JPS6016255Y2 - combine - Google Patents
combineInfo
- Publication number
- JPS6016255Y2 JPS6016255Y2 JP1978003282U JP328278U JPS6016255Y2 JP S6016255 Y2 JPS6016255 Y2 JP S6016255Y2 JP 1978003282 U JP1978003282 U JP 1978003282U JP 328278 U JP328278 U JP 328278U JP S6016255 Y2 JPS6016255 Y2 JP S6016255Y2
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- switch
- dividers
- culm
- divider
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Landscapes
- Guiding Agricultural Machines (AREA)
Description
【考案の詳細な説明】
本考案は、刈取り対象殻稈と機体との横偏差をセンサー
で検知して、操向を自動制御するコンバインに関するも
ので、植立殻稈を刈取経路内に分草案内するデバイダの
構造やセンサーの配置を工夫することによって、その操
向制御を有利に行えるコンバインを提供しようとするも
のである。[Detailed description of the invention] This invention relates to a combine harvester that automatically controls steering by detecting the lateral deviation between the culm to be harvested and the machine body using a sensor, and divides the planted culm into the cutting path. The present invention aims to provide a combine harvester whose steering can be controlled advantageously by devising the structure of the guiding divider and the arrangement of the sensors.
以下本考案の実施例を例示図について詳述する。Embodiments of the present invention will be described in detail below with reference to illustrative drawings.
第1図は、左右一対のクローラ走行装置1a。FIG. 1 shows a pair of left and right crawler traveling devices 1a.
1b及び脱穀装置2等からなる本機の前部に、刈取部が
連結装備されたコンバインを示し、進行に伴い前記刈取
部において次に述べる如く植立殻稈を刈取処理すべく構
成されている。A combine harvester is shown in which a reaping section is connected to the front part of the machine, which consists of a threshing device 1b and a threshing device 2, etc., and as the combine harvester advances, the reaping section is configured to reap planted culms as described below. .
すなわち、植立殻稈を分草案内する5つのデバイダ3・
・・・・・が、機体前後方向を向いて架設される支持フ
レーム4・・・・・・の先端に支承された状態で並置さ
れるとともに、前記各支持フレーム4・・・・・・の間
に相当する箇所に4つの刈取経路a、 b、 C。In other words, there are five dividers 3 and 3 in which the planted culm is separated into the dividing wall.
. . . are juxtaposed in a state of being supported by the tips of the support frames 4 . There are four cutting paths a, b, and c in the corresponding places in between.
dが形成されている。d is formed.
(第2図参照)そし、て、前記デバイダ3・・・・・・
にて案内されながら各経路a・・・・・・に導入されて
くる殻稈を引起し装置5・・・・・・にて立姿勢に引起
し、引起された殻稈の株元端を刈取装置6にて切断する
とともに、刈取殻稈を合流して縦搬送機構7にて後部脱
穀装置2のフィードチェーン8へ搬送すべく構成されて
いる。(Refer to Figure 2) And then, the divider 3...
The culms that are introduced into each route a are guided by the lifting device 5, and are pulled up into a standing position, and the base ends of the culms that have been pulled up are The reaping device 6 cuts the husks, and the harvested husk culms are combined and conveyed to the feed chain 8 of the rear threshing device 2 by the vertical conveyance mechanism 7.
次に、植立殻稈に追従して機体を自動操向制御する機構
について説明する。Next, a mechanism for automatically steering and controlling the aircraft by following the planted culm will be explained.
すなわち、前記径路a・・・・・・の内の最も未刈り側
に位置する(第2図中左端のもの)導入径路aの両横側
に、導入殻稈との接当によって後方に揺動する条刈り用
の左右一対の第1、第2センサー9.10が弾性復帰可
能に設けられるとともに、最も既刈り側に位置する(第
2図中右端のもの)導入径路dの一側であって引起し装
置5の背部箇所に、導入殻稈との接当によって後方に揺
動する横刈り用の第3センサー11が弾性復帰可能に設
けられている。That is, on both sides of the introduction path a, which is located on the most uncut side of the paths a (the leftmost one in FIG. A pair of left and right first and second sensors 9 and 10 for moving row mowing are provided so as to be elastically returnable, and are located on one side of the introduction path d located on the farthest mowing side (the rightmost one in Fig. 2). A third sensor 11 for horizontal mowing, which swings rearward upon contact with the introduced culm, is provided at the back of the pulling device 5 so as to be elastically returnable.
