JPS5841768Y2 - automatic straight combine harvester - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a combine harvester equipped with an automatic straight-travel control function (hereinafter referred to as an automatic straight-travel combine).

In order to make the combine move straight in an automatic straight-travel combine, the direction of movement of the combine is corrected by adjusting the direction of movement of the combine with respect to the row of culms to be harvested, which are normally arranged in a straight line. Using a steering sensor that detects the above-mentioned deviation and performs a contact operation based on the amount of movement of the protruding body that moves back and forth in conjunction with the moving detection arm, the electromagnetic directional control valve installed in the hydraulic circuit is activated by the contact operation. This is accomplished by switching positions to shut off the left or right side flanch and/or actuate the left or right brake, and rotate only one rubber crawler.

In order to avoid excessive corrections in the direction of travel that occur when such automatic straight-ahead control is performed, it is necessary to adjust the amount of rotation of the combine depending on the hardness of the field and the degree of curvature of the rows of culms. It is desirable to do so.

The automatic straight-travel combine of the present invention focuses on this point, and uses pulse-like intermittent signals to make it possible to correct the traveling direction of the combine. By arbitrarily selecting multiple intermittent signals with different ratios of direction correction time, if the amount of deviation is large (small), the amount of correction in the direction of travel is made thicker ((smaller)). By doing so, it is possible to adjust the amount of rotation of the combine in accordance with the hardness of the field and the degree of curvature of the rows of shell culms.Furthermore, a sensor for detecting the presence or absence of a row of shell culms is provided, and the sensor detects the presence or absence of a row of shell culms. The present invention provides an automatic straight-travel combine harvester which prohibits automatic straight-travel control when the absence of the harvester is detected, protects the uncut culm, and has an extremely rational steering function.

An embodiment of the automatic straight-travel combine harvester according to the present invention will be described in detail with reference to the drawings.

In FIG. 1, 1 is a conventionally known steering sensor,
The grass dividing plate 3 is attached to the connecting shaft 31 of the left side grass dividing plate 30 and corresponds to the culm row 40 located on the right side of the grass dividing plate 30.
A detection arm 1as that rotates back and forth depending on the size of the separation distance of 0; a sliding rod 1b that is connected to the detection arm 1a and moves backward and forward in response to the rotation in the front and back direction; Spring 1es that urges 1b backward Sliding rod 1b
The protruding body 1d is fixed in the middle, and the protruding body 1d is spaced apart at a predetermined distance before and after the movement path of the protruding body 1d, so that when the protruding body 1d moves a predetermined amount in the front and back direction, it can come into contact with the detection l/bar. A limit switch 1 having a normally open contact disposed in
It consists of eA and 1er.

Reference numeral 9 denotes a rotation prevention sensor attached to the connecting shaft 33 of the right side grass dividing plate 32, which is fixed to the connecting shaft 33 so as to be rotatable to the left, and has a detection lever 9a which is considerably shorter than the detection arm 1a. , a spring 9b that biases the detection lever 9a forward, and a stopper 9c provided in the middle of the rotation path of the detection lever 9a to stop the forward rotation due to the bias of the spring 9b to a predetermined amount. , a limit switch 9d having a normally open contact that closes when the detection lever 9a rotates backward.
When there is no culm in contact with the detection lever 9a and the turning prevention sensor 9 is not operating, the power supply to the automatic straight-ahead control circuit is stopped to prevent the combine from turning suddenly in one direction. It has become.

Furthermore, side clutch levers 16t, 16r are provided near the respective rotation shafts of the left and right side clutch levers 16t, 16r.
A limit switch 171.17r is provided with a normally closed contact that opens when the side clutch is in the side clutch disconnection position.

FIG. 2 shows an automatic straight-line control circuit, in which 2 and 3 are pulse generators constituting a timer T (encircled by a dashed line), and pulse generator 2 is an oscillation circuit that performs an astable operation. 2A1 generation pulse repetition period tz
The pulse generator 3 includes an oscillation circuit 3A for monostable operation, and a time width t of the generated pulse.
Variable resistor 3R for variable setting of 3 (see Figure 3)
The output terminal 2b of the pulse generator 2 is connected to the trigger terminal 3t of the pulse generator 3.

