JPH09163840A - Transfer apparatus of chinese cabbage harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a Chinese cabbage harvester capable of automating the cutting work of the root part which has hitherto been performed by manual operation. SOLUTION: This Chinese cabbage harvester is provided with a digging mechanism 4 for Chinese cabbage, a transfer apparatus (h) for lifting the dug-out Chinese cabbage to the machine body, a cutter 8 for roughly cutting the root of the Chinese cabbage at the base part and a Chinese cabbage recovery part. The transfer apparatus (h) is composed of independently driven upper belt mechanism Vu and main belt mechanism Vs. The posture of the Chinese cabbage is detected by a posture detection means at the time to start the clamping and transfer with the transfer apparatus (h) and the driving speeds of the upper and main belt mechanisms Vu and Vs are controlled based on the detection information to correct the posture of the Chinese cabbage by a posture correction controlling means D to the posture suitable for cutting with a cutter 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a Chinese cabbage harvesting machine in which a series of steps from excavation and recovery of Chinese cabbage to the field are mechanized as much as possible. The present invention relates to a carrier device.

[0002]

2. Description of the Related Art It is a labor-intensive task to manually perform the work of harvesting Chinese cabbage, and attempts have been made to mechanize the harvest work. The conventional harvesting machine only collects Chinese cabbage from the field and collects it on the machine body, and the removal work of the root part is manually done.

[0003]

Due to the modernization and labor saving of agriculture in recent years, there is an active movement to mechanize the harvesting work of vegetables such as carrots and cabbage. For Chinese cabbage, labor saving work and efficiency improvement. The demand for further promotion is increasing. Therefore, an object of the present invention is to realize a Chinese cabbage harvesting machine that mechanizes the cutting work of the root portion that relied on human labor.

[0004]

[Means for Solving the Problems]

[Structure] In order to achieve the above object, the present invention is a digging mechanism for digging Chinese cabbage planted in a field, a transport device for lifting the digged Chinese cabbage onto a traveling machine body, and a transport device that transports the cabbage A rough cutting device for rough cutting the root of Chinese cabbage at the root part, and a collecting section capable of collecting the Chinese cabbage sent from the transport device constitute a Chinese cabbage harvester. The conveyor belt is equipped with a belt conveyor mechanism that sandwiches the cabbage body and conveys it upward and backward, and the upper conveyor mechanism and the lower conveyor mechanism can be driven independently of each other, and the conveyor device starts sandwiching conveyor. Attitude is provided for detecting the attitude of Chinese cabbage at the time, and by controlling the drive speed of the upper and lower transport mechanisms based on the detection information of this attitude detecting means, the attitude of Chinese cabbage is suitable for cutting with a rough cutting device. Correct the posture Wherein the are provided with a posture correction control unit.

Further, the posture detecting means is constructed by detecting the difference in the backward displacement of the upper and lower conveying belts due to the sandwiching of the Chinese cabbage of the conveying device at the position corresponding to the predetermined posture of the Chinese cabbage on these belts. It is convenient.

[Operation] The operation according to the structure of claim 1 will be described with reference to FIG. 6 and FIG. 7. The posture when the excavated Chinese cabbage is pinched by the leading end of the conveying device 6, that is, the front-back direction Since the inclination is not constant but varies in most cases, it is necessary to arrange the conveyance postures of Chinese cabbage in order to keep the position of the rough cutting device 8 to be constant. Therefore, the upper and lower two sets of the transport mechanism V using the transport belt pair
By controlling the speeds of u and Vs, the inclination of the Chinese cabbage in the front-rear direction can be adjusted while being conveyed. Therefore, the posture detecting means D detects the posture of the Chinese cabbage at the start of the sandwich conveyance by the conveying device h, and the detection thereof. By the control based on the information, it becomes possible to correct the posture suitable for cutting by the rough cutting device 8.

