of hindering the introduction of stem culms with a sensor bar and prevent the addition of strong impacts to the sensor bar by disposing the sensor bar so as to overlap one tip of a sensor bar below a stem culm-catching and carrying device and so as to overlap the other end below a stem culm guide. CONSTITUTION:A pair of stem culm position detection sensors 16 are disposed so that at least one tip of the sensor bar 16a, namely the tip on the side (the rear side of the frame) opposite to the pivotal support point, is overlapped below a stem culm catching and carrying device 6 or stem culm guides 11,14, thereby preventing the generation of states in which the introduction of the stem culms are hindered with the sensor bar 16a. Vertically planted stem culms introduced in a stem culm-introducing path W are guided with stem culm-guiding members 11,14 and simultaneously caught and carried on the rear side of the frame with the stem culm-catching and carrying device. Since the vertically planted stem culms are controlled with the stem culm-catching and carrying device 6 or with the stem culm guides 11, 14 when the vertically planted stem culms hit on the sensor bar 16a and when the sensor bar is rotated somewhat rearward, a strong force is not added to the sensor bar.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stem culm locking and conveying device for locking and conveying stalks to the rear side of the machine in the culm introduction path. It is provided in a state of being positioned at one end side in the lateral width direction of the introduction path, and a stalk guide is provided so as to face the stalk transfer action portion of the stalk locking transfer device, and the end on the front side of the machine is a pivot point. As a pair of stalk and culm position detection sensors having sensor bars pivotally supported in the front and rear direction and biased to return to the front side, and a reaping harvester in which the stalk and stalk position detection sensors are distributed and arranged on both lateral sides in the stalk and stalk introduction path. The present invention relates to a stem culm position detecting device.

[0002]

2. Description of the Related Art Such a stem-culm position detecting device is used, for example, when a harvesting machine such as a combine harvester is automatically driven along a row of planted stems (for example, rice). It is necessary to detect lateral displacement. Conventionally, a pair of stem culm position detection sensors having the above-mentioned sensor bar are directed from the support frame immediately behind the weeding tools located on both lateral sides of one stalk culm introduction passage to the stem culm introduction passage. The sensor bar was provided so as to project.

A switch or potentiometer detects that the sensor bar hits the planting culm and rotates backward, and the steering control of the machine body is performed based on the detected information. For example, in a proper state in which a row of culms is located in the center of the culm introduction path, neither sensor bar touches the culms,
When the machine body shifts to the left or right, the length of the sensor bar or the like is appropriately determined so that the sensor bar that is displaced touches the stalk and rotates backward. Then, if it is detected that one of the left and right sensor bars has rotated backward by a predetermined angle or more, the body is steered in that direction, and control is performed to restore the proper state.

[0004]

However, the above-mentioned sensor bar projecting into the stem-culm introduction path does not smoothly rotate backward due to the entanglement of weeds and the like, which hinders the introduction of planted grain culms. There are cases. Further, if the planted stem culm or the like hits the sensor bar strongly, a failure of the pivotal support part of the sensor bar or the potentiometer is likely to occur.

The present invention has been made in view of the above circumstances, and an object thereof is a stem culm position detecting device in which there is little possibility that a sensor bar will hinder the introduction of stem culms and a strong force is hard to be applied to the sensor bar. To provide.

[0006]

A stem-and-culm position detecting device for a harvesting and harvesting machine according to the present invention comprises a stem-and-culm locking and conveying device for locking and conveying the stem and culm to the rear side of the machine in the stalk-culm introduction path. It is provided in a state in which the culm conveying action portion is located closer to one end side in the lateral width direction of the stem-culm introduction path toward the rear of the machine body, and the stem-culm guide body is opposed to the stem-culm conveying action portion of the stem-culm locking and conveying device. A pair of stem culm position detection sensors provided with a sensor bar pivotally supported in the front-rear direction with an end portion on the front side of the fuselage as a pivot point and biased to return to the front side are provided in the stem culm introduction path. One of the pair of stalk-and-culm position detection sensors is characterized in that the characteristic configuration is arranged on both lateral side portions.
At least the tip portion of the sensor bar is provided in a state of overlapping below the stem-culm locking and conveying device, and the other stem-culm position detection sensor causes at least the tip portion of the sensor bar to overlap with the stem-culm guide body. It is a point provided in the state.

[0007]

According to the above-mentioned characteristic construction, the pair of stalk-and-culm position detecting sensors are provided with a stalk-and-culm locking conveyer device or a stalk-and-culm guide at least at the tip end of the sensor bar, that is, the side opposite to the pivot (the rear side of the machine body). Since it is provided in a state where it is overlapped below, the situation where the sensor bar hinders the introduction of stalks is unlikely to occur. This is because the planted stem culm introduced into the stem culm introduction path is guided by the stalk culm guide body and locked and conveyed to the rear side of the machine by the stem and culm locking and conveying device.