又、第1センサー9の基部にはこのセンサー9が後方に
揺動されると接当操作される第1スイッチS、が設けら
れるとともに、第2センサー10の基部にはこのセンサ
ー10が自由復帰状態にあるときに接当操作される第2
スイッチB2と、センサー10が大きく後方に揺動され
ると接当操作される第3スイツチS3とが設けられ、又
、第3センサー11の基部にも前記第2、第3スイッチ
S2.B3と同様に操作される第4、第5スイッチS4
.B5が夫々配設されている。Further, a first switch S is provided at the base of the first sensor 9, and the first switch S is operated when the sensor 9 is swung backwards, and a first switch S is provided at the base of the second sensor 10, which allows the sensor 10 to freely return. The second button which is operated in contact when in the state
A switch B2 and a third switch S3 that comes into contact with each other when the sensor 10 is swung greatly backward are provided, and the base of the third sensor 11 is also provided with the second and third switches S2. Fourth and fifth switches S4 operated in the same manner as B3
.. B5 are arranged respectively.
そして、前記各スイッチS1・・・・・・が、例示はし
ないが、前記一対のクローラ走行装置1a、lbの操向
クラッチを断続操作する駆動機構の制御部と接続されて
おり、前記スイッチS工・・・・・・からの電気信号に
基づいて次の如く自動的に操向制御されるべく構成され
ている。Although not illustrated, each of the switches S1... is connected to a control section of a drive mechanism that operates the steering clutches of the pair of crawler traveling devices 1a, lb on and off, and the switches S1... The steering is automatically controlled as follows based on electric signals from the engine.
つまり、機体が第4図Aに示すように植立殻稈列に沿っ
て走行する場合には、前記第1、第2センサー9,10
の検出結果に基づいて操向制御することになり、両セン
サー9,10が第3図A□・・・・・・A、のいずれか
の状態となる。That is, when the aircraft travels along the planted culm row as shown in FIG. 4A, the first and second sensors 9, 10
Steering control is performed based on the detection result of , and both sensors 9 and 10 are in one of the states shown in FIG.
A1・・・・・・殻稈が径路aの略中央にあって左右両
センサー9,10に触れないと、スイッチS1.B3が
OFF、スイッチS2がONとなり、この検出状態では
直進走行状態となる。A1...If the culm is located approximately at the center of path a and does not touch both the left and right sensors 9, 10, switch S1. B3 is OFF and switch S2 is ON, and in this detection state, the vehicle is in a straight running state.
A2・・・・・・殻稈が径路aに対してやや右に寄って
第2センサー10が少し揺動すると、スイッチS1.B
2.B3の全てがOFFとなり、この検出状態では、A
1の場合と同様に直進走行状態となる。A2...When the culm moves slightly to the right with respect to the path a and the second sensor 10 swings slightly, the switch S1. B
2. All B3 are turned OFF, and in this detection state, A
As in case 1, the vehicle is in a straight running state.
ん・・・・・・殻稈が径路aに対して大きく右に偏位し
て第2センサー10を大きく揺動させると、スイッチS
1.B2がOFF、スイッチS3がONとなり、この検
出状態では機体が右方に回行される。Hmm...When the culm deviates significantly to the right with respect to the path a and causes the second sensor 10 to swing greatly, the switch S
1. B2 is turned OFF and switch S3 is turned ON, and in this detection state, the aircraft rotates to the right.
A、・・・・・・殻稈が径路aに対して左に偏位して第
1センサー9を揺動させると、スイッチS1.B2がO
N、スイッチS3がOFFとなり、この検出状態で機体
が左方に同行される。A,... When the culm deviates to the left with respect to path a and swings the first sensor 9, switch S1. B2 is O
N, switch S3 is turned OFF, and the aircraft is moved to the left in this detection state.
