JPS5841770Y2 - Combine steering control device - Google Patents

Description

[Detailed description of the invention] This invention, for example, brings a steering sensor into contact with a row of uncut husk culms,
Detecting the presence or absence of a row of uncut husk culms in a combine harvester equipped with an automatic steering control device by actuating a side clutch and controlling the traveling direction of the body by sensing the row of uncut husk culms by the sensor. By providing sensor levers that operate the control device with care at the front and back positions on the left and right opposite sides of the steering sensor across the row of uncut husk culms, these sensors and the fin banion can be easily operated at the end of the reaping start ceremony. The detection operation of the rows of uncut husk culms by the controller is performed at substantially the same time without any time difference, thereby preventing the control device from abruptly changing the running direction at the start of reaping or stopping the control prematurely before the end of reaping, thereby ensuring accuracy at all times. The present invention aims to provide a steering control device for a combine harvester that enables reliable steering control.

Hereinafter, in order to further deepen the understanding of the present invention, the present invention will be explained in detail based on illustrated embodiments. Fig. 1 is a side view of a combine harvester equipped with an automatic steering device according to the present invention, and Fig. 2 is a plan view thereof. In the figure, 1 is a machine base, 2 is a trunk frame equipped with a pair of running rollers 3, 3 on both left and right sides, and a four-cigarette truck frame 2 that supports the machine base 1 rotatably. A lifting cylinder that lifts the front part of the machine 1 upwards using the pivot shaft 4 of the cigarette as a fulcrum; 6 is a threshing machine mounted on the machine 1; inside it is a handling barrel; 1 is mounted on a shaft along the longitudinal direction of the machine base 1.

Reference numeral 8 denotes a reaping device for multi-row mowing, which is composed of a plurality of weed dividing plates 9 . . . and a cutting blade 10.

11 is a feed chain; this feed chain 11
indicates the opening of the threshing machine 6 (not shown) together with the handle (not shown)
It was set up along the lines of

A driver's seat 14 is provided on the step 12 via a seat frame 13, and an operating column 15 is erected in front of the driver's seat 14 to form a driving operation section 16. There is.

Furthermore, 17 is a grain tank mounted on the outside of the threshing machine 6, and the grains after the threshing process are transferred to the tank 1 via a screw conveyor and a grain frying conveyor device 18.
It is configured so that the cells are stored sequentially in 7.

Reference numeral 19 denotes a straw cutting device detachably installed at the rear of the threshing machine 6, 20 a straw removing chain extending from the end of the feed chain 11 to the cutter upper part 1 of the straw cutting device 19, and 21 the chain. 20 covers.

Furthermore, 22 is an engine mounted on the machine base 1;
23 is a drive sprocket for the running roller 3, which is connected to the running □tion (see FIG. 4).

Further, 24 is an idle roller that supports the end of the roller 3 that runs together with the sprocket 23, and 26 is a carrier roller that slides into contact with the upper inner surface of the roller 3 that runs.
. is a track roller that slides into contact with the lower inner surface of the moving roller 3.

Next, to explain the shell culm conveying device, the cutting blade 1
A lower conveying device 27 is provided in the upper part of the culm of the shell culm, and an upper conveying device 28 is extended in the upper part of the device 2γ to convey the culm root of the shell culm. The structure is such that it can be held and conveyed.

Further, a tip conveying device 29 is installed behind the device 28.

The feeding terminal end of this ear tip conveying device 29 faces the starting end of a vertical conveying device 30 whose length can be adjusted, and the terminal end of the device 30 is directed toward the starting end of the feed chain 11. It has been extended.

Further, numeral 31 is a plurality of shell culm raising devices for raising the raised and lodging shell culms.

Next, to explain the transportation route for the threshed grains, the grains threshed and sorted in the handling chamber 32 of the threshing machine 6, especially the fine grains, are transported from the first mouth 33 through the grain frying device IEl. The grains are sequentially stored in the grain tank 17.

The grains stored in the tank 17 are transferred to a loading platform such as a trunk via a lifting conveyor device 34 and a grain discharge conveyor device 35. 36, a pedestal 38 is erected on the base 36 via a bearing 37, and this pedestal 38
A hydraulic cylinder 40 for raising and lowering the grain discharge conveyor device is supported at the lower end of the grain discharge conveyor device 35 via a support shaft 39, so that the grain discharge conveyor device 35 can be raised and lowered and rotated as appropriate.

In this embodiment, the turning operation is performed manually.

Additionally, a chain case 41 is provided above the pedestal 38, and a conveyor drive motor 42 is attached to the top of the case 41, and the rotational force of the motor 42 is transferred to the lifting conveyor using sprockets, chains, etc. It is transmitted to the conveyor shaft 34a of the device 34, and the chain case 4
1. The rotary force of the motor 42 is transmitted to the conveyor shaft 35a of the grain discharge conveyor device 35 via the transmission case 43 and each element in the connecting pipe 44.

