JPH07106081B2 - Turning control system for reapers - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a turning control system for a reaper or the like, and can be used when automatically carrying out turning control at a cutting end portion of a grain culm row.

2. Description of the Related Art Conventional technology and problems to be solved by the invention Conventionally, a turning control method for automatically performing a turning operation for changing a cutting strike at a cutting end portion of a grain culm row when cutting with a reaper or the like. Is still in the trial and error stage, some of which learn and memorize the turning pattern by the turning trial of the worker, and in the turning operation from the next time, the learning mode in which the turning pattern is reproduced and turned in accordance with the registered turning pattern. However, if a sudden correction operation is performed by the operator due to changes in the running ground or other conditions when turning around in this learning mode, the correction operation is repeated each time. Since the correction pattern of the turning motion is stored and registered, there is a problem that an unnecessary turning motion is added at the time of the subsequent reproduction turning, and smooth turning control is hindered.

Therefore, the present invention has a sufficient margin to store and register only the necessary one of the turning operations stored by the correction operation by the operator during the turning in the learning mode. It is intended to be selectable.

Means for Solving the Problems The present invention learns and stores the turning pattern (P) of the turning operation at the cutting end portion of the grain culm train (1) and reproduces it according to the stored turning pattern (P). In a reaper having a learning mode (S) for turning, a memory switch for registering a memory turning pattern (P) during turning or ending turning from the start of turning to the start of the next turning The configuration of the turning control system is provided by providing (2).

Action and Effect of the Invention Arranged on the left and right sides of a machine such as a reaper to travel on the ground, for example, by driving a pair of traveling wheels or crawlers, the machine is advanced to cut the grain culm (1) In the mowing work, when automatically performing the turning control by the cutting traveling changing process, that is, the turning operation at the cutting end portion of the grain culm row (1), first, the turning operation provided at an arbitrary position of the machine body is performed. The turning control device that performs memory registration and arithmetic control is set to the learning mode (S), and the turning pattern (P) to be tried by the worker during the turning operation is temporarily stored, for example, in the turning control device. Then, by turning on the memory switch (2) for ON / OFF control until the start of the next turning, the temporarily stored turning pattern (P) is officially sent to the turning control device. To be registered in memory, In the work, the reproduction turning control is automatically performed in accordance with the stored turning pattern (P). At the time of the reproduction turning control, work is performed due to, for example, a change in the running ground or other conditions. If a person performs a sudden correction operation, the correction pattern of the turning operation due to this correction operation is temporarily stored in the turning control device, and the operator is required until the next turning start. Only the correction pattern
By turning on the memory switch (2) to officially register the memory, the operator erases the correction pattern only by temporarily storing it with a sufficient margin between the start of turning and the next turning. It is possible to easily select whether to perform the memory registration for the next turning, so that the operator is not burdened with the operation of the memory switch (2) when he is busy turning. It is possible to perform a smooth turning control without applying the force and without being bothered by the addition of an unnecessary turning operation at the time of the reproduction turning.

Embodiment In the illustrated example, a traveling device (5) having a pair of crawlers (4) traveling on the soil surface on the left and right sides of the lower end of the combine body (3), and a mowing device above the traveling device (5). A threshing device (6) for threshing the harvested grain culm, and a mowing device (7) for cutting the grain culm row (1) in front of this threshing device (6).
And an operating device (8) for operating the machine body (3) and an operating seat (9) for operating the machine (3) on the right side in plan view of the front side of the threshing device (6). Further, a grain culm sensor (11) for detecting the presence / absence of grain culm by turning on / off is provided on the entrance side of the harvesting and feeding device (10) for scraping grain culm of the reaping device (7). Further, a pair of left and right traveling shafts (12) and traveling wheels (13) for traveling the crawlers (4) are provided on the front end sides of the left and right crawlers (4), and the crawler (4) is stretched and guided on the rear end sides. A guide case wheel (14) is provided respectively, and an interlocking case (15) having an interlocking mechanism for transmitting power to the traveling wheels (13) is provided at the front end side of the traveling device (5). ) The left and right side clutches (16) for turning on and off the traveling drive of the crawler (4) in the path of the interlocking mechanism, and this clutch (1
The left and right steering brakes (17) to be applied after the clutch (16) is disengaged by the stroke of opening and closing 6), and the left and right rotation sensors (19) for detecting the number of pulses due to the rotation of the counter gear (18) in this path. ) And are provided respectively. In addition, a hydraulically driven HST is provided on one side of the upper part of the interlocking case (15).
A swash plate arm (21) that connects the devices (20) and rotates the swash plate that adjusts the rotation direction and output rotation speed of the HST (20).
And a speed sensor (22) for detecting the number of rotations of the HST (20) by the rotation angle of the arm (21). Further, the hydraulic telescopic cylinder (2) which is connected to the arm (21) and rotates the arm (21) by the detection of the speed sensor (22).
3), and also the clutch (16) and the steering brake (1
7), each of which is provided with a hydraulic push rod for operating the cylinder (23) and the solenoid valve (24) for operating the same, the push rod, the solenoid valve (25) for operating the same, and the solenoid valve (25). A proportional pressure reducing valve (26) that adjusts the action is provided so as to be hydraulically controllable. Further, a traveling lever (28) for controlling the forward and backward traveling of the machine body (3) and a power steering lever (29) for controlling the lateral direction are provided on the upper panel portion (27) of the operating device (8). , The traveling lever (28) and the swash plate arm (21) are connected via a wire (30). Further, the turning pattern (P) to be tried by the worker during the turning operation is stored and registered in the panel portion (27), and in the turning operation from the next time onward, the turning pattern (P) is automatically registered in accordance with the stored turning pattern (P). A learning mode (S) for performing the reproduction turning control and a mode switching switch (31) for switching between the normal mode (N) for performing the turning operation normally by the operator's operation are provided. In the vicinity of), a turning pattern (P) temporarily stored in the learning mode (S) is stored and registered, for example, a memory switch (2) that is turned ON when pressed and automatically resets and turned OFF when released is provided in parallel. To do. Further, a turning control device (32) for connecting the changeover switch (31) and the memory switch (2) and performing a process based on each of the modes (S) and (N) is installed in the operation device (8). Set up. In addition, the turning control device (8) has a central processing unit (3) which performs central arithmetic processing and memory registration in a memory.
3) is arranged, and the CPU (33) is connected to the speed sensor (22) via the A / D conversion circuit (34) and the input interface (35).
Through the grain culm sensor (11), the left and right rotation sensors (1
9), the power steering lever (29), the mode selector switch (31) and the memory switch (2) are connected to each other, and
The solenoid valve (24), the solenoid valve (25) and the proportional pressure reducing valve (26) are connected from the CPU (33) through the output interface (36).