又、機体が、第4図Bに示すように、植立殻稈列に対し
て略直交する方向に走行する場合には、径路aには複数
列の穀稈列が導入され、第3センサー11の検出結果に
基づいて自動操向制御されることになり、第3センサー
11が第3図B1゜B2−83のいずれかの状態となる
。Furthermore, as shown in FIG. 4B, when the aircraft travels in a direction substantially perpendicular to the row of planted culms, multiple rows of grain culms are introduced into route a, and the third sensor Automatic steering control is carried out based on the detection result of the third sensor 11, and the third sensor 11 is in one of the states of B1 and B2-83 in FIG.
B、・・・・・・最も既刈り側の殻稈が径路dの中央に
位置していて、第3センサー11が少し揺動されると、
スイッチS1がON、スイッチS2.B4.S、がOF
Fとなり(尚、スイッチS3はON、OFFいずれでも
よい。B,...When the culm on the most cut side is located in the center of path d and the third sensor 11 is slightly swung,
Switch S1 is ON, switch S2 . B4. S, is OF
(The switch S3 may be either ON or OFF.
)、この検出状態では直進走行状態となる。), in this detection state, the vehicle is in a straight running state.
B2・・・・・・最も既刈り側の穀稈が径路dに対して
右に偏位して第3センサー11が大きく揺動すると、ス
イッチS1. B2がON、スイッチS2.B4がOF
Fとなり(尚、スイッチS2はON、OFFいずれでも
よい。B2...When the grain culm on the most cut side deviates to the right with respect to the path d and the third sensor 11 swings greatly, the switch S1. B2 is ON, switch S2. B4 is OF
(The switch S2 may be either ON or OFF.
)、この検出状態では、機体が右方に回行される。), in this detection state, the aircraft rotates to the right.
B3・・・・・・最も既刈り側の殻稈が径路dに対して
左に偏位して第3センサー11から外れると、スイッチ
S□、S4がON、スイッチ32. B5がOFFとな
り(尚、スイッチS3はON、OFFいずれでもよい。B3... When the culm on the most cut side deviates to the left with respect to path d and comes off from the third sensor 11, switches S□ and S4 are turned on, and switch 32. B5 is turned OFF (switch S3 may be either ON or OFF).
)、この検出状態では機体が左方に同行される。), in this detection state, the aircraft will be accompanied to the left.
以上説明した様に、植立殻稈の列に沿って刈取り作業を
行なう条刈り時には第1、第2センサー9.10の検出
結果に基づいて操向制御され、植立殻稈の条列に対して
直交する方向から刈取り作業を行なう横刈り時には第3
センザー11の検出結果に基づいて操向制御されること
になり、且つ、この制御形態の切換えは、導入径路aに
1株の殻稈が入るか、2株の殻稈が入るかによって、自
動的に選択されることになる。As explained above, during row mowing, which involves cutting along the rows of planted culms, the steering is controlled based on the detection results of the first and second sensors 9.10, and the When cutting horizontally in a direction perpendicular to the
Steering control will be performed based on the detection results of the sensor 11, and the switching of this control mode will be automatic depending on whether one or two culms enter the introduction path a. will be selected accordingly.
又、前記各デバイダ3・・曲は、第5図に示す如く、上
下軸心X周りに横揺動自在に枢着されるとともに、支持
フレーム側に固着した第1連結板12aとデバイダ側に
固着した第2連結板12bとに亘ってボルト13を貫通
止着することによって所望の揺動姿勢で固定自在に構成
されており、もって、各デバイダ3・・・・・・の先鋭
状先端位置が横方向に変位自在に構成されている。In addition, each of the dividers 3... is pivotally connected to the vertical axis X so as to be able to swing horizontally, as shown in FIG. By penetrating and fixing the bolt 13 across the fixed second connecting plate 12b, it is configured to be freely fixed in a desired swinging posture, thereby changing the position of the sharp tip of each divider 3. is configured to be freely displaceable in the lateral direction.
そして、前記デバイダ3・・・・・・の内で、最も未刈
り側に位置する導入径路aの両側に位置するデバイダ3
,3には、デバイダ3と第2連結板12aとの付根部近
くに、前記第1、第2センサー9゜10並びに第1、第
2、第3スイッチS□、B2.B3が付設されている。Among the dividers 3, the dividers 3 are located on both sides of the introduction path a that is located on the most uncut side.
, 3, the first and second sensors 9 and 10 and the first, second and third switches S□, B2 . B3 is attached.