Further, the planted stem culm hits the sensor bar, and when the sensor bar is turned back to a certain degree, the planted culm is hit by the stem culm locking conveyer device or the stalk culm guide body and is regulated. Does not join the sensor bar.

[0009]

As described above, according to the present invention, it is possible to provide a stem culm position detecting device in which there is little possibility that the sensor bar will hinder the introduction of stem culms and a strong impact is not applied to the sensor bar.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. First, FIGS. 1 and 2 show a plan view and a side view of a front part of a two-row mowing self-removing combine as a harvesting and harvesting machine. A pair of left and right crawler traveling devices 1,
The threshing device 2, the cutting unit 3, etc. are mounted.

At the tip of the cutting unit 3, three weeding tools 4 are provided.
Are juxtaposed, and a pair of adjoining stem culm introduction paths W are formed. Two rows (two rows) of planted stem culms, such as rice, are separated by three weeding implements 4 and introduced into separate culm culvert introduction paths W, and the lying stem culms are raised by the raising device 5. After being pulled up, the stem-and-culm locking and conveying device 6 locks and conveys it to the rear side of the machine body.

The stem-and-culm-locking transfer device 6 comprises a stalk-and-crown locking projection 6.
a conveyor belt 6b provided with a and a pair of front and rear pulleys 6
c and 6d, and a conveyor belt 6b that is a stalk-conveying acting portion.
The inner portion of the is provided in a state of being positioned closer to one end side in the lateral width direction of the stalk-culm introduction path W toward the rear side of the machine body, that is, obliquely in a plan view. In addition, as shown in FIG. 1, the stalk-conveying action portions of the pair of left and right stalk-cone locking conveying devices provided on the pair of stalk-introducing passages W have a V-shape that is open to the front side of the machine body. It is installed in.

Below the rear pulley 6d of the stem and stem locking and conveying device 6, there is provided a packer 7 which is rotationally driven about the same axis. The packer 7 locks near the root of the stem and scrapes it into the confluence M. At this time, a cutting device 8 provided below the packer 7 and provided with a reciprocating cutting blade cuts the stems from the plant base. The stem culms that have been cut and collected in the confluence M are conveyed to the upper rear by the vertical conveying device 9 and passed to the starting end of the feed chain 10 of the threshing device 2. The vertical transport device 9
A chain portion 9a for sandwiching and transporting the stem culm side and a belt portion 9b for locking and transporting the tip (tip) side are provided.

As shown in FIG. 1, in order to assist the locking and transport of the stalks by the stalk and stalk locking and transporting device 6, a pair of left and right stalks are opposed to the inner portion of the transport belt 6b (stem and stalk transporting operation portion). A culm guide 11 is provided. The pair of left and right stem and culm guide bodies 11 are actually formed by bending one steel rod and forming a rhombus shape in a plan view as shown in FIG. 1. The front portion (the center of one steel rod) Only the portion) is fixed to the central frame body 13 via the mounting member 12, and the other portions bent to the left and right are elastically displaceable.

As shown in FIG. 2, the stalk-culm guide body 11 is located slightly above the conveyor belt 6b and faces the stalk-conveyor working portion. An culm guide 14 is provided. Then, the lower stem culm guide body 14 guides the root side of the stem culm, the upper stem culm guide body 11 guides the tip (tip) side of the stem culm, and both cooperate to form the stem culm. It will be pressed against the conveyor belt 6b.

As shown in FIG. 1, a pair of left and right stem culm position detection sensors 16 are provided in the vicinity of the mounting bracket 12 of the central frame 13, and the sensor bars 16a are arranged along the pair of left and right stem culm guides 11, 14. And extends to open in a V shape.
Most of the sensor bar 16a including the tip portion is provided below the stem and culm guide bodies 11 and 14 in an overlapping state. The sensor bar 16a is pivotably supported in the front-rear direction with the base end portion, that is, the end portion on the front side of the machine body as a pivot point, and is biased to return to the front side. However, it is regulated so as not to rotate forward from the position of FIG. 1 by a predetermined angle or more. Further, the stalk-and-culm position detecting sensor 1 in which the sensor bar 16a is pivotally supported.
A potentiometer 16b for detecting the swing (rotation) angle of the sensor bar 16a is provided inside the sensor bar 6.

