JPS5836923B2 - reaping harvester - Google Patents

Description

[Detailed description of the invention] The present invention relates to a reaping harvester.

In general, the harvesting method for stem culms is to release the harvested stem culms to the uncut land side, and this method is conventionally performed by circumferential cutting as shown in Fig. 6 A. There are, but
In order to automatically steer the harvester along the rows of planted stalks and culms, a row sensor is used that is inserted between the row to be harvested and the adjacent row and picks up the rows of the left and right planted stalks and culms. , a steering device is generally used in which the steering device is controlled based on the row detection by the row spacing sensor.

However, according to this inter-row sensor, the steering system switches left and right extremely frequently, requiring a durable, highly accurate and complex control system, and the aircraft as a whole does not move smoothly. The robot progresses in a jerky manner, as if it were changing direction every time it receives a command from a sensor, and this can sometimes result in uncut mowing, especially if there are many meandering rows within a short distance. There was a drawback.

The present invention was devised in order to solve the drawbacks of the conventional aircraft, and in addition to being able to control the direction of the aircraft with a simple device, it does not cause the above-mentioned fluctuation of the aircraft, and it is possible to control the aircraft along the row. The object of the present invention is to provide a cutting tool that has stable followability and is less likely to leave uncut areas as described above.

That is, the reaping and harvesting machine of the present invention is provided with a traveling device that has the property of turning the front of the machine body toward the planted stem culm row side in the longitudinal direction of the machine body when the machine body moves forward, and also has a traveling device that has a property of turning the front part of the machine body toward the planted stem culm row side when the machine body moves forward. A forward following guide is provided on the side of the machine body and in contact with the row of planted stalks and culms at a position in front of the traveling device to cause the machine body to trace and follow the row of planted stalks in a forward state. Features.

In other words, while giving the traveling device the property of turning toward the planted stem culm row, the guide is brought into contact with this planted stem culm row to maintain the attitude of the aircraft. In other words, the robot exhibits a jerky progress state similar to when the robot changes its direction of walking, but the robot is able to move in accordance with the rows of rows, exhibiting extremely smooth and stable tracking ability, and leaving uncut areas. In addition, the steering control device has a much simpler structure than conventional inter-row sensors, in which the guide and traveling device are simply given the ability to turn toward the planted stem culm row. It has the advantage of being able to

Hereinafter, embodiments of the present invention will be described in detail based on illustrative drawings.

The figure shows a binder, in which a planted grain culm lifting device 1 is installed at the front of the machine, a reaping device 2 is installed near the ground behind this lifting device 1, and a reaping device 2 is installed at the rear of the machine. A canopy plate 3 for leaning the tip of the grain culm, and a conveying device 4 acting on the middle part of the grain culm in the leaning state to convey it laterally to the fuselage,
A binding device 5 is disposed at the terminal end of the conveyance device 4, and is configured to bind a certain amount of the grain culms that have been pulled up and cut, and to discharge the bundle to the outside of the machine.

The traveling transmission 6 is configured to be able to switch forward or backward by operating the gear shift lever T, and by actuating the respective solenoids Sa and SbO, the two-position unstable switching mechanism 8 is forcibly activated.
The gear lever 7 is configured to be able to maintain the automatically switched position of the gear shift lever 7.

Note that the shift lever 7 can also be changed manually.

On the other hand, among the left and right wheels 9, 9 constituting the traveling device A, the wheel 9 on the side where the binding device 5 is disposed is provided with a propulsion lug 9a with a small adjacent interval. The wheels 9 on the other side are provided with propulsion lugs 9b with larger intervals.
... is attached, and the wheels 9 on the binding device 5 side
The propulsive force is large, giving it the property of steering to the left in the figure.

Reference numeral 10 denotes a forward tracking guide arranged at the front of the machine on the side of the binding device 5, and this guide 10 contacts the stock base of a plurality of planted grain culms, causing the machine to steer to the left. against the tendency to
The machine is configured to move forward and follow the rows of planted grain culms.

Further, reference numeral 11 is a backward following guide arranged at the rear of the machine on the opposite side to the binding device 5 side, and this guide 11 comes into contact with the adjacent grain culms of multiple plants, so that it turns even when moving backward. It is configured to cause the aircraft to follow the aircraft backwards against its natural nature.

FIG. 4 is a circuit diagram, in which the solenoid Sa or sb is actuated by the rocking motion of the adjacent grain culm presence/absence detection sensor 12 disposed on the side of the machine opposite to the binding device 5, A circuit is configured to switch and operate the speed change operating lever 7.

