JPS5951970B2 - 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 automatically returns backward along a row of stumps or uncut adjacent planted stem culms. This relates to an automatic reaper that automatically controls traveling so that the traveling device is temporarily given circularity at the beginning of forward movement to direct it toward the starting end of an adjacent planted stem culm. The system is designed to automatically change the traveling speed according to each traveling mode to perform good unmanned reaping and harvesting work.

First, embodiments of the present invention will be described in detail based on the 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 lateral conveyance device 4, a binding device 5, etc. is arranged, and behind the reaping section there is a mission case 8 equipped with a pair of left and right running wheels (travel gear N) 7a, 7b, an engine 9, and a control unit. Bundle 10 etc. are deployed.

In front of the pulling device 1, a stem culm abutment guide 11 is pivotally extended to prevent the planted stem culm to be reaped from escaping to the right outside. A guide 12 is fixed to the inner side of the frame 2 for slidingly supporting the base of a planted stem culm introduced between the lifting device 1 and the lifting frame 2.

Furthermore, a backward movement guide 14 is attached to the engine frame 13 at the rear of the aircraft, which slides into contact with the stump from the left and right when moving backward, and a sensor 15 which swings back and forth when it comes into contact with an uncut planted stem culm is installed in the left lateral direction. It is prominently supported.

The sensor 15 is connected to the third
As shown in the figure, a forward leaning posture f, a backward leaning posture r, and
It is configured so that the posture can be freely switched between three modes including neutral posture n.
It is determined that the aircraft is traveling backwards because it is in a forward-leaning posture f when it comes into contact with a planted stem culm when moving backward, and conversely, when it comes into contact with a planted stem culm when moving forward for reaping, it leans backward. It is determined that the machine is in the forward traveling state for reaping because it is in the posture r, and it is determined that it is in the initial forward traveling state because it is in the neutral posture n when it is in the forward traveling state where it does not come into contact with the planting stem culm. It is configured as a driving state discriminator for

The sensor 15 as the driving state discriminator is
The sensor 15 is connected to a speed change operation mechanism composed of a cam 17, a cam follower 18, a release wire 19, an intermediate rotating member 20, an engine governor 16, etc. The cam surface of the cam 17 is adjusted such that the engine speed is maximized when the engine is in the backward tilt position r and then the engine governor 16 is operated to reduce the engine speed in the order of the neutral position n. It is formed.

In the figure, 21 is a release wire extending from a manual speed control lever (not shown) provided on the control bundle 10, and 22 is a stopper for manually regulating the maximum speed.

Further, the running wheels 7a, 7b are driven so as to be able to be switched forward or backward by gear shifting by operating a gear shift operating lever 23, and at a constant engine rotational speed,
The power is transmitted so that the reverse speed is lower than the forward speed of mowing.

Furthermore, a fixed rotation angle is provided between the left wheel 7a and the axle 7.

The transmission case 8 is also equipped with a forward/reverse switching device 25 which includes an electric motor 24 capable of forward and reverse rotation for switching the operating lever 23 between the forward mowing position and the reverse position. The motor 24 is configured to be driven in forward and reverse directions based on changes in the contact state between the planted stem culm and a sensor 26 which is pivotably mounted on the pulling frame 2 so as to be swingable back and forth.

The sensor 26 is energized to a neutral posture n projecting laterally outward, 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 of the electric motor 24.

Moreover, between the lifting device 1 and the pulling 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 when the contact is released, swings back forward. A sensor 27 is disposed, and power is transmitted to the reaping section 6 based on the operation of the sensor 27 to detect the presence of a stem culm.
The power transmission to the cutting section 6 is cut off based on the stem culm absence detection operation.

Next, the automatic reaping operation will be sequentially explained.

(B) Forward travel for reaping (see Figure 4) 'When the gear shift control lever 23 is moved to the forward position and the machine is directed toward the outermost planted stem row A, the lower surface of the reaping section comes into sliding contact with the field. In this state, due to the contact action of the left and right guides 11 and 12, the machine moves forward while guiding the stem culm row A to the introduction path between the lifting frame 2 and the lifting device 1.

Then, by the operation of the stem culm presence detection sensor 27, the reaping section is driven, and automatic reaping travel is performed.

Also, at this time, the sensor 26 assumes a backward tilted posture r due to contact with the adjacent planted stem culm row B.

Furthermore, the sensor 15 serving as the running state discriminator also assumes a backward leaning posture r due to contact with the planted stem culm row B, and the machine speed is set to be slower than when traveling backwards and faster than when traveling at the beginning of forward travel.

(b) Reverse return travel (see Figure 4) When the cutting of the stem culm row A is completed and the gas protrudes forward by an appropriate distance from the end of the adjacent planted stem culm row B, the sensor 26 detects the stem culm. It comes off the final end stock b' of row B and swings back to the neutral position n, and when this operation is detected, the electric motor 2
4 is driven in the reverse direction, and the shift operation lever 23 is switched from the forward position to the reverse position.