In the structure of claim 2, the upper and lower transport mechanisms V
The angles of the tension arms 7b and 6b for sandwiching the Chinese cabbage at the starting ends of u and Vs are detected by the volumes 20 and 19,
The inclination of Chinese cabbage is detected by the difference between the detection values of the upper and lower volumes 20, 19. That is, the angle of the cutter 8 is matched with the rearward rising angle of the conveying device h, and the posture in which the cabbage leaf tips are oriented in the direction orthogonal to the conveying belts 7 and 6 is a predetermined posture suitable for cutting, and the vertical tension The initial standby positions of the arms 7b and 6b are also aligned as shown in FIG.

[0008] For example, when a Chinese cabbage tilted in the forward tilting direction is started to be pinched by the transport device h, the lower transport belt 6 is first displaced backward to swing the lower tension arm 6b, and then the upper transport belt. 7 is moved backwards and the upper tension arm 7
b swings. That is, as will be described in detail in the section of the embodiment, since the swinging operations of the upper and lower tension arms 7b and 6b are performed with a time lag, the detected values of the upper and lower volumes 20 and 19 are changed. According to the difference, the speed of the upper or lower transport mechanism Vu, Vs is adjusted (in this case, the lower transport mechanism Vs is slowed or the upper transport mechanism Vu is fast), and a predetermined posture is provided just before the cutting device 8. It is controlled to be corrected to.

[Effect] As a result, even in the transport device according to the first or second aspect, even if the posture of the cabbage that has been dug out varies by controlling the upper and lower belt speeds based on the posture detection at the start of transport. It was possible to provide a Chinese cabbage harvester in which the cutting position can be arranged during the transportation onto the machine without a separate cutting step, and the root cabbage root removal work is mechanized in a uniform state.

In the conveying device according to the second aspect, since the posture of the Chinese cabbage at the start of conveying can be detected by utilizing the structure of the conveying belt, it is possible to economically configure the posture detecting means without providing a dedicated means. There is.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. The overall plan of the Chinese cabbage harvester is shown in Figure 1.
2 and an overall side view is shown in FIG. 2, respectively. This harvesting machine pulls out the Chinese cabbage planted in the field and pumps it onto the machine 1, a finishing section B for cutting the stem core of the Chinese cabbage carried on the machine from the root, and the finished Chinese cabbage. Is provided in a container 2 and the like, and a driving section E, and left and right crawler traveling devices 3 are provided.

The pulling-out part A is composed of a constricted auger (an example of a digging mechanism) 4 which is pierced in the field and located below the planted Chinese cabbage, a conveying device h, and a cutter 8. . That is, the transport device h includes a pair of left and right screws 5 that follow the rear of the auger 4, and a main transport mechanism (an example of a lower transport mechanism) that includes a pair of left and right main transport belts 6 and 6 that sandwich and lift Chinese cabbage. ) Vs and an upper conveyance mechanism V composed of a pair of left and right upper belts 7, 7 for posture correction of Chinese cabbage
u is provided, and a cutter 8 for roughly cutting the roots of Chinese cabbage lifted and transferred by the transfer device h at the root portion (stem portion) is provided below the transfer belt 6.

As shown in FIG. 7, the upper belt 7 has a length up to the cutter 8 portion, but the front end portion thereof has the same structure as the main conveyor belt 6. That is, as shown in FIG. 6, the tension wheels 18 and 17 are arranged inward with respect to the frontmost fixed wheels 7a and 6a so as to easily receive Chinese cabbage, and the tension arms 7b and 6b both have the same length and have a common swing axis Y.

Volumes (potentiometers may be used) 20 and 19 for detecting the swing angle are provided at the bases of the tension arms 7b and 6b.
As shown in FIG. 1, the split pulley 21 is attached to the upper belts 7, 7.
Power is input through the belt continuously variable transmission mechanism 22 including the belt continuously variable transmission mechanism 22.
The electric cylinder 24 for driving and operating the set angle of the tension wheel body 23 and the upper and lower volumes 20, 19 are connected to the control device 25 to form the posture correction control means D shown in FIG.

