JPS58175406A - Automatic sterring type combine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides an X# contact sensor that is protrudingly provided at the # part of the stem culm introduction path of a reaping device arranged on a traveling machine body, and the contact sensor of the sensor with the planted stem culm. By a backward swinging displacement of a predetermined amount or more, the traveling body is steered *1 so that the planting stem v4 is located within a certain range in the lateral direction with respect to the side of the introduction path. This relates to the automatic steering type 1rX411&, which is equipped with an automatic control device for F*J control.

This feed automatic steering type reaper automatically steers row mowing by treating a row of planted stalks introduced into one stalk culm introduction path as one row. It is generally known that a backward swing angle is set.

Such a conventionally known configuration has the advantage that the number of stem culm rows for simultaneous reaping is stable, and it is easy to perform stably harvesting even after tying the reaper, threshing, etc.

However, when mowing headlands such as cutting in the middle or cutting around the edges, or when cutting at the final stage, it is advantageous to cut as many rows as possible in - times in terms of work efficiency. In some cases, two rows of planted stem culms are introduced into the stem culm introduction path for reaping, but in this case, because conventional automatic steering type reapers are set as described above, automatic steering is not possible. The disadvantage is that the steering cannot be controlled, and even though it has automatic control*1, the steering must be controlled manually.

It is an object of the present invention to eliminate these drawbacks and to enable automatic steering even when mowing in large quantities.

In order to achieve the purpose of the uninvented automatic steering type reaping machine, the cut side 1111 of the stem culm introduction path is arranged to correspond to the cut side end of the cutting width, and the stem The culm contact sensor protrudes inward from both left and right portions of the introduction path, and the culm contact sensors protrude from the uncut side of the introduction path toward the outside of this path. case 3
and a contact sensor, wherein the distance between the inner ends of the second contact sensor at the time of the predetermined backward swinging displacement is approximately equal to or larger than the row distance of the planted stem culm; , said @l.

These centi-
A first control state is used to control the steering when the stem culm leaves from
An alternative is to use only contact sensors to steer the stem culm away from these sensors.
The control switch to change is
It adopted the following structure.

With this configuration, when the first control state is sudden, K is applied to the tube path by Fi,
Since automatic control is performed to run straight ahead with two planted stem culms introduced, in this case, the state is suitable for automatic control of large-scale mowing.

Also, since the uncut side @flKfli2, @3(-#) is provided so as to protrude from the left and right, in the case of !2 control, this side part of the uncut side can be used as a mating row of planted stem culms. By positioning the uncut side in the dark, so-called plant-to-plant control is performed and automatic steering is performed.

The mown side m portion of the stem culm introduction path having the uncut side side portion is arranged to correspond to the mowed side end of the mowing width, so that it is located at the boundary between the uncut land and the mowed land. If you run the machine so that the uncut side of one stalk culm row and the next stalk culm row are positioned so that the uncut side is located, it will automatically move one stalk culm row to the above position. It will maintain this position while steering while entering the introduction path.

As mentioned above, in the tree design, by combining the detection of planted stem culms using three contact sensors as described above, the number of stem culm rows introduced into the introduction path can be changed to one or two. , each can now be automatically steered.

Furthermore, since such steering control can be changed by switching the switch, it has become possible to easily automatically steer the vehicle in an appropriate manner as needed.

Next, the present invention will be explained in detail.

Figure @1 shows a combine harvester targeted by the tree embodiment, and includes its traveling body (1), reaping device (2), and IIk removal device 13).
, the steering side clutch 14+14'l, the hydraulic cylinder +6116'l that turns on and off the side clutch 97+14114'l, the electromagnetic pulp m that controls the expansion and contraction of this hydraulic cylinder tIlli'l, and other hydraulic circuits, etc., are conventionally well known. Since this is the case, a detailed explanation will be omitted.

The above-mentioned reaping * It (!l K #f Two stem culm introduction paths (71i81 are installed in parallel, and the introduction diameter of the already cut side @
11!1 Stem culm contact sensor (9) from both left and right sides of (7)
) and the second stem contact sensor are projected inward of the path.

Both of these sensors f-191110 are at their forwardmost positions in the posture shown by the dice lines in Figure @1, and are always biased forward, and are at or above the backward displacement position shown by the two-dot chain line in the figure. As soon as the vehicle swings backward, the first and second switches II of the control circuit ++1) are closed.

