JPS5921B2 - Automatic gearbox for automatic reaper - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention performs automatic follow-up reaping forward travel along a row of planted stem culms, and then operates a forward/reverse switching device based on detection of the end of an adjacent uncut row of planted stem culms. Switch to reverse mode and automatically return backward along the stump row or the unmerged adjacent planted stem culm row,
Based on the detection of the end in the backward direction of the adjacent planted stem culm row, the forward/backward movement switching device is switched to the forward direction, and at the same time, at the beginning of the forward movement, temporarily gives circularity toward the starting end of the adjacent planted stem culm row, and thus, The present invention relates to an automatic reaping machine configured to perform automatic reaping and harvesting work by switching forward and backward motions without an operator.

Although such a reaping machine can perform continuous reaping work unmanned, when a problem such as straying or uncut leaves occurs, it may be necessary for the operator to urgently change gears.

Although it is conceivable to configure the automatic shift control to be switched to an manual shift state by cutting off the automatic shift control, in an emergency, this switching operation itself becomes troublesome.

The present invention is configured to switch and drive the speed change operation lever with an electric motor capable of forward and reverse rotation, and after the speed change operation lever is switched to a desired position, the electric motor is automatically returned to the neutral position, and the speed change operation lever is rotated. By configuring the vehicle to release the forced operation state, it is possible to freely manually change the speed even during automatic forward and backward movement.

Embodiments of the present invention will be described in detail below based on illustrative drawings.

Figures 1 and 2 show a reaping and tying machine (as an example of a reaping machine).
A reaping section 6 consisting of a pulling device 1, a pulling frame 2, a reaping device 3, a horizontal conveying device 4, a binding device 5, etc. is provided at the front of the machine, and A pair of left and right running wheels 7at7b are provided behind the reaping unit 6.
A mission case 8 equipped with an engine 9, a control bundle 10, etc. are installed.

In front of the pulling device 1, a stem culm abutment guide 11 for preventing the planted stem culm to be reaped from escaping to the right side extends, and on the inside of the lifting frame 2, a lifting device is provided. A guide 12 is provided between the guide frame 1 and the lifting frame 2 for slidingly supporting the base of the planted stem culm.

Further, the engine frame 13 is provided with a pair of bridge-shaped reverse guides 14 that contact the stump from the left and right sides, and a sensor 15 that comes into contact when the machine body approaches the uncut stem culm side too much.

Also, between the pulling device 1 and the pulling frame 2, there is a stem culm that is pressed and swung backwards when it comes into contact with a planted culm, and when the abutment is released, it returns to the front and oscillates. A sensor 16 for detecting the presence or absence of a stem is provided, and based on the operation of the sensor 16 to detect the presence of a stem culm, power is transmitted to the reaping section l, and based on the operation of the sensor 16 to detect the presence or absence of a stem culm, the power is transmitted to the reaping section l. Power transmission force to the reaping section clutch (not shown)
It is mechanically connected to the

Further, among the running wheels 7at7b, only the left wheel 7a is connected to the axle 17 with relative rotation flexibility at a certain angle, and both wheels 7as7b are configured to be able to be shifted to three forward speeds and one reverse speed by a speed change operation lever 18. ing.

The speed change operating lever 18 is configured to be automatically switched between forward speed, which is the reaping speed, and reverse speed by a forward/reverse switching device 19 provided in the transmission case 8 under control as described below.

That is, in the forward/reverse switching device 19, as shown in FIG. The lever switching tool 2o is an electric motor 21 capable of forward and reverse rotation.
and a sensor 23 which is arranged to be movable in both the position switching directions via a deceleration mechanism 22, and a sensor 23 and a planted stem culm, which the electric motor 21 is pivotally connected to the lifting frame 2 so as to be swingable back and forth. The drive is configured to be controlled in forward and reverse directions based on changes in the contact state.

The sensor 23 is energized to a neutral posture n protruding toward the outside of the premises 11J, and a change from a backward leaning posture r to a neutral posture n and a change from a forward leaning posture f to a neutral posture n is provided at the sensor base. The posture detection mechanism 24 is configured to detect and discriminate electrically.

Further, a first electrical contact group 25 made of a printed conductive plate is attached to the base of the lever switching device 20, and the first electrical contact group 25 is attached to the case of the forward/reverse switching device 19.
A second electrical contact group 26 consisting of a number of brushes which selectively contacts 5 is fixed, by changing the contact state of both contact groups 25, 26.

A mechanism 27 is configured to detect the position of the lever switching tool 20, and the motor 21 is also controlled based on the detection result here.