The operation of the posture correction control D will be described.
First, from the root of the leaf to the central portion of the Chinese cabbage, that is, the portion sandwiched by the main conveyor belt 6 and the upper belt 7 has a cylindrical shape, the swing angle changes of the tension arms with respect to time are different from each other. However, the rocking behavior associated with the passage of Chinese cabbage is exactly the same. For example, when Chinese cabbage is conveyed in a posture tilted forward from the regulation, the graph shown in FIG.
The difference between the detected values is maximum when the upper tension arm 7b starts to swing or when the main tension arm 6b ends. Therefore, from the difference at any one of these times, the tilt angle from the set posture of Chinese cabbage can be obtained,
The attitude detecting means 26 is incorporated in the control device 25 in advance. Then, the speed adjusting means 2 for increasing / decreasing the driving speed of the upper belt 7 based on the calculation result of the posture detecting means 26.
7 is provided.

As shown in FIG. 7, contact-type sensing switches S1 and S2 for detecting the passage of Chinese cabbage are provided at a distance L in the transport direction, and the second sensing switch S2 on the rear side is located just before the cutter 8. In the position, both switches S1, S2 are connected to the control device 25. In other words, when the attitude detection means 26 determines the angular deviation of the Chinese cabbage and the direction of the deviation, the belt continuously variable transmission mechanism enables the attitude to be corrected while the Chinese cabbage reaches from the first sensing switch S1 to the second sensing switch S2. Speed control means 27 to control 22
Works.

That is, as an initial condition, the driving speed V2 of the upper belt 7 is made equal to the driving speed V1 of the main conveyor belt 6, and the control from the sensing operation of the first sensing switch S1 to the sensing operation of the second sensing switch S2. In the section L, the drive speed of the upper belt 7 is adjusted. Specifically, when the tilt angle of the Chinese cabbage is θ, the distance difference d in the transport direction between the upper belt 7 and the main transport belt 6 in that state is obtained, and in the control section L, V2 = V1 × (1 When it reaches the cutter 8 by being controlled to ± d / L), the Chinese cabbage has an upright posture in a direction orthogonal to the transport direction of the main transport belt 6, and a good cut surface can be obtained. The lifting cylinder 9 allows the pull-out part A to swing up and down around a fulcrum Q at the rear part thereof.

The finishing section B sends the Chinese cabbage sent from the main conveyor belts 6 and 6 rearward with the leaf tip lying on the left side of the machine, and the conveying direction 90 degrees. It is composed of a roller conveyor 12 to be changed, a finishing cutting device 11 for manually finishing cutting the core of Chinese cabbage from the root of a leaf, and a workshop 13 for an auxiliary worker to handle the finishing cutting device 11. .

In the separation conveyor 10, an auxiliary worker manually removes outer leaves (relatively hard outer leaves that do not aggregate toward the center but extend outward) during transfer on the conveyor. The toothed conveyor is configured for reliable pumping. Roller conveyor 12
Is a finishing cutting device 1 for the Chinese cabbage sent in the left-right direction.
It is for changing to the front-back direction in 1.

As shown in FIG. 1 to FIG. 3 and FIG. 10, the finishing cutting device 11 drives and rotates a recessed receiving cover 28 and a spherical blade 29 for cutting a stem core according to the diameter of Chinese cabbage. And a drive unit 30. In other words, the assistant worker simply picks up the Chinese cabbage from the roller conveyor 12 and inserts the bottom side into the receiving cover 28, and the stem core is scraped off by the spherical blade 29 that rotates while facing the center hole 28a. . The stem core that has been gouged is
It is discharged to the outside of the machine through the discharge path 31.

The collecting section C is a work space 1a for carrying Chinese cabbage to the placing space section 1a of the Chinese cabbage collecting container 2 in the machine body 1 and the container 2 placed in the placing space section 1a.
3 and a moving device 14 that can move the container 2 outside the machine body and move it up and down. The Chinese cabbage finished by the finishing cutting device 11 is carried to an appropriate place in the container 2 by the manual work of an auxiliary worker, and is vertically stacked in a state of being regularly arranged in the front, rear, left and right.

As shown in FIGS. 3-5, the moving device 14
Is a fork 32 that catches the container 2 from the side,
90 about the fulcrum X
The fork 3 is supported while being pivotally supported on the machine body 1.
An elevating cylinder 33 for driving and elevating the second and the second 32 is provided on the rotating frame 15. The rotating frame 15 is equipped with caster wheels 16, and at the position where the container 2 full of Chinese cabbage is projected to the right side of the machine,
It plays the role of receiving the weight of the container 2. That is,
The fully loaded container 2 is rotated 90 degrees by a manual operation or a drive mechanism, and is lowered to the ground by the shortening movement of the elevating cylinder 33. By the opposite operation, the empty container 2 is placed in the loading space 1a. It can be loaded into.