When switched to the reverse state as described above, the reverse guide 1
4, the aircraft automatically returns to reverse along stump row C.

During this backward movement, the sensor 15 detects the stem culm row B.
Since the forward leaning posture f occurs due to the contact with the operator, the engine rotational speed is increased to the maximum, and the reverse speed becomes higher than the normal backward speed and forward mowing speed followed by the operator, so that the worker can return quickly.

Further, during this backward movement, the sensor 27 detects the absence of a stem culm, so that the drive of the reaping part 6 is cut off, and the sensor 26 also assumes a forward tilted posture f due to contact with the stem culm row B.

(c) Forward switching operation (see Figure 4) When the aircraft crosses the end (starting end) of the stem culm row B by moving backward, the sensor 26 comes off the rearmost stem and takes a neutral position.
When this operation is detected, the electric motor 24 is driven in the forward direction, and accordingly, the speed change operating lever 23 is switched from the reverse position to the forward position.

2) Forward steering operation (see No. 4N) When switching from reverse to forward, the aircraft leans slightly backwards as shown by the imaginary line in Figure 1 due to the reaction from the reversal of the direction of travel, and the left wheel 7a aligns with the axle. 7, 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 catches the stem culm row B from the outside, pulls up the stem culm row B, and introduces it between the device 1 and the lifting frame 2.

In this case, the sensor 15 at the rear of the fuselage has come out of contact with the stem culm and has returned to the neutral attitude n, so the engine rotational speed is the lowest, and therefore even when turning by only the right wheel 7b. The wheels 7b do not slip and can be reliably rotated through a predetermined angle.

When the rotation is completed and straight forward movement is performed, the sensor 15 comes into contact with the next adjacent planted stem culm row and assumes a backward tilted posture r, so the engine rotational speed is increased and the plant becomes suitable for reaping. Return to forward speed.

Note that this automatic reaping forward speed is set to be the same as the speed when the operator performs follow-up operation.

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

Also, in order to simply perform automatic reversing quickly, it is possible to keep the engine speed constant and transmit the reverse speed equal to or higher than the forward speed, but in this way the operator will be able to follow This is inconvenient because it poses a danger when going backwards when maneuvering.

As described in detail in the embodiments above, the feature of the present invention is to perform automatic follow-up reaping forward travel along a row of planted stems and culms, and then move along a row of stumps or an adjacent row of uncut adjacent planted stems and culms. In an automatic reaping machine that automatically returns to reverse when the machine moves forward, and at the beginning of the next forward movement, the traveling device is temporarily given circularity to direct it to the starting end of the adjacent planted stem culm row. state, forward reaping state, and backward running state.
A driving state discriminator is provided to determine the running state, and based on the determination result of the running state discriminator, the rotational speed of the installed engine is set in the order of initial forward driving, forward mowing, and reverse in the order of shoulder side, and The present invention is characterized in that a reversibly increasing speed change operation mechanism is provided, and this configuration provides the following effects.

In other words, when traveling automatically for reaping, the speed is appropriate to allow the vehicle to travel while reaping planted stem culms smoothly and reliably, and when automatically reversing and returning, it is traveling at a high speed that enables a quicker return than when following pedestrians. When traveling, the machine runs at a sufficiently low speed to ensure reliable rotation with little slippage, making it possible to perform continuous unmanned harvesting smoothly, reliably, and efficiently by switching forward and backward at speeds appropriate for each travel mode.

[Brief explanation of the drawing]

The drawings show an embodiment of the automatic reaping machine according to the present invention, in which Fig. 1 is an overall side view, Fig. 2 is an overall plan view, Fig. 3 is a plan view of an automatic speed regulator, and Fig. 4 is an automatic reaping machine. It is an explanatory view showing the order of reaping work. 7a, 7b... Traveling device, 9... Engine, 15... Running state discriminator, A...
・Planted stem culm row, B... uncut adjacent planted stem culm row,
C... Stump row.

Claims (1)

[Claims] 1 After performing automatic follow-up reaping forward travel along planted stem culm row A, automatic backward return along stump row C or uncut adjacent planted stem culm row B, and at the beginning of the next forward movement, the traveling device 7a
, 7b, in which the automatic reaping machine automatically controls the traveling so as to temporarily give circularity to the mower and direct it toward the starting end of the adjacent planted stem culm row B, the traveling state of the machine body at the initial stage of forward movement, and the forward reaping state,
A running state discriminator 15 is provided to determine whether the running state is backward, and based on the determination result of the running state discriminator 15, the rotational speed of the installed engine 9 is determined during early forward running, when moving forward for reaping, or when moving backward. 1. An automatic reaping machine characterized by being provided with a speed change operation mechanism that increases in the order of time and reversibly.