Next, the specific structure of the grain storage device will be described in detail with reference to FIG.
It is composed of a lower housing 17c and an upper housing 17d having a diameter of 17 bft, and the lower housing 17cf is supported by the machine base 1 via the support structures 45 and 46e, and the upper housing 17d is fitted into the upper end opening of the lower housing 17c. , set bolt 47
These two housings 17C, 17d'f are
: It is fixed.

In the tank 17 there is a grain frying conveyor device 18,
A lifting conveyor device 34 consisting of a lifting cylinder 34b and a lifting screw conveyor 34c is installed, and a tip opening of the conveyor device 18 is provided with a blade 47 for scattering grains. There is a long hole 48 at the bottom end.
A control cylinder 48 having a... is provided.

Furthermore, a base plate 49 is provided on the inner surface of each housing 17cy17d that is buttoned at the lifting conveyor device 34 installation position.
50, each of these base plates 49.50 is provided, and an L-shaped steel 51... is erected between each of these plywood plates 49.50, and a reinforcing steel is provided between the L-shaped steel 51 on one side and the inclined part 1γb. A support pipe 52 is stretched.

A grain detection pipe 54 is attached to the L-shaped steel 51 on the other side of the casing via spacers 53 and 53, and the pipe 5
A switch box 55 is attached to the side of 4.

A rimming switch 56 is provided in the switch box 55 to detect when a specified amount of grain is stored in the grain tank 17, and its operating piece 56a extends into the pipe 54. .

Furthermore, a light emitting device 57 and a light receiving device 58 are mounted facing each other in the upper part of the housing 17d, and the grains stored in the grain tank 17 are transferred from the light emitting device 57 to the light receiving device 58. The structure is such that an alarm device (not shown) for notifying an abnormal level is activated when the light beam reaching the sensor is blocked.

By the way, ear detection devices 59 and 60 are attached to the front part of the threshing machine 6, specifically, to the front part of the handling chamber 32.

These detection devices 59 and 60 detect the handling depth of the culm inserted into the handling chamber 32, and communicate with the vertical conveyance device 3 via a hydraulic circuit.
This allows the angle of inclination of 0 to be varied.

Furthermore, a reaping frame 6 that supports the grass dividing board 9...
1 is provided with a running direction detection device 62.

That is, a guide piece 63.63 and a spring locking piece 64 are attached to one side of the reaping frame 47 as shown in FIG. The front end of a moving rod 65 is connected to a fulcrum 66, while a spring 67 is stretched between the rear end of the rod 65 and the locking piece 64, and a steering sensor 68 is connected to the fulcrum. At the same time, a switching cam plate 69 is fixed to the Rondoro 5, and steering sensor switches 70 and 71 are positioned on both the front and rear sides of this cam plate 69 to constitute a running direction detection device 62, so that the running direction of the combine is to the right. In this case, the distance between the steering sensor 68 and the row of uncut husk culms becomes smaller than the reference value, and the steering sensor 68 is pressed by the husk culms and swings clockwise.
The rod 65 and the cam plate 69 linked to the 8 move forward to turn on one of the switches 71, and conversely, when the traveling direction of the combine is to the left, the steering sensor 68 and the uncut husk row are turned on. The steering sensor 68 is biased by the spring force of the spring 67 and swings counterclockwise. The cam plate 69 is moved rearward to turn on the other switch 70.

Even earlier, the reaping frame 6 supporting the central grass dividing board 9
1 has a straight-ahead sensor lever 72' r pivoted,
When the lever 72 detects the culm, the lever 72 is displaced counterclockwise against the spring 13 to turn on the straight-travel sensor switch 74.

Next, a series of configurations for automatic steering and automatic stopping will be explained based on FIG. 4.

Regarding the structure for transmitting the driving force to the rollers 3, 3, which run without twisting, there is a main shaft 76 inside the mission case 75.
, a clutch shaft 77 and a traveling drive shaft T8 are mounted, a main shaft gear 79 is fitted to the main shaft γ6, an input gear 80 and a transmission body 8L82 are fitted to the clutch shaft 71, and the clutch shaft 77 is fitted with an input gear 80 and a transmission body 8L82. is hydraulic clutch gear 83,
84 is provided, and in the normal state, the hydraulic multi-disc clutches 87, 88 are turned on via the actuators 85, 86 by the biasing force of a spring (not shown), and the power is transferred to the hydraulic clutch 81, 820 times. On the other hand, when hydraulic oil is supplied from a hydraulic pump (to be described later), actuators 85 and 86 are moved against the spring force of a spring (not shown), and the hydraulic multi-plate clutches 87 and 84 are transmitted to the gears 83 and 84.
88 (side clutch) is turned off to cut off the transmission of driving force to the hydraulic clutch gears 83 and 84.