The work performed by the assistant operator is relatively easy: removing outer leaves on the separation conveyor 10, inserting, holding and removing Chinese cabbage on the finishing cutting device 11, and collecting Chinese cabbage on the container 2. It is a complicated and difficult to mechanize part, and by constructing the Chinese cabbage harvester with this so-called semi-automatic means, it can be realized in a cheaper, more compact, and simpler state than fully automated.

[Another Embodiment] As the attitude detecting means 26, optical sensors acting in the left-right direction are provided above and below the position immediately before the main transport conveyor 6, and the inclination is detected from the deviation of the operating timing of the optical sensors above and below. Various means such as a means for providing a plurality of contact-type potentiometers at the top and bottom and obtaining the difference from the swing angles thereof can be considered.

Spherical blade 29 in finishing cutting device 11
Consists of a drill cutter with a spherical tip, and
When the auxiliary worker depresses the pedal, the receiving cover 28
It is more convenient if the structure is such that the drill cutter 29 moves inward to remove the stem core.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

[Figure 1] Overall plan view of Chinese cabbage harvester

[Fig.2] Overall side view of Chinese cabbage harvester

[Figure 3] Rear view of Chinese cabbage harvester

FIG. 4 is a plan view showing the operation of the moving device.

FIG. 5 is a rear view showing the operation of the moving device.

FIG. 6 is a plan view showing the structure of the front part of the extraction part,
(B) Side view showing the shape

FIG. 7 is a side view showing the structure of a posture correction mechanism.

FIG. 8 is a control block diagram of posture correction control means.

FIG. 9 is a diagram showing a graph of change over time of the tension arm with passage of Chinese cabbage.

FIG. 10 is a side view showing a finishing cutting device.

[Explanation of symbols]

 4 excavation mechanism 6,7 conveyor belt 8 rough cutting device 26 attitude detection means C recovery section D attitude correction control means h carrier device Vs lower carrier mechanism Vu upper carrier mechanism

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomohiko Ota 1-chome, Nisshin-cho, Omiya-shi, Saitama 2 Within the Institute for the Promotion of Specified Industrial Technology of Biological Systems (72) Keizo Kato 64, Ishizukita-machi, Sakai-shi, Osaka Stocks Kubota Sakai Factory

Claims (2)

[Claims] 1. A digging mechanism (4) for digging Chinese cabbage planted in a field, a conveying device (h) for hoisting the digged Chinese cabbage on a traveling machine body, and a conveying device (h) for conveying the same. Rough cutting device (8) for rough cutting of root of Chinese cabbage
And a collecting section (C) capable of collecting Chinese cabbage sent from the carrying device (h), and the carrying device (h) is provided with a pair of left and right carrying belts (6),
Belt conveyor mechanisms (Vu) and (Vs) for sandwiching the cabbage main body between (6), (7) and (7) and conveying it upward and backward are provided at the upper and lower sides, and upper conveyor mechanism (Vu) and lower conveyor thereof are provided. The mechanism (Vs) and the mechanism can be independently driven,
Attitude detection means (26) for detecting the attitude of the Chinese cabbage at the start of sandwiching transportation by the transportation device (h) is provided, and the upper and lower transportation mechanisms (Vu) are based on the detection information of this attitude detection means (26). , (Vs) by controlling the driving speed of the Chinese cabbage harvester equipped with posture correction control means (D) for correcting the posture of the Chinese cabbage to a predetermined posture suitable for cutting by the rough cutting device (8). Transport device. 2. The difference between the backward displacements of the upper and lower conveyor belts (7) and (6) due to the sandwiching of Chinese cabbage of the conveyor device (h),
The conveyance device for a cabbage harvester according to claim 1, wherein the posture detection means (26) is configured by detecting the position of the Chinese cabbage on the belts (7) and (6) corresponding to the predetermined posture. .