JPS5837807B2 - Automatic reaping harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for detecting the absence of an adjacent planted stem culm row from a forward traveling state in an automatic reaping state in which the adjacent planted stem culm row is followed forward. The present invention relates to a reaping and harvesting machine configured to switch to a backward running state while following.

In the above-mentioned automatic reaping/harvesting machine, in the automatic reaping state that moves forward to follow the planted stem culm row, if there is a missing plant in the adjacent planted stem culm row, the machine automatically switches to the backward moving state and removes any uncut material. There are problems that arise.

The present invention aims to solve this problem by effectively utilizing a sensor for detecting adjacent stem culms, which is equipped on a harvester and serves as a backward guide, while maintaining a simple structure and fabrication.

Embodiments of the present invention will be described in detail below with reference to illustrative drawings.

1 and 2 show a side view and a schematic plan view of a reaping and binding machine (binder) as an example of the reaping and harvesting machine of the present invention,
A lifting device 1, a lifting frame 2, a reaping device 3,
A reaping section consisting of a horizontal conveyance device 4, a binding device 5, etc. is provided, and behind this reaping section 6, a mission case 8 equipped with a pair of left and right running wheels 7a, 7b, an engine 9, a control handle 10, etc. are installed. It is deployed.

In addition, the front end of the pulling frame 2 enters between the planted stem culm rows located on both the left and right sides of this pulling frame 2, and the machine advances toward the stem culm row by contact with the left and right stem culms. A tracking guide 11 for tracking is fixedly installed, and a lifting device 1
A guide rod 12 extends forward from the front end of the culm to pull up the stem culm to be harvested and prevent it from escaping to the right outside of the device 1.

The guide rod 12 is pivoted so as to swing up and down unstably around a fulcrum P, and is used in a downward swing biased state during reaping work, and when traveling on the road or when stored, it is pivoted to the point 12 in Fig. 1. It is held swinging upward as shown by '.

Further, on the left side of the rear part of the fuselage, a guide rod 13 that comes into contact with the planted stem culm row during backward movement is pivoted so that it can swing up and down unstably around the fulcrum Q, similarly to the guide rod 12.

Also, the aforementioned running wheels? a, 7b are configured so that the gear transmission device inside the mission case 8 can be changed by operating a speed change operation lever 14 provided on the control handle 10, and the speed can be changed to three forward speeds and one reverse speed, as shown in FIG. There is.

Further, the traveling wheels 7a, 7b are configured so that they are driven at the same speed on the left and right when moving forward, and the wheel 7a on the binding device 5 side is driven slightly faster than the other wheel 7b when moving backward.

And a gear shift operation lever 14 as a forward/reverse switching operation tool.
is the reaping traveling speed, forward 2nd speed position F2 and reverse position R
The vehicle is configured to automatically switch between forward and backward travel by control as described below.

That is, at the switching point between the second forward speed position F2 and the reverse speed position R, there is a U-shaped lever switching tool 15 with an interval L that allows the lever to move between the two positions F2 and R. The lever 14 is arranged to be movable in the two position switching directions via a drivable electric motor 16 and a rack and pinion mechanism 17, and these switching devices 15, the electric motor 16, and the rack and pinion mechanism 17 constitute an automatic switching mechanism for the lever 14. has been done.

The electric motor 16 is configured to be driven in forward and reverse directions based on changes in the state of contact between the planted stem culm and a sensor 18 pivotally attached to the bow raising frame 2 so as to be swingable back and forth. There is.

The sensor 18 is energized to a neutral posture n protruding laterally and laterally, and changes from a backward leaning posture r to a neutral posture n;
and a change from the forward leaning posture f to the neutral posture n are electrically detected and determined, and these detection results are transmitted to the control circuit 19 of the electric motor 16, as shown in the block diagram of FIG. has been done.

Further, the lever switching tool 15 includes a fixed brush 20...
A printed conductive plate 21 is attached that slides into contact with the brush 20 and the conductive plate 21, and the position of the lever switching tool 15 is detected by changes in the contact state between the brush 20 and the conductive plate 21. A detection mechanism 22 is provided.

This position detection result is also transmitted to the control circuit 19.

Further, the signal from the control circuit 19 is transmitted to the left running wheel 7b.
The signal is also transmitted to the operating circuit 25 of the solenoid 24 that controls the clutch 23 for intermittent power to The clutch 23 is disengaged and operated for a certain period of time.

Further, between the lifting device 1 and the lifting frame 2, there is a device for detecting the presence or absence of a stem culm, which is pressed and swung backward when it comes into contact with a planted culm, and returns to the front when the abutment is released. Power is transmitted to the reaping section 6 based on the operation of the sensor 26 to detect the presence of a stem culm, and power is transmitted to the reaping section 6 based on the operation of the sensor 26 to detect the presence of a stem culm. The structure is such that the power transmission is cut off.