The side frame 15 which is a supporting member for the left and right weeding tools 4 and the like is also provided with stem culm position detecting sensors 16 having the same structure, and their sensor bars 16a are as shown in FIG. Further, the tip end portion extends obliquely rearward in a state of overlapping below the stem-culm locking and conveying device 6. Therefore, for each of the pair of stem culm introduction paths W, the stalk culm position detection sensor 16 attached to the central frame 13 and the stalk culm position detection sensor 16 attached to the side frame 15 are connected to each other. That is, they are arranged on both lateral sides in W.

The stalk culm introduction path W on the right side in the traveling direction of the machine body is configured to be wider than the stalk culm introduction path W on the left side. In the so-called splitting, such as plus one-row cutting, the stalk-introducing path W on the right side
This is because it is possible to introduce two lines of planting stem culms (shown by a broken line circle in FIG. 1) into. However, in the normal double-row cutting, the central weeding tool advances almost in the center of the two-row planting culm (shown by a solid line circle). Then, the two-row or three-row planting culm introduced into the pair of culm introducing paths W is at least one sensor bar 1 of the four culm position detecting sensors 16.
Upon hitting 6a, the sensor bar 16a is rotated backward.
Then, the rotation angle is detected by the potentiometer 16b of the stem-culm position detection sensor 16.

A stalk-culm position detecting sensor 1 having the above structure
The detection information of 6 is used as information for determining the lateral displacement of the machine body V with respect to the row of planting culms when the combine is automatically run along the row of planting culms. In normal double-row cutting, the stem-culm introduction path W on the left side in the machine traveling direction
The detection information of the pair of stalk and stalk position detection sensors 16 on both sides is used, and in the plus 1 cutting, the detection information of the pair of stalk and stalk position detection sensors 16 on both sides of the broader stalk and stalk introduction path W on the right side of the machine body traveling direction. Is used.

In the two-row cutting, the one stalk culm introduced into the stalk culm introduction path W on the left side of the machine direction is the stalk culm position detection sensor 16 at the left end of the machine direction and the center stalk position detection sensor 16 on the left side of the center. At least one of the sensor bars 16a is rotated rearward. Then, when the central weeding tool 4 is in an appropriate state of advancing approximately in the center of the two-row planted stem culm, both of the sensor bars 16a of the pair of stem culm position detection sensors 16 are rotated backward by an appropriate amount. Has been done.

On the other hand, when the central weeding tool 4 shifts to the left or right from the center of the two-row planting culm, the angle of rearward rotation of the sensor bar 16a of the pair of stalk-culm position detecting sensors 16 described above. Is out of balance. Therefore, based on the detection values by the potentiometer 16b of the pair of stem-and-culm position detection sensors 16, the lateral displacement (deviation) of the machine body V is determined, and the steering control of the machine body V (hereinafter, automatic Direction control).

In plus one-row cutting, the left stalk of the two stalks introduced into the stalk introduction path W on the right side of the machine body is placed on the sensor bar 16a of the stalk position detecting sensor 16 on the right side of the center. For the right stalks, the sensor bar 16a of the stalk position detection sensor 16 at the right end is rotated rearward, respectively. Then, as in the case of the above-mentioned two-row cutting, the lateral displacement (deviation) of the machine body V is determined based on the detection values of the pair of stem-and-culm position detection sensors 16 by the potentiometer 16b, and the deviation is corrected. The automatic direction control of the machine body V will be performed.

Next, the above automatic direction control will be briefly described. The automatic direction control is, as shown in FIG. 3, a control means 17 configured by using a microcomputer or the like.
Is in charge. Of course, the control means 17 also executes various automatic controls such as vehicle speed control and threshing selection control, but FIG. 3 shows only the portion related to the automatic direction control.

In addition to the detection information of the above-mentioned four stem culm position detection sensors 16 (potentiometer 16b), the control means 17 has signals of the automatic direction changeover switch 18, the threshing clutch switch 19, the back switch 20, and the stock sensor 21. Has been entered. These signals are used as starting conditions for automatic direction control. That is, the automatic direction changeover switch 18 is set to the automatic side, the threshing clutch switch 19 is turned on,
It is a condition necessary to start the automatic direction control that the back switch 20 is off and the stock sensor 21 is on.

The threshing clutch switch 19 is a switch that is turned on when a threshing clutch that turns on and off the transmission from the engine to the threshing device 2 is in the engaged state, and the back switch 20 is such that the shift lever enters the retreat region. It is a switch that turns on when you are on. Also, the stock sensor 21
Is turned on when there is a cutting culm provided at the starting end of the vertical conveying device 8.

