JPS5934322B2 - Reaper with autopilot mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a reaping machine configured to reap planted stem culms while automatically moving its body along a row of planted stem culms.

This type of reaper is generally equipped with a sensor that detects the presence of a stem culm by contact with the stem culm near the entrance of the stem culm pulling introduction path located at the front of the machine. The system is configured to detect deviations between the planting stem culm row and the aircraft and automatically steer the aircraft to eliminate the deviations.

In addition, in general, reapers often perform so-called circular mowing, in which one side of the machine body faces the uncut field and the ground side faces the previously harvested field. The sensor is arranged to operate between culms or across uncut culms.

However, with a configuration in which the sensor operates only within a group of uncut stem culms, the outermost uncut stem culms, that is, the stem closest to the published area, are pulled up and deviate from the introduction path. In some cases, this uncut stem culm had to be manually harvested afterwards.

In order to avoid such inconveniences, it is possible to detect the position of the stem culm in the width direction of the introduction path by using a number of sensors, each with its own detection area set in the width direction of the introduction path. Based on this, it would be sufficient to control the aircraft's traveling direction so that the stem culm passes through the center of the introduction path, but this would complicate the structure due to the increased number of sensors used and increase costs. In addition, due to the large number of sensors, there is a risk that weeds can easily become entangled, causing false detections.Furthermore, this type of reaper moves along the planting row. Considering that not only so-called vertical mowing work, but also so-called horizontal mowing work, which proceeds in a direction perpendicular to the planting row, must be performed, it becomes clear that during horizontal mowing work, there are Since the number of incoming stem culms is uncertain, it is impossible to control the aircraft to travel in a straight line. In the case of a type in which the culm detection position is detected by dividing it in the width direction, horizontal mowing cannot be performed in an automatic operation mode, and manual operation is required, which is inconvenient. The purpose of the present invention is to provide a reaper with a structure that does not easily leave uncut material during automatic operation by simply devising the arrangement of sensors in the reaper, and in addition, to provide a reaper with a structure that does not easily leave uncut material during automatic operation. To obtain a reaper that can be automatically operated in any case. first,
Embodiments of the present invention will be described based on the drawings. 1st
The figure shows a combine harvester, in which the stem culm is pulled up in the front and back direction, the introduction paths A and B are pulled up so as to be juxtaposed on the left and right, and cases 1, 2, and γ are arranged side by side with an upward and backward slope.
, 2, 21, and a cutting blade 3 is provided below the cutting blade 3.
A horizontal conveying device 4 and a vertical conveying device 5 are provided immediately behind the reaping section 6 to constitute a reaping section 6, and the harvested stem culm is conveyed to a threshing device 7 at the rear, and is threshed while being held and conveyed by a feed chain 8. It is configured.

Reference numeral 9 denotes a running vehicle mounted with the reaping unit and the threshing device 1, etc., and the left and right crawlers 10, 11 are driven and stopped separately by a steering transmission case, so that the vehicle can move straight and turn left and right. As shown in FIG.
Left and right side and middle grass support frame 1 extending forward from
7, 18, and 19 separate the outer sides of both sides of the fuselage from each other.

Then, the first and third sensors 20 and 22 protruding from the right and middle weed support frames 17 and 18 so as to be able to cross the introduction paths A and B are freely swingable in the front and rear direction, and are brought out in a row;
An automatic clutch mechanism (not shown) is configured to reversibly input information to the reaping section when the third sensor 22 contacts the planted stem culm.
is provided. A second sensor 21 is protruded from the right grass support frame 17, which separates the right side introduction path A from which the first sensor 20 is extended, from the right side outside of the machine body, so as to be able to swing freely in the front and rear directions. It's out. As shown in FIG. 3, the first sensor 20 and the operation part 23 of the roller 11 running on the left side of the steering transmission case 12 are connected via a first link 25, and the first sensor 20 is
The roller 11 running on the left side is in a stopped state when the planted stems are in contact with each other and the planted stems are in contact with each other, and the left crawler 11 is set in a driving state when the planted stems are in contact with the planted stems.

Further, the second sensor 21 and the operation section 24 of the roller 10 running on the right side of the steering transmission case 12 are connected via the second link 26, so that the second sensor 21 is in a state where the planted stem culm is not in contact. Then, the right crawler 10 is set in a driving state, and the right crawler 10 is set in a stopped state when the planted stem is in contact with the culm. With this configuration, a first state is established in which the planted stem culm is in contact with the first sensor 20 and moves straight without contacting the second sensor 21, and both sensors 20 and 21 are in the planted state. 2nd sensor 2 in simultaneous contact with standing culm
A second state is set in which the sensor rotates toward the first side, and both sensors 20,
An automatic machine direction control mechanism 27 is configured to automatically steer the machine body so that the machine body is in a third state in which it rotates toward the first sensor 20 side in a state where the planted stems and culms of No. 21 are not in contact with each other simultaneously. There is.
To thresh the planted stem culms while performing circular mowing as shown in Fig. 4, the right side of the machine body should be placed on the cut field side, and the right side introduction path A should be used for the outermost row of stems in the uncut field. It is configured to run automatically while introducing culms.

Incidentally, as shown in FIG. 5, the first and second sensors 2
0 and 21 are constructed so as to extend continuously from the left and right sides of the right weeding tool 13, and as the weeding tool 13 moves forward and back, the sensors 20,
The sensor 21 may also be configured to move toward the front of the aircraft so that the sensors 20 and 21 can always be located near the front of the aircraft.