That is, since the pulse generator 3 is triggered by the pulse generated by the pulse generator 20, the time relationship between the output pulses of the two oscillation circuits and the output pulse of the oscillation circuit 3A, that is, the switching pulse output by the timer T, is as shown in FIG. It is expressed as follows.

The repetition period t2 and the time width t3 are each set by the variable resistor 2.
The length changes depending on the resistance value of R and 3R,
This resistance value is adjusted and set to obtain a switching pulse with a predetermined waveform, and the variable resistor 2R is used.

3R is semi-fixed.

Further, T' and T'' (each shown surrounded by a dashed line) are timers constructed from the same circuit as the timer T, and are each timer T/.

The repetition period of T" is the repetition period t2 of timer T.
It is different from

That is, timers T, T'. Each switching pulse of T// is shown in Figure 3, A9.

It has a time-related pulse waveform as shown in (c), and for example, the repetition period of timers T, T', and T'' is 2.5°3, respectively.
The repetition period t2. consists of a time ratio of 3.5. t′2゜tρ
, and the time width t3 is selected to be a constant value.

It is most convenient to use a timer IC commonly referred to as J555J as the oscillation circuits 2A and 3A by making predetermined connections.

In the automatic straight-ahead control circuit shown in Fig. 2, 4 is a pantry whose negative electrode is grounded to the body, 5 is a switch for turning on and off the automatic straight-ahead control, 6/' t 6 r is a solenoid to be described later, and γ and 7 are respective A surge absorbing diode is connected to both ends of the solenoids 6t and 6r, and one end of each of the solenoids 6t and 6r is connected to the switch 5 and the limit switch 17t.

It is connected to the positive electrode of the pantry 4 via normally closed contacts 17tb and 17rb of 17r, and the other end is connected to the collectors of switching transistors TR1 and TR2.

The emitter of switching transistor TR2゜TR2 is directly grounded, and the emitter of TR1s TR2 is directly grounded.
2. Connected to the base of TR2.

The bases of the switching transistors TR1, TR1 are grounded through resistors R1, R1.

Normally open contact 1e/ of limit switch 1e7, 1er:
One ends of the normally open contacts 1 eta and 1 era are connected to the bases of the switching transistors TR and TR1 via resistors R2+R2, respectively, and the other ends of the normally open contacts 1 eta and 1 era are connected in common to the rotation prevention sensor 9. limit switch 9
It is connected to one end of the normally open contact 9da of d, and the other end is connected to the candos of diodes D, D, and D built in the timers T, T', and T'', respectively, and its anode is connected to T, T'.

T'' is connected to the output terminal 3b of the oscillation circuit 3A.

Note that the backflow prevention diodes D, D, and D may not be built into the timers T, T', and T'', but may be externally attached.

Do is a backflow prevention diode having an anode connected to one end of a solenoid and a hood connected to a common terminal 8a of a manual changeover switch 8 for changing the direction of travel correction signal.

C1yC2 is a diode D. It is a capacitor with one end connected to the cand and the other end grounded.

The changeover switch 8 has a movable contact 8b that is connected to a common terminal 8a and rotates, and fixed contacts 8co, 8 that are arranged on the circumference so as to come into contact sequentially as the movable contact 8b rotates.
It consists of c1, 8c2°8c3.

The fixed contacts 8co are connected to the input power supply terminals 2a x 3a of the oscillation circuits 2A and 3A of the timer T, and the fixed contacts 8c1 . 8c2
are connected to the input power terminals of an oscillation circuit (not shown) similar to the timer T of timers T/ and T//, and the fixed contact 8c3 is connected to the normally open contact 9da of the limit switch 9d of the rotation prevention sensor 9. connected directly to the other end.

On the other hand, the hydraulic circuit includes a hydraulic pump 10, as shown in FIG.
Consists of a relief valve 11, a 6-point 2-position switching type directional control valve 127.12r, etc., and a directional control valve 12t,
12r, the left and right side clutches 13t and 13r are each disconnected by switching their positions in the directions of the arrows, and the left and right brakes 147.14r are each activated, thereby stopping the rotation of the left and right rubber crawlers 157.15r. do.