FIG. 5 shows a control circuit for the electric motor 21, and the attitude detection mechanism 24 of the sensor 23 includes a first electrical contact group 28 fixedly arranged on the fuselage side in radial alignment with respect to the sensor fulcrum. and a second electrical contact group 30 printed on the fan-shaped board 29 fixed to the base of the sensor 23...
The sensor is configured to detect the posture of the sensor based on changes in contact with the object.

In addition, 31.32 in the figure is a capacitor for motor drive circuit selection, 33.34 is a relay for motor drive circuit switching,
35 and 36 are a group of relay contacts, 37 is an ignition circuit of the mounted engine 9, 38 is a relay for shorting and grounding the ignition circuit 37, and 39 is a group of relay contacts, and a delay circuit 40 is connected to this relay 38. ing.

Further, a switch 41 that is connected to the sensor 15 at the rear of the fuselage is connected to the delay circuit 40.

Next, an outline of the automatic reaping operation will be sequentially explained.

(A) Forward travel for reaping (see Figure 4 A) When the gear change operation lever 18 is set to forward 2nd speed position F and the machine is directed toward the outermost planted stem row AK, the lower surface of the reaping section L slides into contact with the field. In this state, by the guiding action of the left and right guides (11.12), the machine body moves forward following p while pulling up the stem culm row A and guiding it to the introduction path between the device 1 and the lifting frame 2.

Then, the reaping section is driven by the operation of the stem culm presence/absence detection sensor 16, and automatic reaping travel is performed.

Also, at this time, the sensor 23 assumes a backward tilted posture r due to contact with the adjacent planted stem culm row B.

(b) Reverse return travel (see Figure 4) When the harvesting of the stem culm row A is completed and the machine moves forward an appropriate distance from the end of the adjacent planted stem culm row B, the sensor 2
3 comes off the final fractional stock b' and swings back to the neutral position n,
When this operation is detected, the motor 21 is driven in the reverse direction, and the shift operation lever 18 is accordingly switched from the second forward speed position F2 to the reverse position R.

When switched to reverse as described above, the reverse guide 14
Under the guidance of , the aircraft automatically returns to reverse along stump row C.

Note that during this backward movement, the sensor 16 detects the absence of a stem culm, so the drive of the reaping part is interrupted, and the sensor 23 assumes a forward tilted posture f when it comes into contact with the stem culm row B.

→ Forward switching operation (see Figure 1) When the aircraft catches the end (starting end) of the stem culm row B by moving backward, the sensor 23 comes off the end of the stem and returns to the neutral attitude n, and this operation is detected. and the motor 21 is driven in the normal rotation.
Along with this, the shift operation lever 18 is switched from the reverse position R to the second forward speed position F2.

2) Forward steering operation (see Figure 1) When switching from reverse to forward, the aircraft tilts backwards as shown by the imaginary line in Figure 1 due to the reaction of the reverse direction of travel, and the left wheel 7a is aligned with the axle. 17, the machine is stopped for a certain period of time, and only the right wheel 7b is driven forward, and the aircraft rotates to the left and moves forward.

Then, the guide 11 grasps the stem culm row B from the right outside, pulls up the stem culm row B, and introduces it between the device 1 and the lifting frame 2.

The two one-cycle operations described above are repeated in sequence to perform unmanned reaping work.

Next, control of the electric motor 21 in the forward/reverse switching device 19 will be sequentially explained.

(I) Forward travel for reaping (see Figure 6) During forward reaping, the lever switching tool 20 is in the neutral position and the sensor 23 is in the backward tilted position r, so the first capacitor 31 is not charged. Ru.

0 Forward end detection (see Figure 7) In order for the sensor 23 to return to the neutral position n, the first capacitor 31 is discharged, the first relay 33 is activated and its contact group 35 is switched, and the motor 21 is By being driven to rotate in a predetermined direction (referred to as reverse rotation), the lever switching device 20 moves in the direction X that moves the speed change operation lever 18 to the reverse side.

Reverse switching (see Figure 8) Because the contact state of the position detection mechanism 27 of the lever switching tool 20 is switched to a circuit state that maintains the first relay 33 energized before the first capacitor 31 completes discharging. , motor 21 continues the reversal.

t3. V) Motor neutral return (see Figures 9 and 10) When the lever switching tool 20 moves the lever 18 to the reverse position R, the contact state of the 1st position detection mechanism 27 is
The first relay 33 is switched off and the second relay 34 is energized, and by switching the relay contact groups 35 and 36, a normal rotation drive circuit for the motor 21 is established, and the lever switching tool 2
0 moves in the opposite direction Y.