Spur gears 89 and 90 having large diameter external teeth and small diameter external teeth are loosely fitted onto the traveling drive shaft 78, and the large diameter external teeth are engaged with the hydraulic clutch gears 83 and 84. There is.

Furthermore, sprocket shafts 93 and 94 are mounted on shaft racks L in final cases 91 and 92 provided on both sides of the mission case 75, and the aforementioned sprockets are mounted on the outer ends of each of these sprocket shafts 93 and 94)23. 23, and the inner ends of the sprocket shafts 93 and 94 are extended into the mission case 15, and the inner ends thereof are fitted with gears 95. 96 is fitted.

Next, regarding the configuration of the hydraulic circuit, two-position, six-port type directional control valves 98 and 99 are installed in a steering valve unit 97 that is an automatic steering control device. A tank 102 is connected to each pump port 98P, 99P via an oil line 100 and a hydraulic pump 101.
The actuator ports 98A and 99AK are respectively connected to Inami actuators 85 and 86 via oil M103.101.

Further, a relief valve 105 is connected between the discharge side of the hydraulic pump 101 and the tank 102 to form a hydraulic circuit.

Next, regarding the configuration of the electric circuit, the battery 106
relay 10 via the limit switch 56 mentioned above.
On the other hand, a straight sensor switch 74 and a pulse generation circuit 108 are connected in series to the battery 106 in this order, and a solenoid 1 is connected to the output side of the pulse generation circuit 108.
A series circuit between 09 and relay contact 107a1 and a series circuit between solenoid 110 and relay contact 107a2 are connected in parallel, and each of the solenoids 109 and 110 is connected in parallel.
A steering sensor switch 70 is connected between the output stage and ground.
71f: Connected.

In the past, between the battery 106 and the ground, there were connected a series circuit of a relay contact 107a3 and an alarm device 111, a series circuit of a relay contact 107a4 and a solenoid 112 for disconnecting the reaping latch, a relay contact 107a5 and a main clutch. A diode 114 is connected between the relay contact 107a5 and each output stage of the pulse generation circuit 108, while connecting a series circuit of a solenoid 113 for disconnection.

Here, when one steering sensor switch 100 is turned on, the solenoid 109 switches one direction control valve 98 to gradually decelerate the roller 3 running on the right side (upper side in FIG. 4), thereby controlling the speed of the combine harvester. The solenoid 110 is used to correct the running direction to the left or right, and the solenoid 110 closes the other direction control valve 99 when the other steering sensor switch 71 is turned on.
This is to gradually decelerate the roller 3 running on the left side (lower side in FIG. 4) by changing the speed, and correct the running direction of the combine to the left.

In addition, the solenoid 112 is activated when the relay 107 is turned on and when the stipulated amount of grain is stored, the reaping latch L//<-11
The solenoid 113 is used to switch the main clutch lever 116 to the off position when the relay 107 is turned on.

The present invention is constructed as described above, and its operation will be explained below.

Now, when the engine 22 is driven, the driving force is transmitted to the upper shaft 16 in the mission case 75 through a power transmission system (not shown) including the V-pulley, the belt, the travel counter case, and the drive shaft, and then to the main shaft gear. It is transmitted to the clutch shaft 77 via T6 and the input gear 80, and then to each transmission body 8L82 and the hydraulic multi-disc clutch 87.8.
8 and the spur gear 8 via the hydraulic clutch gear 83.84
9.90, and further transmitted to each sprocket via gear 95.96 and sprocket shaft 93.91) 23.23
transmitted to.

For this reason, the left and right running rollers 3, 3 are driven to make the combine run.

Then, when the culm contacts the straight-ahead sensor lever T2 and swings the lever 72 counterclockwise against the spring 13, the straight-ahead sensor switch 74 is turned on, and therefore, the pulse generation circuit 108 Pulses with a predetermined time width are output continuously.

At this time, if the separation distance between the row of uncut husk culms and the steering sensor 68 is equal to the reference value and the combine is running normally, the detection device 627: J-Raba command signal will not be output. Each solenoid 109, 110 is not energized,
The combine harvester continues to run normally.

Place-C1 Now, the combine harvester is moving toward the direction of travel 75, and the distance between the steering sensor 68 and the row of uncut husk culms is smaller than the reference value, and the steering sensor 68 is pressed by the culms and is moving clockwise. When the cam plate 69 swings forward, the cam plate 69 turns on one switch 71 due to the forward movement of the Rondro 5.

