JPH0662609A - Stem culm position detector of reaping harvester - Google Patents

Abstract

PURPOSE:To provide the stem culm position detector capable of reasonably performing the detection of the position of a vertically planted stem culm required for the automatic travel of the reaping harvester without using a sensor bar projected in a stem culm-introducing path. CONSTITUTION:A stem culm-catching and carrying device 6 for catching and carrying stem culms toward the rear side of the frame is disposed in each of a pair of adjacent stem culm-introducing paths W in a state in which the stem culm-carrying part of the device 6 is placed on the side of each of the stem culm-introducing paths which gradually approach each other toward the rear side of the frame. A pair of stem culm guides 14 are disposed in a state faced to the stem culm-carrying parts of a pair of the stem culm-catching and carrying devices 6. Only the front parts of the stem culm guides 14 are fixed to a central frame 13 dividing a pair of the stem culm-introducing paths W, and the other parts are placed in an elastically displacable state. In the stem culm position detector of the reaping harvester, a detecting means 15 for separately detecting the elastic displacement of a pair of the stem culm guides 14 caused by the hitting of stem culms guided with a pair of the stem culm- introducing paths W on a pair of the stem culm guides 14 is disposed.

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 the stalks to the rear side of the machine in each of a pair of adjoining stalks introducing paths. The stem culm guides are provided so as to be positioned closer to the stem culm introduction path side closer to the rear side, and the pair of stalk culm guides are provided so as to face the stalk culm transporting action portions of the pair of stalk culm locking transporters. The guide body relates to a stem-culm position detecting device of a harvesting harvester in which only a front side portion is fixed to a central frame body that partitions the pair of stem-culm introduction paths, and the other portions are elastically displaceable.

[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 sensor bar was projected in the stem culm introduction path, and when the sensor bar hits the planting culm, the sensor bar was rotated backward, and the rotation was detected by a switch or potentiometer. Things were common.

For example, a sensor bar is made to project to the left and right stem and culm introduction passages immediately after the weeding tool provided at the tip of the central frame that divides the pair of stem and culm introduction passages. And in the proper state where the central weeding tool moves almost in the center of the two-row culm row, neither sensor bar touches the culm, but if the aircraft shifts to the left or right, either sensor bar touches the culm. The length of the sensor bar is appropriately determined so that it will rotate backward. Rotation of the left and right sensor bars to the rear is detected separately by a potentiometer, etc., and steering control is executed based on the detected information so that the central weeding tool advances almost in the center of the two-row culm row. become.

[0004]

However, it is preferable that the above-mentioned sensor bar that projects into the stem-culm introduction path is not originally provided. This is because weeds or the like may be entangled in the sensor bar, which may hinder the introduction of the stem culm or cause a failure. The present invention has been made in view of the above circumstances, and an object thereof is to provide a stem culm position detection device that rationally detects the position of a planted stem culm as described above without using a sensor bar. Especially.

[0005]

A stem-and-culm position detecting device for a harvesting and harvesting machine according to the present invention is a stem-and-culm locking device that locks and conveys stem-culm to the rear side of the machine body in each of a pair of adjacent stem-and-culm introduction paths. The transport device is provided in a state in which the stem-culm transport action portion is located closer to the adjacent stem-culm introduction path toward the rear side of the machine body, and a pair is provided so as to face the stem-culm transport action portion of the pair of stem-culm locking transport devices. The stem culm guide body is provided, and the stem culm guide body is fixed only to the front part to the central frame body that divides the pair of stem culm introduction paths, and the other part is elastically displaceable. The characteristic configuration is a detection for individually detecting the elastic displacement of the pair of stem culm guide bodies caused by the stalks introduced into the pair of stem culm introduction paths hitting the pair of stem culm guide bodies. Means are provided.

[0006]

According to the above characteristic structure, the elastic displacement of the pair of left and right stalk guides in which the front part is fixed to the central frame that divides the pair of stalk introduction paths and the other parts are elastically displaceable Is detected separately, it is detected from the detection information whether or not the central frame (the weeding tool at the tip of the central frame) advances substantially in the center of the two-row culm row. This is because if it is deviated to the left, the elastic displacement of the left stalk and culm guide body is large, and if it is deviated to the right, the elastic displacement of the right stalk and culm guide body is large. As a detection means for individually detecting the elastic displacement of the stalk guides, for example, there is a method in which strain gauges are attached to the left and right stalk guides to detect the strain.

[0007]

As described above, according to the present invention, by using a stem-culm guide body attached to a central frame for partitioning a pair of stem-culm introduction passages, a conventional stem-culm introduction passage can be obtained. It became possible to detect the position of the planting culm without using a protruding sensor bar.

[0008]

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 stalk and stalk locking and conveying device 6 includes a stalk and stalk 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 part of the is provided in a state in which it is located closer to the culm-introducing path side adjacent to the rear side of the machine body. That is, as shown in FIG. 1, the pair of left and right stem-and-culm locking and conveying devices 6 are arranged so that the stem-and-culm conveying action portions are V-shaped and open toward the front of the machine.

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. Vertical transport device 9
Comprises 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.

As shown in FIG. 1, in order to assist the locking and transport of the stalks by the stalk and stem locking and conveying device 6, a pair of left and right stalks are made to face the inner part of the conveyor belt 6b (stem and stalk conveying action 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. However, the pair of left and right stalk guides 11 may be separately provided. The central frame 13 is a support member for the central weeding tool 4, and partitions the pair of stem-culm introduction paths W.

As shown in FIG. 2, the stalk and culm guide body 11 is located slightly above the conveyor belt 6b and faces the stalk and stalk conveyor action 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.