When the operator operates the traveling lever (28), the wire (3
0) to rotate the swash plate arm (21) to move the HST device (2
Drive the traveling device (5) from 0) through the interlocking case (15) to start the airframe (3), and set the HST (20) to the speed sensor (2).
The cutting speed is controlled while adjusting by 2), the cutting device (7) cuts the grain culm row (1) by this traveling, and the mode is switched when the cutting end of the grain culm row (1) is reached. Set the switch (31) to the learning mode (S),
A traveling change is performed for cutting around the grain culm (1) while rotating in one direction. The turning operation for changing the traveling direction is performed by operating the power steering lever (29) and the traveling lever (28). The traveling inner shaft (12) is controlled by turning on and off the side clutch (16) and the strength of the steering brake (17).
As shown in Fig. 6, the turning angle (θ
Turn 1) to the left, stop at point (a), and then reverse to control the traveling axis (12) on the inner side of the turn according to the above stroke, and set the radius (R2) to (b). Turning angle to point (θ
After turning 2) to the right and stopping at point (b), the turning pattern (P) that restarts the cutting of the next grain culm row (1) by restarting is tried, and this turning pattern ( The rotation sensor (19) detects the number of pulses generated by the transmission rotation of the left and right traveling shafts (12) for each constant small distance by P), and each of these pieces of information is stored in the CPU (33) of the turning control device (32). The temporary storage of the memory is temporarily reserved, and when the memory switch (2) is turned on, the memory is officially stored and registered in the memory of the CPU (33). As a result, at the cutting end portion of the grain culm row (1) in the subsequent mowing, the grain culm sensor (11) detects the OFF position in the state of the learning mode (S), and at the same time, the memorized and registered turning The reproduction turning control is automatically performed in accordance with the pattern (P). However, when the operator performs a sudden correction operation due to a change in the traveling ground or other conditions during the reproduction turning, this correction operation is performed. The correction pattern (P ') of the turning motion by the CPU is temporarily stored in the temporary storage unit of the memory of the CPU (33), and the operator is highly necessary with a sufficient margin until the start of the next turning. By selecting only the correction pattern (P ') and turning on the memory switch (2) to formally store and register it in the memory of the CPU (33), the memory switch (2) can be stored when the turning is busy. Burden on the operator to operate Kicking like that without also no case that the plagued by the addition of unnecessary EKO operation during reproduction Eko, in which may be carried out smooth EKO control.

Further, in the one provided with the azimuth sensor (37) for detecting the mowing traveling direction, the plurality of turning patterns (P) corresponding to the plurality of reference azimuths detected by the azimuth sensor (37) are provided to the CPU ( 33) The memory is identified and stored in the memory, and is identified from the memory-registered turning pattern (P) by the turning direction when the turning process is started, for example, when the grain culm sensor (11) is turned off. In the case of selection, the traveling direction may deviate from the registered reference azimuth depending on the direction control state at that time, and when a deviation occurs in this azimuth, the turning pattern registered and stored corresponding to the reference azimuth ( P)
Is not found, the turning control becomes impossible. At that time, the turning operation is performed again by the turning trial by the operator, and the correction pattern (P ') of this turning operation is stored in the memory of the CPU (33). If the memory of the CPU (33) is vacant by the memory switch (2) being turned on by the time the next turning is started, it is stored in the temporary storage unit and stored as it is. Alternatively, the stored and registered turning pattern (P) having the closest azimuth may be erased and replaced.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view,
2 is a partial plan view, FIG. 3 is a partially sectional front view, FIG. 4 is a partial front sectional view, FIG. 5 is a partial working mechanism diagram, and FIG. FIG. 7 is a partial work method diagram, and FIG. 7 is a block diagram of an electric circuit. In the figure, reference numeral (1) indicates a grain culm row, and (2) indicates a memory switch.

Claims (1)

[Claims] 1. A learning mode (S) for learning and storing a turning pattern (P) of a turning operation at a mowing terminal end of a grain culm train (1) and reproducing and turning according to the stored turning pattern (P). ) Having a memory switch (2) for registering a memory turning pattern (P) that is being turned or has been turned between the start of turning and the start of the next turning. Rotation control method.