In addition, the uncut side side part (1f note @ of the cut side introduction diameter @ (γ)
From the side where the 2nd sensor is pivotally supported, the uncut side introduction diameter IM 1) Inwardly, the 3rd stem culm contact sensor Q
4 is installed protrudingly.

Kono@3 Sen f=04d, fmEF14'llll
1%112 (K11 similar to Fusa-191tMl
In Figure 1, the underwater posture is at the most forward position and is constantly biased forward, and as soon as it swings backward beyond the backward displacement position shown by the two-dot chain line in the figure, the control circuit ( 1
1) To close the side of the third switch, do so.

r21) Fi clipper type cutting blade.

The control circuit (lυ) has the configuration FL shown in the logic circuit of Figure 2, in which each sensor (9) (to) O is retracted and the switch u'A (110@ is closed). This is to operate the electromagnetic pulp +6) so as to steer the stem culm away from the plant.

Solenoid lI4 for right rotation operation of the electromagnetic pulp (@)
Apply Inunuan F circuit-1 to the ground circuit of , and the ground circuit of solenoid Oη for left turn operation.

The l1li2 switch a field and the alternative switch group are connected to both sides of this AND circuit ulHI signal in a mutually inverse state. And this selection switch-d,
The AND circuit 1111J@K*continues by selectively switching between the @l switch l1 and the 11g3 switch U, and is a switching 'at' tank.

In this way, by switching the selection switch,
Opening/closing of the first and second switches a21 (1m, that is, 1%, by the detection of the stem culm by the second sensor m), and opening/closing of the second and third switches l11-, that is, @2. The I!3 sensor (to) and 4 are superior to the @2iiIJm state detection due to stem culm detection.

Also, as shown in Fig. 1, in the posture shown by the two-dot chain line, III#4 between the free ends is Let's make it the same size.

Said 11Ja1 circuit (in the river, when both switches U40 or Sudoku U~ are closed at the same time, d, both solenoids U
No electricity will be applied to the transit station, and it will be a direct loss of income.

In this way, a self-control device is constructed that allows automatic steering along the culm rows in the dogs of both necropsy conditions.

The present invention is not limited to combine harvesters, but may be applied to binders. @2 Sensor 191 The free end spacing of tlol may be larger than the strip spacing.

Also, as shown in Figure 1 of the stripes, the protrusion length of the clam l sensor 191 is set to I! 2 Sensor Q [projection length] - It may be longer than - or may be the same length.In addition, the number of stem culm introduction paths is not limited to two, but may be one or F or three or more. It's okay.

[Brief explanation of the drawing]

rgrTJ shows an embodiment of the automatic steering type reaper according to the present invention, and @le! It is a logic (b) circuit diagram showing an outline of the 111 circuit of the 13ri combine. (1)... Traveling machine, (ri... Reaping device, ())... Stalk culm introduction route (9)...
...111 contact sensor, 1101...@2 contact sensor. (14...@3 contact sensor, (1)...
...Strip spacing, -...Switcher.

Claims (1)

[Claims] Traveling aircraft (1) JcIIX attached mowing fXgt Hitomi 12
) on the side 16 of the culm introduction path (1) of the culm contact sensor 1
9+131) O◆ is provided protrudingly, and the sensor +9)
Due to the backward rocking displacement of more than a predetermined amount due to the contact with the planted stem culm of 041, the planted stem culm is placed in a certain range of internal pressure in the lateral direction with respect to the side of the introduction diameter M (71). When the automatic steering type reaper is equipped with an automatic steering II device, the cut side side of the stem culm introduction path (7) , B is arranged corresponding to the mowed side edge of the cutting width, and the contact sensor is located at the first contact sensor which protrudes inward from the left and right sides of the two-curve introduction path (7). Second contact sensor (8
) and a 1g3 contact sensor Q4 protruding from the uncut #J side of the introduction path (7) toward the outside of this path, and the 11th second contact sensor (9) −
The inner end spacing at the predetermined backward rocking displacement is approximately equal to or larger than the row spacing (1)K of the planted stem culms, and the @1% second contact sensor (side control Only by means of these sensors (9), on the side where the stem culm leaves the steering-control section, is the first control section and the second section attached to the uncut 11m of the introduction path (2). Only by the third contact sensor (Qo+04), the stone control switch l11- is selectively switched to the side where the stem culm is away from the sensor (9). Automatic steering type reaper equipped with 1tIIC.