With the above-mentioned structure, the stem and culm guide body 11,
When the stem culm hits 14, the stem culm guide bodies 11 and 14 are elastically displaced inward. However, since the stem culm is flexible, the stem culm guide body 1
The elastic displacement of Nos. 1 and 14 is slight, and the displacement of the stem-culm guide body 14 that guides the stocker side is larger than the displacement of the stem-culm guide body 11 that guides the tip side.

As shown in FIG. 1, a detection means (hereinafter referred to as a displacement sensor) 15 is provided to detect the inward elastic displacement of the pair of left and right stem-and-culm guides 14, respectively. Actually, a piezoelectric element is used as the displacement sensor 15 to detect the pressure generated by the inward displacement of the stem-culm guide body 14. Similarly to the stem-and-culm guide bodies 11 and 14, the displacement sensors 15 are fixed to the rear end portions of the pair of left and right rod-shaped support members 16 whose front end portions are fixed to the central frame body 13 via the mounting brackets 12, respectively. The displacement sensors 15 are individually brought into contact with the insides of the left and right stalk guides 14. Therefore, the inward displacements of the left and right stalk guides 14 are converted into voltage as pressure applied to the left and right displacement sensors 15 and detected separately.

The detection information (detection information of the left and right displacement sensors 15) of the stem culm position detecting device having the above-mentioned configuration is used when the combine is automatically run along the row of planting culms. It is used as information for determining the lateral displacement of the machine body V with respect to the row. In other words, it is appropriate that the central weeding tool 4 moves approximately in the center of the two-row planted stem culm, and at this time, the left and right stem culm guide bodies 14 are hardly displaced inward. Further, when the strip interval is narrow and displacement occurs, the left and right displacements are almost equal.

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 displacement of either (left or right) stalk-culm guide body 14 becomes large. Become. Therefore, the lateral displacement (deviation) of the machine body V is determined based on the detection information of the left and right displacement sensors 15 that individually detect the inward displacements of the left and right stalk guides 14, and the deviation is corrected. The steering control of the machine body V (hereinafter, referred to as automatic direction control) 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 displacement sensor 15 described above, the control means 17 includes an automatic direction changeover switch 18, a threshing clutch switch 19, a back switch 20, and a stock sensor 21.
Signal is being input. These signals are used as starting conditions for automatic direction control. That is, the direction automatic changeover switch 18 is set to the automatic side, and the threshing clutch switch 1
9 is on, back switch 20 is off, stock sensor 21
It is a necessary condition for the automatic direction control to be activated.

The threshing clutch switch 19 is a switch that is turned on when the 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 switches the directional control solenoid valve 22 based on the information from the left and right displacement sensors 15 when the above-mentioned starting conditions are satisfied. The directional control solenoid valve 22 is in the neutral state and in the left directional control cylinder 2
3 the state of sending oil to the right direction control cylinder 24
Forwarding, left steering, right steering can be switched by switching the state of sending oil to. That is, when oil is sent to the left direction control cylinder 23, the left crawler traveling device 1
Side clutch 25 is disengaged to steer the aircraft V to the left, and when oil is sent to the right direction control cylinder 24, the side clutch 26 of the right crawler traveling device 1 is disengaged to steer the aircraft V to the right. To be done.

In order to stabilize the control, the control means 17
Is the detected value of the left displacement sensor 15 and the right displacement sensor 15
If the state in which the difference from the detected value of is larger than a predetermined threshold value (positive value) continues for a predetermined control cycle or more, the direction control solenoid valve 22 is switched so as to steer the machine body V to the right, and the detected value is detected. If the state in which the difference between the two is smaller than a predetermined threshold value (negative value) continues for a predetermined control cycle or more, the control for switching the directional control solenoid valve 22 is performed so as to steer the machine body V to the left.

Other examples will be listed below. In the above-mentioned embodiment, the detecting means for individually detecting the inward elastic displacement of the pair of culm guide bodies 14 is not limited to the one using the piezoelectric element as in the embodiment, but various known sensors may be used. You can For example, instead of the displacement sensor 15 and its support member 16, an adhesive strain gauge is attached to the inside of the stem-culm guide body 14, and the stem-culm guide body 14 is attached.
It is also possible to detect the strain generated by the elastic displacement of the inside of the.

It is not always necessary to detect the inward elastic displacement of the pair of stem-culm guide bodies 14 as an analog amount.
A limit switch may be provided for each of the left and right sides, which is turned on when the inward displacement of the stalk guide body 14 exceeds a predetermined amount.

The stem-culm guide body 14 of the above embodiment is not limited to one formed by bending a single steel rod, and may be a leaf spring-shaped member. Further, the structure in which only the front side portion is attached to the central frame 13 can be variously modified.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures 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 the front part of the harvester.

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 13 Central frame 14 Stem culm guide 15 Detection means W Stem culm introduction path

Claims (1)

[Claims] 1. A stem-culm locking and conveying device (6) for locking and transporting the stem-culm to the rear side of the machine in each of a pair of adjoining stem-culm introduction paths (W), the stem-culm conveying action portion having the machine-carriage-carrying portion. The stem culm guides (14) are provided so as to be located closer to the stalk-cule introduction path side closer to the rear side, and are opposed to the stalk-culm transport acting portions of the pair of stalk-cule locking transport devices (6). The stem culm guide body (14) is provided, and only the front part is fixed to the central frame body (13) that partitions the pair of stem culm introduction paths (W).
A stem-and-culm position detection device for a harvesting harvester in which the other portion is elastically displaceable, wherein the stem-and-culm introduced into the pair of stem-culm introduction paths (W) is the pair of stem-culm guide bodies (14). ) A stem-culm position detecting device of a harvesting harvester, which is provided with a detecting means (15) for individually detecting the elastic displacement of the pair of stem-culm guides (14) caused by hitting the stem.