(See Fig. 9) Then, when the lever switching tool 20 advances a little, the position detection mechanism 27 switches the contact state as shown in Fig. 10, the second relay 34 continues to operate in a different energized circuit, and the lever The switching tool 20 continues to move in the Y direction, and when the lever switching tool 20 returns to the neutral position, the motor drive circuit is cut off.

M Reverse travel (see Figure 11) During reverse travel, the lever switching device 20 returns to the neutral position as described above, and the sensor 23 is in the forward tilted position f, so the second capacitor 32 is charged. be done.

(VI) Reverse end detection (see Figure 12) Before the sensor 23 can return from the forward tilted position f to the neutral position n, the second capacitor 32 is discharged, and the second relay 34
is activated, the motor 21 is driven to rotate in the normal direction, and the forward switching operation of the lever 18 is started, and the same motor control as described above (the direction of rotation is opposite to that described above) is sequentially performed at n (I).
reaches the state of

The motor control described above is repeated in sequence to perform unmanned forward and forward switching.

In addition, while reaping is moving forward or backward, please refer to Fig. 6 101 and 1.
As shown in Figure 1, since the lever switching device 20 is in the neutral position, it is possible to arbitrarily operate the speed change operating lever 18 in an emergency.

Furthermore, the circuit configuration described above makes it possible to prevent the hair from straying to the mowed side and the uncut side.

The sensor 23 detects the end of the stem culm row and takes a neutral position.
If more than a certain amount of time has elapsed after the machine has returned to normal mode, for example, if the forward/reverse mode is switched and the machine veers off to the already-cut side, the capacitor 42 of the delay circuit 40 will be charged. Since the base voltage of the transistor 43 is increased, the relay 38 is energized and the contact group 39 is switched, the ignition circuit 37 is shorted to ground, and the engine 9 is stopped.

Additionally, if the machine goes far into the uncut side while going backwards, the sensor 15 touches the stem culm and the switch 41 is switched, which immediately energizes the relay 38 and short-circuits the ignition circuit 37 to ground, causing the machine to Stop.

As described above in detail in the embodiments, the automatic transmission device in the automatic reaper of the present invention automatically returns the electric motor for switching the transmission operation lever between the forward position and the reverse position to the neutral position based on the detection of the completion of switching. Since the gear shift control lever is configured to allow manual operation, the motor cannot be returned to neutral until the shift control lever is completely moved to the predetermined switching position. However, in the case where the motor is driven for a certain period of time and then automatically returned to its original state, there is a possibility that the gear shifts to the neutral state before the gear has been completely changed due to resistance to the renomy operation. After 9 seconds of reliable switching between forward and backward motion, a state of free operation can be achieved.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of the present invention, and FIG. 1 is an overall side view of the binder, FIG. 2 is an overall plan view, FIG. 3 is a perspective view of the forward/reverse switching device, and FIG. 4 is an automatic reaping operation. Fig. 5 is a motor control circuit diagram, Fig. 6 is a schematic plan view showing the sequential operation of
Figures 1 to 12A are motor control circuits each showing the sequential operation of motor control, and Figures 6 to 12 are schematic diagrams showing the switching state of the gear shift operation lever in each control state. be. 18... Speed change operation lever, 19... Forward/forward switching device, 21... Electric motor, 23...
...sensor, A...planted stem culm row, B.
... Uncut adjacent planted stem culm row, C ... Stump row, F2 ... Forward (2nd speed) position, R ......
・Reverse position.

Claims (1)

[Claims] 1. After performing automatic follow-up reaping forward travel along the planted stem culm row A, the forward/reverse switching device 19 is switched to reverse based on the detection of the end of the uncut adjacent planted stalk culm example B, and the stump row C Alternatively, it automatically returns backward along the uncut adjacent planted stem culm row B, and switches the forward/reverse switching device 19 to forward movement based on the detection of the end in the backward direction of the adjacent planted stem culm row B, and temporarily at the beginning of forward movement. In the automatic reaping machine configured to give a circular movement toward the starting end of the adjacent planted stem culm row B, the forward/reverse switching device 19 is operated by an electric motor 21 that can rotate the speed change operation lever 18 in forward and reverse directions. configured for switching operation;
Upon detection of the stalk culm row end, the electric motor 21 is driven to rotate in a predetermined direction to switch the lever 18 from the forward position F to the reverse position R1 or vice versa, and then the electric motor 21 is moved to the neutral position based on the detection of the completion of switching. An automatic transmission device for an automatic reaper, characterized in that the automatic transmission device is configured to automatically release the forced operation state of the transmission control lever 18 by the electric motor 21 when the forward/reverse switching is completed.