Next, the automatic reaping operation will be sequentially explained.

(A) Forward travel for reaping (see Figure 4A) When the speed change operation lever 14 is set to the reaping speed (from forward 2 to F2) and the machine is directed toward the outermost planted stem row A, the reaping section 6
With the lower surface in sliding contact with the field, the following guide 11 provided at the front end of the pulling frame 2 is inserted between the stem culm row A and the adjacent planted stem culm row B, and both stem culm rows A , B and the guide 11
Due to the contact guidance action of
and the pulling device 1, while moving forward.

Then, the reaping section 6 is driven by the operation of the stem culm presence/absence detection sensor 26, and automatic reaping travel is performed.

Also, at this time, the sensor 18 assumes a backward tilted attitude r due to contact with the adjacent planted stem culm row B.

(Exit) Reverse return travel (see Figure 4) When the cutting of the stem culm row A is completed and the machine protrudes an appropriate distance forward from the end of the adjacent planted stem culm row B, the sensor 18 detects the stem culm. It comes off the final end stock b' of row B and swings back to the neutral position n, and this operation is detected and the control circuit 19 is activated to drive the electric motor 16 in the reverse direction, and accordingly, the lever switching tool 15 is moved to The shift operation lever 14 is switched from the second forward speed position F2 to the reverse position R.

Then, the position detection mechanism 22 of the switching tool 15 detects that the lever switching tool 15 has switched the gear shift operation lever 14 to the reverse position R, and accordingly, the control circuit 19 is activated, and the lever switching tool 15 is activated as shown in FIG. The electric motor 16 is driven in normal rotation until it returns to the neutral position shown by the solid line in the middle.

When the machine is switched to the reverse state as described above, the speed of the right running wheel 7a is set slightly higher than that of the left running wheel 7b, so the aircraft is given the ability to move toward the adjacent planted culm B side. However, the guide rod 1 installed on the left side of the rear of the aircraft
3 comes into contact with the stem culm row B, and the aircraft automatically moves backward and returns along this stem culm row B.

Also, at this time, the sensor 26 detects the absence of a stem culm, so the drive of the reaping unit 6 is cut off, and the sensor 18 detects the absence of a stem culm.
The contact with causes the forward leaning posture f.

←→ Forward switching operation (see Figure 4 C) When the machine crosses the end (starting end) of the stem culm row B, the sensor 18 comes off the rearmost plant b and swings back to the neutral attitude n, and this operation Upon detection, the control circuit 13 is activated and the electric motor 16 is driven to rotate in the forward direction, and accordingly, the lever switching device 15 moves in the (1) direction, and the shift operation lever 14 changes from the reverse position R to the forward second speed position F2. can be switched to

Further, the movement of the lever switching tool 15 is detected by the position detection mechanism 42, and the electric motor 16 is driven in the reverse direction, so that the lever switching tool 15 returns to the neutral position again.

(d) Forward steering operation (see Fig. 4-2) When switching from reverse to forward, the reaction force causes the aircraft to move to the first position.
As shown by the imaginary line in the figure, the reaping section 6 is tilted slightly backward and rises above the field.

When the sensor 18 returns from the forward tilted position f to the neutral position n, the control circuit 19 transmits a reclutch disengagement signal to the operation circuit 25 of the transmission clutch 23 to the left running wheel 7b, and the solenoid 24 is actuated to close the clutch. 23 is cut, and the aircraft is driven forward to the left by only the right traveling wheel γa.

As mentioned above, since the reaping section 6 is floating due to the reaction of the reversal of the direction of travel, the ground resistance of the reaping section 6 disappears when turning forward to the left, and the aircraft is definitely on the left side, that is. It is accompanied by the starting end of stem culm row B.

In this case, even if the reaping section 6 floats up, the guide rod 12 maintains contact with the ground due to the downward biasing force as shown by 12' in FIG. The stem culm row B is introduced between the lifting frame 2 and the lifting device 1 by surely contacting the row B from the outside.

Then, near the point when the aircraft entered the stem culm row B,
The clutch 23 is engaged and operated by the operation of a timer incorporated in the clutch operation circuit 25, and the left and right traveling wheels 7a, 7b are driven forward at the same speed, and the process returns to the above-mentioned forward reaping travel stroke (a).

The one-cycle operations (a) to (d) explained above are repeated in sequence to perform unmanned reaping work.

In the above configuration, the embodiment of the present invention is configured as follows.