The control means 17 controls the directional control solenoid valve based on the information detected by two of the four stem culm position detection sensors 16 as described above when the above-mentioned starting conditions are satisfied. Switch 22. The directional control solenoid valve 22 switches between a neutral state, a state of sending oil to the left side directional control cylinder 23, and a state of sending oil to the right side directional control cylinder 24. To switch. That is, when oil is sent to the left direction control cylinder 23, the side clutch 2 of the left crawler traveling device 1 is sent.
When 5 is disengaged and the machine body V is steered to the left, and oil is sent to the right direction control cylinder 24, the side clutch 26 of the right crawler traveling device 1 is disengaged and the machine body V is steered to the right.

In order to stabilize the control, the control means 17 is
For example, in double-row mowing, the detection value of the stalk and stalk position detection sensor 16 at the left end of the machine body and the stalk and stalk position detection sensor 1 at the center left
If the state in which the difference from the detection value of 6 is larger than a predetermined threshold value (positive value) continues for a predetermined control cycle or longer, the direction control solenoid valve 22 is switched so as to steer the machine body V to the right, and the detection is performed. When the state where the difference between the values is smaller than the predetermined threshold value (negative value) continues for the predetermined control cycle or more, the directional control solenoid valve 22 is switched so as to steer the machine body V to the left. The central weeding tool 4 is offset-adjusted so that the difference between the detection values of the pair of stem culm position detection sensors 16 in a proper state in which the weeding plant 4 moves in the approximate center of the two-planted stem culms is zero.

Even in the case of plus one cutting, the control means 17
Performs the same control as above based on the difference between the detection value of the stalk and stalk position detection sensor 16 at the right end of the machine body traveling direction and the detection value of the stalk and stalk position detection sensor 16 at the center right.

Other examples will be listed below. In the above-described embodiment, depending on whether two-row cutting or one-row cutting is performed, the stem and culm position detection sensor 1 is arranged on both lateral sides of either one of the pair of stem and culm introduction paths W.
Although the steering control (automatic direction control) of the machine body V is performed based on the detection information of No. 6, it is not limited to this. For example, it is also possible to perform steering control based on the detection information of the pair of left and right stem and culm position detection sensors 16 provided on the central frame 13 in double-row cutting. In addition, it is possible to perform steering control based on the detection information of the pair of stem-and-culm position detection sensors 16 at the left and right ends in plus one-row cutting.

In the above embodiment, the sensor bar 16
Instead of detecting the backward rotation angle of a by the potentiometer 16b as an analog amount, a limit switch is used to turn off (0) when the rotation angle of the sensor bar 16a is less than a predetermined angle, and turn it on when the rotation angle is a predetermined angle or more. You may detect as a binary signal which becomes (1).

In this case, for example, in double cutting, in a proper state in which the central weeding tool 4 advances almost in the center of the two-row culm row, both limit switches of the left end and the center-left culm position detection sensors 16 are turned off. The length of the sensor bar 16a is appropriately determined so that the limit switch on the opposite side is turned on when the machine body deviates to the left or right by a predetermined distance or more. Then, if any one of the limit switches of the stalk-and-culm position detection sensors 16 on the left end or the center left is turned on, the control means executes the control for steering the machine body to the opposite side.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a plan view showing a front portion of a harvesting and harvesting machine according to this embodiment.

FIG. 2 is a side view showing a front part of a harvester (combine).

FIG. 3 is a block diagram of automatic steering control based on stem culm position detection information.

[Explanation of symbols]

 6 Stem culm locking and conveying device 11, 14 Stem culm guide body 16 Stem culm position detection sensor 16a Sensor bar W Stem culm introduction path

Claims (1)

[Claims] 1. A stem-culm locking and conveying device (6) for locking and conveying the stem-culm to the rear side of the machine in the stem-culm introduction path (W), wherein the stem-culm conveying action portion is located at the rear side of the machine. The stem culm guide body (11, 14) is provided so as to be positioned at one end side in the lateral width direction of the introduction path (W), and is opposed to the stem culm conveying action portion of the stem culm locking and conveying device (6). The sensor bar (16a) is pivotally supported in the front-back direction with the end portion on the front side of the fuselage as a pivot point and is biased to return to the front side.
A pair of stalk and culm position detection sensors (16) are provided in the stalk and culm introduction path (W), and the pair of stalk and stalk position detection sensors are disposed on both lateral sides of the stalk and culm introduction path (W). One of the culm position detection sensors (16) is provided in such a manner that at least the tip end portion of the sensor bar (16a) is overlapped below the stalk and stem locking and conveying device (6), and the other culm position detection sensor. (16) The grain culm position detecting device of the cutting and harvesting machine, wherein at least the tip portion of the sensor bar (16a) is provided below the stem-culm guide body (11, 14).