The direction control valves 12t and 12r are side clutch levers 16t.

16r and the operating rods 12tos 12r□ connected to the solenoids 6t and 6r are the side clutch levers 1
6t, 16r shutoff operation or solenoid 6t.

It is configured to be pulled or suppressed by energizing 6r to perform the position switching as described above.

The relief spring 11s of the relief valve 11 is set so that the relief amount is large when either one of the operating rods 12to or 12ro is pulled or pressed, and is small when both are pulled or pressed. oy
12 r □ are connected.

Next, the operation of the automatic straight-travel combine according to the present invention will be explained.

By turning on the switch 5 in the circuit state shown in FIG. 2, automatic straight travel is performed as follows.

In other words, when the automatic straight-travel combine harvester is moving straight along the culm row 40 while reaping the culms, the side clutch levers 16t and 16r are in the clutch engagement position, so the normally closed contacts 171b and 17rb are closed and automatic straight-travel control is performed. The circuit is energized.

Therefore, the oscillation circuits 2A and 3A of the timer T are energized through the fixed contact 8e□ that the movable contact 8b of the changeover switch 8 has contacted, and these oscillation circuits generate an output signal of a switching pulse having a waveform as shown in FIG. 3A. oscillates continuously.

The detection lever 9a of the rotation prevention sensor 9 contacts the shell culm row 40 and closes the normally open contact 9da, but the detection arm 1a of the steering sensor 1 contacts the shell culm row 40 and rotates appropriately as shown. position, the protruding body 1d is the limit switch 1e
t, 1er, the protruding body 1d only slightly moves back and forth approximately in the middle of the limit switches let, 1er, and as a result, the normally open contacts 1e7a, 1era do not close, and the switching transistor TR1 , TR2 and solenoids 6t and 6r are not energized, this combine runs straight along the culm row.

Now, if the direction of movement of the automatic straight-travel combine deviates to the left (right) due to irregularities in the ground surface, the grass dividing plate 30 moves away from (approaches) the culm row 40, and the detection arm 1a It is pulled by the spring 1c (forced by the shell culm row 40) and rotates forward (backward) as shown by the arrow.

Therefore, the sliding rod 1b moves backward (forward), and the protrusion 1d
contacts the limit switches ler and 1et, and the normally closed contact 1era.

1eta is closed.

On the other hand, since the timer T emits intermittent output signals as described above by the oscillation circuits 2A and 3A, the normally closed contact 1 era,
1ela, the switching transistor TR
1, TR2 becomes conductive, and DC current is intermittently applied to the solenoids 6r and 6t.

This energization causes the directional control valves 12r and 12t to switch positions in the direction of the arrow, and as a result, the right (left) side clutch is disconnected and the right (left) brakes 14r and 14t are activated. Rubber claws: y15r, 157 stop rotating and the automatic straight-moving combine corrects the direction of movement to the right (left), but because solenoids 6r and 61 are intermittently energized, the direction of movement is corrected. is also carried out intermittently.

Further, when the changeover switch 8 is operated to switch the movable contact 8b to the fixed contact 8C1, the power supply to the timer T is stopped, the oscillation of the oscillation circuits 2A and 3A is stopped, and the power supply to the oscillation circuit of the timer T' is stopped. When this occurs, an intermittent output signal is generated by the timer T' shown at the beginning of FIG. 3, and the solenoids 6r and 67 are intermittently energized in the same manner as in the above operation.

This intermittent output signal from timer T' has a longer repetition time period t4 in which the solenoids 6r and 67 are energized than the intermittent output signal from timer T, so the amount of correction in the traveling direction is small, and therefore, irregularities in the ground surface etc. If the amount of deviation in the traveling direction of the combine due to
It is suitable to correct the direction of travel using intermittent output signals.

In addition, when the changeover switch 8 is operated to energize the timer T//, the intermittent output signal becomes as shown in Fig. 3, and the repetition time period t4/ becomes even longer (so the direction of travel is corrected). The amount can be made smaller.