Therefore, the solenoid 110 is intermittently excited by pulses from the pulse generating circuit 108, and one directional control valve 99 repeatedly switches between the switching position and the stop position, so that the hydraulic fluid from the hydraulic pump 101 is throttled. It is intermittently supplied to the actuator 86 via each port 99P, 99A of the valve 99 and the oil passage 104, and the hydraulic multi-disc clutch 88
The off operation is performed gradually.

Therefore, the left crawler 3 is gradually decelerated, and the traveling direction of the combine is gradually corrected to the left in accordance with this deceleration.

Conversely, when the traveling direction of the combine is to the left, the other switch 70 is turned on and the direction control valve 98 is turned on.
When this happens, the hydraulic multi-disc clutch 87 is turned off, and the traveling direction of the combine is gradually corrected to the right.

By the way, during the operation of such a combine harvester, the threshed grains are transferred to the first port 33 and the grain frying conveyor device 1.
8'f: sequentially stored in the grain tank 17 via
When the storage level reaches a specified value, the grains stacked in the tank 17 enter the detection pipe 54, push down the actuating piece 56a of the limit switch 56, and push down the switch 56.
Turn on 6.

As a result, the relay 107 is energized, its relay contacts 107a to 107a5 are turned on at the same time, the solenoids 109 and 110 are simultaneously energized, and the directional control valves 98
．． Since the control valves 99 and 99 are switched together, the hydraulic oil from the hydraulic pump 101 is controlled by the control valves 98, 99, and 98p.
Each oil passage 103, 1 via button 99P and 98A, 99A
04, the hydraulic multi-disc clutches 87 and 88 are simultaneously turned off via each actuator 85 and 86, stopping the drive of the left and right crawlers 3, 3, and automatically stopping the travel of the combine harvester. It is something.

Relay contact 107a based on excitation of relay 107
3, the alarm device 111 is activated to notify the operator that a specified amount of grain has been stored in the grain tank 17.

Furthermore, the relay contact 107 based on the excitation of the relay 107
Erysolenoid 1 for ON operation of a4 and 'f07a5
12 and 113 are excited, the reaping latch lever 115 and the main clutch lever 116 are switched from the clutch on position to the off position, and the reaping latch (not shown) is turned off to stop driving the cutting blade 10, and the main clutch is turned off together with the aforementioned side clutches 87 and 88 to completely stop the combine harvester from moving.

In the above embodiment, the detection output of the mint switch 56 activates the main clutch lever.
116 and left and right side clutches (hydraulic multi-disc clutches) 87 and 88 are both configured to be turned off,
Main clutch lever 116 and side clutch lever 117
, 118 (see FIG. 1) may of course be configured to be turned off.

As is clear from the above embodiments, the present invention has a structure including an automatic steering control device 97 that controls the traveling direction of the aircraft through a steering sensor 68 that senses the uncut culm row Lffi.

The sensor lever 72, which senses the presence or absence of a row of uncut husk culms and operates the control device 91, is placed at approximately the same position in the front and back on the left and right opposite sides of the steering sensor 68, with the row of uncut husks sandwiched between them. For example, when the sensor lever 72 is installed at a position forward of the steering sensor 68, the sensor 68 is activated when the lever 72 is turned on at the start of reaping.
When the lever 72 is turned off and the sensor 68 is turned on after the end of harvesting, the automatic steering control device operates or stops earlier by this time difference, and a sudden direction correction or direction correction is required. It is possible to prevent the inconvenience of causing uncut mowing by moving straight ahead regardless of the situation, and as a result, the sensor 6B and the lever 12 detect the row of uncut husks at the same time without any time difference at the start or end of reaping. This makes it possible to always carry out accurate and reliable steering control, which brings about remarkable effects such as improving efficiency in combine harvester work.

[Brief explanation of the drawing]

Fig. 1 is a right side view of the combine harvester according to the present invention, Fig. 2 is a plan view of Fig. 1, Fig. 3 is a sectional view taken along the line ■-■ in Fig. 2, and Fig. 4 is an automatic operation FIG. 2 is a system diagram showing the configuration of the direction and automatic stop. 68...Steering sensor, 72...Sensor lever 97...Automatic steering control device (steering valve unit), L...Uncut culm Column.

Claims (1)

[Scope of utility model registration request] In a structure equipped with an automatic steering control device that controls the traveling direction of the aircraft through a steering sensor that detects a row of uncut husks, the control device is turned on and off by sensing the presence or absence of a row of uncut husks. 1. A steering control device for a combine harvester, characterized in that a sensor lever is provided at substantially the same position in the front and back on the left and right sides opposite to the steering sensor across the row of uncut husk culms.