以上の如く、デバイダ3・・・・・・の先端を位置調節
自在に構成しておけば、前述の条刈時において、条間が
大小に異なっていても、各径路a・・・・司こ対応する
植立殻稈列を各デバイダ3・・・・・・の先端間の中央
位置に導入させるように調節できることになり、デバイ
ダ3・・・・・・にて殻稈を押倒してしまったり、デバ
イダ3・・・・・・が株に突き刺さってしまうようなト
ラブルが少なく適確な刈取作業を行なえるものである。As described above, if the tip of the divider 3 is configured so that its position can be adjusted freely, even if the row spacing is different in size during the above-mentioned row cutting, each path a... This means that the corresponding planted culm row can be adjusted so as to be introduced at the center position between the tips of each divider 3, and the culm can be pushed down with the divider 3. This allows for accurate reaping work with fewer troubles such as the divider 3 being stowed away or the divider 3 being stuck into the plant.
尚、実施例では、デバイダ3・・・・・・を横揺動させ
たが、横方向に直線スライド移動させる形態でも同様に
実施できるものである。In the embodiment, the dividers 3 are oscillated laterally, but the present invention can be similarly implemented in a form in which the dividers 3 are slid in a straight line in the lateral direction.
又、実施例では、全てのデバイダ3・・・・・・を調節
させるようにしたが、実施例で述べた如く通常の刈取作
業では機体最−側がわの径路aを基準として走行するの
で、この径路aに対応するデバイダ3.3の内で機体外
方側のデバイダ3は特別に変位調節する必要がないから
、中間部のデバイダ3・・・・・・のみを変位調節する
形態で実施してもよい。In addition, in the embodiment, all the dividers 3... are adjusted, but as described in the embodiment, in normal reaping work, the machine travels with the path a on the side closest to the machine as a reference. Among the dividers 3.3 corresponding to this path a, there is no need to specifically adjust the displacement of the divider 3 on the outside of the fuselage, so only the intermediate divider 3... is implemented. You may.
以上要するに本考案によるコンバインは、脱穀装置に刈
取殻稈を供給するフィードチェーンを機体の横外側箇所
に備えたコンバインにおいて、刈取出向の一側で前記フ
ィードチェーンの側の一側に左右一対の条刈り用のセン
サーを設け、これとは反対側の刈取出向の他側に横刈り
用センサを設けるとともに、前記条刈り用のセンサーを
デバイダに付設し、前記条刈り用のセンサーを付設した
デバイダの内で、機体の内方側に位置するデバイダを機
体横巾方向で位置変更可能に構威しであることを特徴と
するので次の効果を奏する。In summary, the combine harvester according to the present invention is equipped with a feed chain on the lateral outer side of the machine body for supplying reaped husks to the threshing device, and a pair of left and right strips are provided on one side of the feed chain on one side of the harvesting direction. A sensor for mowing is provided, a sensor for horizontal mowing is provided on the other side of the reaping direction opposite to this, the sensor for row mowing is attached to a divider, and the sensor for mowing is attached to the divider. The present invention is characterized in that the position of the divider located on the inside of the fuselage can be changed in the width direction of the fuselage, so that the following effects are achieved.
即ち、刈取収穫作業の形態として、条刈り用センサー及
び横刈り用センサーの相方を用いて、殻稈をいわゆる回
り刈りで刈取ってゆくとき、フィードチェーン側を未刈
り地側として機体を進行させて行く。In other words, when reaping and harvesting work involves using a sensor for row cutting and a sensor for horizontal cutting to cut the husk in a circular manner, the machine is moved with the feed chain side facing the uncut land. Go.
このとき、本考案のコンバインは、フィードチェーンと
は反対側、つまり、刈出向で最も既刈地側に横刈り用セ
ンサーを配置しであるので、整然と一列に並んではいな
い殻稈を刈り取ることとなる横刈りのときに、確実にそ
の外側の殻稈をトレースしてゆくことができ、刈残しが
ない。At this time, in the combine harvester of the present invention, the sensor for horizontal mowing is placed on the opposite side of the feed chain, that is, on the side closest to the cut field in the cutting direction, so that it is possible to cut the culms that are not neatly lined up. When cutting horizontally, you can reliably trace the outer culm without leaving anything uncut.