Furthermore, when the manual changeover switch 8 is operated to bring the movable contact 8a into contact with the fixed contact 8c3, the timers T, T', and T
” is not energized and the continuous DC current from the battery 4 causes the switching transistors TR1, TR1 to
, TR2, TR2 are made conductive and the solenoids 6r, 6t are energized continuously, so the normally open contacts 1era, 1e
Solenoid 6 r depending on the length of time that ta is closed.
, 6t, and the amount of correction of the traveling direction becomes maximum.

Furthermore, in this embodiment, the intermittent output signals of the timers T, T', and T'' are repeated with a time period of t2 + t2 + t2'.
is changed and the time width t3 is kept constant, but both the repetition time period t2 * j2 p j2' and the time width t3 are changed and the solenoid 6t, 6r is set by changing the timer T, T', T''. Of course, the same objective can also be achieved by changing the energization time and setting the advancing direction correction amount to be different.

Further, it is preferable that the manual changeover switch 8 is disposed near the driver's seat so that the driver can easily change the timer in consideration of field conditions.

In addition, when either side clutch lever 16t or 16r is placed in the clutch disconnection position, the normally closed contacts 17tb or 17r are closed.
When b is opened, the power supply from the pantry 4 is cut off, and the position switching of the directional control valves 127 and 12r is performed only by manual operation of the side clutch levers 16t and 16r, which is similar to the conventional combine harvester of this type. It is.

Moreover, when the front end edge of the row of shell culms is reached after the mowing of the -stroke, there is no row of shell culms that activates the turning prevention sensor 9, so the limit switch 9d is opened and the machine continues straight ahead.

Therefore, the uncut husk culm will not be damaged due to unnecessary turning and can be protected.

As explained above, the automatic straight-travel combine according to the present invention has the solenoid 67 that moves the direction control valves 12t and 12r.
, 6r are energized by a plurality of timers T , T with intermittent output signals of the timers and with different intermittent periods.
', T' are provided so that they can be selected arbitrarily and the amount of correction in the direction of travel can be changed appropriately. If the operator selects an appropriate timer, the moving direction can be corrected by an amount roughly corresponding to the amount of deviation from the culm row, allowing the combine to adapt to the field conditions and automatically move straight automatically in a stable and reliable manner. can be set.

- When the cutting stroke is finished, there is no unnecessary turning and no damage to the uncut culm.

Furthermore, since the solenoids 6t and 6r are energized intermittently, the direction of movement is not drastically corrected all at once, so there is an advantage that there is no risk of damage to the culm.

[Brief explanation of drawings]

The drawings show an embodiment of the automatic straight-travel combine harvester according to the present invention, in which Figure 1 is a hydraulic circuit diagram together with a schematic plan view of the grass dividing plate, and Figure 2 is a straight-travel control diagram showing the main parts of the present invention. Circuit diagram, Figure 3, A9 and C are timers T, T', and C, respectively.
It is a waveform diagram showing the time relationship of the output signal of T". 1... Steering sensor, 2, 3... Oscillation circuit, 4... °°° Bunch 'J, 67. 6r...
Solenoid, 8...Selector switch, T, T'
, T"-...Timer, 12t. 12r...Direction control valve, 13t, 13r...Bending id crunch, 14t, 14r...Brake, 16t. 16r... ...Side clutch lever.

Claims (1)

[Scope of utility model registration request] Using a steering sensor that detects deviations in the direction of movement of the combine with respect to the culm row and performs contact operation, the energization of the solenoid of the directional control valve installed in the hydraulic circuit is controlled, and the position of the directional control valve is switched. A combine harvester capable of automatically moving straight along a row of shell culms by performing the following steps: a sensor for detecting the presence or absence of the row of shell culms; a plurality of timers each emitting an intermittent output signal of a different fixed period; a changeover switch connected so as to be able to selectively switch output signals of a plurality of timers, and in connection with contact operations of the sensor and steering sensor, an on/off switch corresponding to the output signal selected by the changeover switch; 1. An automatic straight-travel combine harvester, characterized in that the traveling direction is corrected by applying a current to the solenoid.