That is, the configuration is such that the signals from the stem culm presence/absence detection sensor 26 provided in the reaped stem culm introduction path and the adjacent stem culm detection sensor 18 are input to the discriminator 27, and the signals from both the sensors 26, 18 are input to the discriminator 27. Only when the stem culm presence detection signal is input at the same time, the control circuit 19 is operated for reverse switching control, and the electric motor 16 is driven in reverse by the control signal from the control circuit 19. The lever switching tool 15 is configured to move in the (3) direction, and the shift operation lever 14 is switched to the shift neutral position R.

According to this configuration, in the forward reaping state, even if there is a missing plant in an adjacent row of stem culms, reverse switching control is not performed, and the machine reliably operates only at the end of the row where there are no stem culms at the same time. Reverse switching is controlled.

In summary, the automatic reaping and harvesting machine according to the present invention includes a sensor for detecting the presence or absence of a stem culm in the introduction path of the stem culm to be harvested, and a sensor for detecting the presence or absence of a stem culm by this sensor and a sensor for detecting the adjacent planted stem culm. The system is configured to switch from the forward traveling state to the backward traveling state only when a stem culm absence detection result is detected, and the sensor for detecting the adjacent planted stem culm is pivotally mounted to the side part of the body so as to be swingable back and forth, In addition, it is biased into a neutral posture in which it protrudes laterally and laterally, and detects the presence of a stem culm by contacting the planted stem culm and tilting forward and backward, and detects the absence of a stem culm by protruding laterally laterally. It is characterized by being configured to detect.

In the harvesting forward state, the machine is configured to stop only when the presence or absence of a stem culm to be harvested is detected by both the sensor that detects the presence or absence of a stem culm to be harvested and the adjacent stem culm detection sensor installed in the machine. On the way, even if there is a missing plant in the adjacent stem culm row, it does not switch to the backward side, but only at the end of the row where both sensors detect the presence of a stem culm or not, the backward switching control is performed, and forward reaping and backward movement are repeated. This allows for smooth harvesting work.

Moreover, the configuration for preventing malfunctions has the advantage of being a simple configuration that uses the adjacent stem culm detection sensor equipped on the machine and adds a sensor to this to detect the presence or absence of a stem culm to be harvested.

Moreover, this adjacent stem culm detection sensor is installed on the side of the aircraft so that it can swing back and forth, and it can detect the absence of a stem culm by protruding laterally and laterally, and detect the presence of a stem culm by tilting forward or backward. Therefore, in other words, S
We were able to create a simple structure in which a single sensor swings forward and backward, and as a result, the detection device for switching forward and backward movement of the aircraft can be integrated into an even simpler structure. It has a major feature in terms of what you can get.

Furthermore, the end of forward movement and backward movement of the machine body is determined by the presence or absence of planted stem culms, and based on this detection result, the direction of turning of the machine body can be greatly deviated due to differences in the hardness and softness of the field. Rather than circular mowing, a reciprocating process is performed that is less affected by the cutting conditions, and even in the reciprocating process, the ridges are far away from the edge of the culm group that has been pillow-trimmed. The rate of parallelism to the edge of the stem culm group is much lower.Because the target is the planted stem culm rather than the ridge, it is difficult to proceed from the edge of each round trip to the headland. Another feature of this method is that it has the advantage that the distance over which it moves is very short, and therefore, the turning control is not greatly affected by the hardness or softness of the field, and the desired turning control can easily be carried out accurately.

[Brief explanation of drawings]

The drawings show an embodiment of the automatic reaping and harvesting machine according to the present invention, in which FIG. 1 is an overall side view of the binder, FIG. 2 is a schematic overall plan view of the binder, FIG. 3 is an enlarged plan view of the speed change operation section, and FIG. 4. Figures A, C, C and 2 are schematic plan views showing sequential operating states;
FIG. 5 is a block diagram of the control mechanism. 18...Sensor for detecting the presence or absence of adjacent stem culms, 26.
...Sensor for detecting the presence or absence of harvested stems and culms.

Claims (1)

[Claims] 1. Switch from the forward traveling state in the automatic reaping state in which the automatic reaping state follows the row of planted stalks and culms forward to the backward traveling state while following the row of adjacent planted stalks and culms based on the detection of the absence of the adjacent row of planted stalks and culms. In the reaping/harvesting machine configured as shown in FIG. The system is configured to switch from the forward running state to the backward running state only when a result of detecting the absence of a stem culm, and the sensor 18 for detecting the adjacent planted stem culm is pivotally mounted on the lateral side of the body so as to be swingable back and forth. , and is biased into a neutral posture protruding laterally laterally, detects the presence of the stem culm by contacting the planted stem culm and tilting forward and backward, and detects the presence of the stem culm by protruding laterally laterally. An automatic reaping harvester characterized in that it is configured to detect presence.