又、これとは反対に、条刈り用のセンサーは最も未刈り
地側に配置しであるので、圃場内での刈取最終段階にお
いても、畦際の条列殻稈を確実にトレースして刈り取っ
てゆける利点がある。In addition, on the contrary, the sensor for row mowing is placed closest to the uncut field, so even in the final stage of mowing in the field, the row culms at the edge of the ridge can be reliably traced and harvested. There are advantages to being able to travel.
しかも、条刈り作業を行なう時に、検出用の穀稈を中心
として、その左右両側に位置する穀稈の条間隔が異なっ
ていても、常に、検出用の殻稈をデバイダ間の中心に適
確に導入させて良好な検出が行なえ、又、左右の条間隔
が極端に狭い場合、2条の殻稈を検出することなく良好
な刈取作業を行なうことが可能となった。Moreover, when performing row mowing work, even if the row spacing of the grain culms located on the left and right sides of the grain culm located on the left and right sides of the grain culm at the center is different, the grain culm for detection can always be properly centered between the dividers. In addition, when the distance between the left and right rows is extremely narrow, it is possible to perform good reaping work without detecting two rows of culms.
図面は本考案に係るコンバインの実施例を示し、第1図
はコンバインの側面図、第2図はセンサー装着部を示す
概略平面図、第3図A1. A2゜A、、 A4. B
□、 B2. B3はセンサー検出状態を示す概略図、
第4図A、 Bは刈取形態を示す概略平面図、第5図は
デバイダ装着構造の斜視図である。The drawings show an embodiment of the combine harvester according to the present invention, and FIG. 1 is a side view of the combine, FIG. 2 is a schematic plan view showing the sensor mounting part, and FIG. 3 is A1. A2゜A,, A4. B
□, B2. B3 is a schematic diagram showing the sensor detection state;
4A and 4B are schematic plan views showing the reaping form, and FIG. 5 is a perspective view of the divider mounting structure.
Claims (1)
機体の横外側箇所に備えたコンバインにおいて、刈取出
向の一側で前記フィードチェーン8側の一側に左右一対
の条刈り用センサー9,10を設け、これとは反対側の
刈取出向の他側に横刈り用センサ11を設けるとともに
、前記条刈り用のセンサー9,10をデバイダ3,3に
付設し、前記条刈り用のセンサー9,10を付設したデ
バイダ3,3の内で、機体の内方側に位置するデバイダ
3を機体横巾方向で位置変更可能に構成しであることを
特徴とするコンバイン。In a combine harvester equipped with a feed chain 8 for supplying reaped husks to the threshing device 2 on the lateral outer side of the machine body, a pair of left and right row cutting sensors 9, 10 are installed on one side of the feed chain 8 on one side of the reaping direction. A sensor 11 for horizontal cutting is provided on the other side of the reaping direction opposite to this, and the sensors 9, 10 for row cutting are attached to the dividers 3, 3, and the sensors 9, 10 for row cutting are attached to the dividers 3, 3. The combine harvester is characterized in that, among the dividers 3, 3 provided with 10, the divider 3 located on the inner side of the machine body is configured to be able to change its position in the width direction of the machine body.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1978003282U JPS6016255Y2 (en) | 1978-01-13 | 1978-01-13 | combine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1978003282U JPS6016255Y2 (en) | 1978-01-13 | 1978-01-13 | combine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS54108222U JPS54108222U (en) | 1979-07-30 |
JPS6016255Y2 true JPS6016255Y2 (en) | 1985-05-21 |
Family
ID=28807126
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1978003282U Expired JPS6016255Y2 (en) | 1978-01-13 | 1978-01-13 | combine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6016255Y2 (en) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7275013B2 (en) * | 2019-11-29 | 2023-05-17 | 株式会社クボタ | automatic driving system |
JP7275012B2 (en) * | 2019-11-29 | 2023-05-17 | 株式会社クボタ | Automatic travel control system and combine |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS544448Y2 (en) * | 1974-04-26 | 1979-02-26 | ||
JPS5187021U (en) * | 1975-01-09 | 1976-07-13 |
-
1978
- 1978-01-13 JP JP1978003282U patent/JPS6016255Y2/en not_active Expired
Also Published As
Publication number | Publication date |
---|---|
JPS54108222U (en) | 1979-07-30 |
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