The lifting device 1, the reaping device 2, the conveying device 4, and the binding device 5 are configured to operate only when the machine moves forward, and are stopped when the machine moves backward.

Such a configuration detects that the forward tracking guide 10 contacts the grain culm and is laterally swung, and operates the various devices 1, 2, 4, and 5 based on this detection result. It is conceivable that the structure should be changed accordingly.

Alternatively, it may be operated in conjunction with forward travel.

The adjacent grain culm detection sensor 12 is energized to return to the neutral position N, and the sensor 12 attitude before the sensor 12 reaches the neutral position N (for example, the sensor attitude F when the aircraft is moving forward) The two solenoids Sa and Sb that actuate the speed change lever 7 are selected in advance by a solenoid selection circuit a depending on the sensor attitude R) when the vehicle is moving backward.

Next, the effect will be explained.

In the circuit state shown in FIG. 4, a voltage is applied to the solenoid Sa so that the sensor 12 returns to the neutral position N, and the shift lever I is switched to the forward side.

Then, as shown in Figure 5A, the aircraft tries to turn based on its tendency to steer to the left in the figure, but due to the reaction force of the guide 10 coming into contact with the grain culm, the aircraft
The grain culms that come into contact with the guide 10 are successively pulled up and harvested by following the rows of grain culms.

In this case, the sensor 12 comes into contact with the adjacent planted grain culm,
The forward position F is reached, the sensor moves away from the neutral position N, the switch S1 is turned off, and current is prevented from continuously flowing through the solenoid Sa, while the shift lever 7 is held at the forward shift position by the unstable switching mechanism 8. ing.

Then, the forward switch S3 is turned on, the relay CR is activated, and the contacts rl, r2, and r3 are switched, respectively.
When the contact r1 is in the on state, the relay circuit is self-held, and on the other hand, the contact r2 is set so that the reverse shift solenoid sb is activated when the sensor 12 returns to the neutral position N.
is closed.

Next, in the forward reaping state, when the end of the adjacent grain culm is reached, the sensor 12 returns to the neutral position N, the switch S1 is turned on, voltage is applied to the reverse solenoid sb, and the shift lever 7 is switched unstable. It resists the lever holding force of the mechanism 8 and switches to the reverse side to move the aircraft backward.

When the aircraft moves backward, it tries to turn to the left in the figure, but the backward guide 11 comes into contact with multiple adjacent planted grain culms, and the aircraft moves toward the exit in Figure 5. As shown in , it moves backward following the adjacent planted grain culm rows.

When the sensor 12 comes into contact with the grain culm and assumes the backward movement position, switches S1 and S2 are turned off, cutting off the power to the reverse movement switching solenoid sb, and turning off and operating the relay CR, as shown in Fig. 4. It is made into a circuit state.

Next, when the end of the adjacent planted grain culm row is reached, the sensor 12 returns to the neutral position N, the switch S1 is turned on, and the advance solenoid Sa is activated again, as shown in FIG. The machine moves forward, and as it moves forward while turning to the left, the forward tracking guide 10 comes into contact with the adjacent planted grain culm as shown in Fig. 5, and the machine moves forward. It follows the rows of grain culms and moves forward in a harvesting state, and the same control is repeated thereafter.

In order to give the property of turning, various well-known structures that provide a difference in propulsive force can be considered, but there are also methods other than providing a difference in propulsive force, such as plunging a resistor into mud or A configuration in which it is pressed against a surface to turn the aircraft in a certain direction is also conceivable.

[Brief explanation of drawings]

The drawings show an embodiment of the reaping and harvesting machine according to the present invention, in which Fig. 1 is a side view of a binder, Fig. 2 is a side view of main parts, Fig. 3 is a schematic plan view, Fig. 4 is a circuit diagram, and Fig. 5 is a side view of a binder. Figures A, C and 2 are plan views showing the operation over time, and Figures A and 6 are plan views showing the operation of the conventional example. A... Traveling device, 11... Backward following guide.

Claims (1)

[Claims] 1. A traveling device A is provided that has the property of turning the front of the aircraft toward the planted stem and culm row side in the longitudinal direction of the aircraft when the aircraft moves forward, and a traveling device A is provided on the side of the aircraft opposite to the turning side. This reaping/harvesting machine is provided with a forward follow-up guide 10 that contacts the row of planted stalks and culms at a position forward of A and causes the machine body to follow the row of planted stalks in a forward state.