In this way, it is convenient to adjust the stem culm detection timing in accordance with changes in steering performance due to field conditions and perform steering with good followability. In addition, as shown in FIG. 6, the second sensor 2
1 is formed into a dogleg shape by sloping it forward, and a part is provided in which the second sensor 21 is located in front of the right weeding tool 13 in a state where it is not in contact with the planted stem culm. It is also preferable to configure the automatic steering control to be performed before the weeding action by the tool 13 starts.

With this configuration, the weeding tool 13 or the weeding tool support frame 1
There is an advantage in that the pushing down of the planted stem culm during steering due to 7 can be prevented and good automatic steering can be performed. The second sensor 21 may be configured to be removable from the body of the vehicle, and may be detached when traveling on the road to reduce the amount of protrusions outwardly on the sides of the vehicle. Alternatively, the first and second sensors 20, 21 may be configured to be attached to the left side weed support frame 19 of the machine body, and the machine may be run with the left side of the machine facing the mowed field side.

It is also a good idea to configure the sensor 20, 21 so that it can be replaced with either the left or right frame 17, 19. Note that it is also a good idea to provide the automatic steering control mechanism 27 not only in the above-mentioned combine harvester but also in a binder or the like to automatically rotate the harvester. In addition, it is also possible to provide a manual steering operation section and manually operate the mower to make it move on its own and head toward the position to start reaping. Alternatively, it is also possible to do not provide such a manual operation section and tow the harvester to the position where the harvesting begins. In addition, the second sensor 21 and the third sensor 22 are activated and linked to the power transmission clutch of the reaping section 6, so that power is transmitted when the presence of a stem culm is detected by these sensors 21 and 22, and power is transmitted when the presence of a stem culm is detected by these sensors 21 and 22. It is also possible to implement it by cutting it off.

As explained above in the embodiments, the present invention provides the fuselage side frame 17,
A reaper having stem culm pulling introduction paths A and B separated from the outer side of one side of the machine body at 19, wherein the introduction paths A,
A first sensor 20 that protrudes across B and a second sensor 21 that protrudes outward from one side of the body from the side frames 17 and 19 are provided, and the planted stem culm is in contact with the first sensor 20 and the second sensor 2
A first state in which the driver steers straight ahead with the sensors 20 and 21 not in contact with each other, and a second state in which the robot steers toward the second sensor 21 with both sensors 20 and 21 in simultaneous contact with the planted stems and culms; 20
, 21 is provided with an automatic machine direction control mechanism υ configured to bring the machine into a third state in which it rotates toward the first sensor 20 side in a state in which the planted stems are not in contact with each other simultaneously. do.

That is, since the aircraft direction automatic control mechanism 7 is provided, which is configured to switch between the three states as described above using the first and second sensors 20 and 21, the aircraft will switch from the second sensor 21 side to the first state. The introduction path A with the first sensor 20 protruding from the mowed field side will be run along the outermost row of uncut stem culms, and the introduction path A will be carried out by pulling up the stem culms in the outermost row of uncut stem culms. Reliable automatic method 11A that leaves no uncut material without removing it from the machine! ．． It became possible to drive.

Also, at the end of the outermost row of uncut stem culms, the third state is reached, so the stems automatically turn to the uncut stem culm side and head toward the new outermost row of uncut stem culms, and at this time, the turning If there is an excess, the aircraft enters the second state and is correctly controlled to the first state. Therefore, the aircraft's entire steering including the turning section is automatically controlled to ensure reliable automatic rotation. He became able to reap.

Furthermore, since only one first sensor 20 is provided so as to cross the stem culm introduction path, for example, a plurality of sensors with different lengths may be provided in one stem culm introduction path, and the path can be changed. Compared to systems configured to detect stem culms separately in multiple areas in the width direction, this system is advantageous in that automatic operation can be performed with almost no difference in both vertical and horizontal cutting. .

[Brief explanation of the drawing]

The drawings show an embodiment of the reaping machine with an automatic steering mechanism according to the present invention, in which Fig. 1 is a simplified plan view showing the entire combine harvester, Fig. 2 is an enlarged plan view showing the reaping section, and Fig. 3 shows the machine orientation. A simple explanatory diagram showing the interconnection structure of the automatic control mechanism, Fig. 4 is a plan view showing the state of use, Fig. 5 is a side view showing a part of another embodiment, and Fig. 6 is a plan view showing another embodiment. It is a diagram. 17, 19... Airframe side frame, 20...
First sensor, 21...Second sensor, 2-7
...Aircraft direction automatic control mechanism, A, B...
- Stem culm pulling introduction route.

Claims (1)

[Claims] 1. A reaper having stem culm pulling introduction paths A and B that are separated from the outer side of one side of the machine body by side frames 17 and 19, and the reaper is made to protrude across the introduction paths A and B. One first sensor 20 and a second sensor 21 protruding from the side frames 17 and 19 toward one side of the body are provided, and the planted stem culm is in contact with the first sensor 20. , and the first steering wheel steers straight ahead without contacting the second sensor 21.
A second state in which both sensors 20 and 21 are in simultaneous contact with the planted stems and culms and the second state is a state in which the sensors 20 and 21 are in simultaneous contact with the planted stems and culms, and a second state in which both sensors 20 and 21 are not in simultaneous contact with the planted stems and culms. A reaper with an autopilot mechanism, characterized in that it is provided with an automatic machine direction control mechanism 27 that is configured to enter a third state in which it rotates toward the first sensor 20 side.