JPS6018011Y2 - Reaping harvester with automatic steering control mechanism - Google Patents

Description

[Detailed description of the invention] [Industrial field of application] The present invention is equipped with a sensor bar that swings backward when pressed against the planted stem culm, and the swinging of this bar causes the body to interact with the planted stem culm. This invention relates to a reaping and harvesting machine with an automatic steering control mechanism that controls the steering of the machine by sensing lateral deviation of the machine.

[Conventional technology]

The rows of planted stem culms (rows along the direction of planting with a rice transplanter, etc.) can be said to be almost straight lines, so it is possible to harvest while traveling at high speed.

In response to this, conventionally, the travel control sensors were provided on both sides of the stem culm introduction path to improve followability.

[Problem that the invention attempts to solve]

In general, with a reaping harvester, in addition to row cutting work in which the machine moves along the rows of planted stem culms, there is also row cutting work in which the machine is carried out in a direction perpendicular to this, in which cutting is carried out while going around the field. In so-called circular cutting, the row cutting and horizontal cutting are performed alternately.

The conventional row mowing sensors may not be usable during horizontal mowing.

In other words, as can be seen from FIG. 4B of the drawings of the embodiment described later, the rows in the lateral direction are irregular and meander, so that two stem culms are introduced into one planted stem culm introduction path. There were times when the sensor could not perform its function due to interference.

The present invention provides a sensor bar for row mowing in addition to a sensor bar for row mowing, and by rationally using the detection results of the sensor bar, it is possible to perform good automatic steering control. It is something to do.

Means for Solving Problem C] The technical means taken by the present invention is that the planted stem culm is pressed against the planted stem culm on one side of the introduction path of the planted stem culm on the most cut side and swings backward. A pair of left and right sensor bars are placed on both sides of the other planted stem culm introduction path to control the steering of the aircraft by swinging backwards when pressed against the planted stem culm. The sensor bar is pivotally supported, and when the pair of left and right sensor bars both sense the presence of a stem culm, the sensor bar installed in the path closest to the cut side takes a protruding posture that crosses the path at right angles and a slight backward movement. If the position is between the position where the aircraft has moved, the aircraft will turn towards the uncut side, and if the position is between the attitude where the aircraft has moved backwards, the aircraft will turn towards the area where the ground has been cut, and when the position is between the attitude where the aircraft has swung backwards a little, and the position where the aircraft has swung backwards, the aircraft will turn towards the mowed side. This is because the aircraft is configured to move straight when the position is between the two.

[Effect]

With the above technical means, steering control is performed using one sensor bar when rows are arranged in a row in which two stem culms are included in one path.

Moreover, this row sensor bar controls steering only when the planting position of the stem culm is significantly displaced.

[Effect of idea]

According to the present invention, automatic steering control can be performed for both row mowing work and row work.

Moreover, in particular, the horizontal sensor bar has a sufficiently large straight-ahead detection range set between the posture for detecting the need to turn to the unmowed side and the posture for detecting the need for turning to the mowed side. Since this is set, even if the stem culms, which are present at appropriate intervals in the direction of travel, are slightly deviated due to lateral force, this will not cause them to turn, but will maintain the state of straight travel as much as possible.
Even in horizontal work where the rows of stems are extremely irregular and often meander, it is possible to reduce the discomfort caused to the worker due to the swinging of the machine body for turning.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

The figure shows a combine harvester that is equipped with a reaping section connected to the front part of the machine, which consists of a crawler traveling device 1, a threshing device 2, etc., and is configured to reap planted stem culms as it progresses as described below. ing.

That is, frames 4 supporting dividers 3 at their tips are arranged side by side at appropriate intervals in the lateral direction, and a plurality of planting stems are placed between these frames 4 . Culm introduction route A = A2-AI, A4 are formed.

(See Figure 2) Then, the stem culms introduced into these paths A1 are raised to an upright position by the lifting device 5, and the stem culms introduced into the path A1 are raised to an upright position by the reaping device 6. After the ends are cut, the merged cut stem culms are conveyed to the feed chain 8 of the rear threshing device 2 by a vertical conveyance mechanism 7.

Next, an automatic steering control mechanism for automatically driving the machine to follow the planted culms will be explained.

In other words, on both sides of the path A section (the left end in the figure) which is located on the most uncut side of the route A section, there are first grooves that swing backward due to contact with the introduced stem culm. , a path A in which the second sensor bar is provided so as to be elastically returnable and is located closest to the already-cut side.

A third sensor par 11 is provided on the negative side (the right end in the figure) and on the back of the pulling device 5, and is elastically returnable and swings backward when it comes into contact with the introduced stem culm. There is.

A first switch S1 is provided at the base of the first sensor par 9 and is operated when the swing angle α of the bar 9 is in the range of 10° to 70°. At the base, the swing angle β of this bar 10 is from 0 to
The second switch S2 is operated in contact when it is in the range of lO°.
A third switch S3 is provided which is brought into contact when the swing angle β is in the range of 20' to 70°.

Moreover, this bar 1 is attached to the base of the third sensor par 11.
A fourth switch S, which is operated in contact when the swing angle γ of 1 is in the range of o-iooo, and a fourth switch S whose swing angle γ is in the range of 45° to 70'
A fifth switch S5 is provided which is brought into contact when the switch is in the range of .

The steering mechanism is configured to be automatically controlled by electrical signals from each of the switches S□.

That is, as shown in FIG. 4A, when traveling along the planted stem culm row, automatic control is performed based on the detection results of the first and second sensor pars 9.10.

That is, as shown in FIG. 3A, when the stem culm is located in the middle of the path A1, the switch S1. S3 is OFF, switch S2
is turned on, and in this state the aircraft will travel straight ahead.

Further, as shown in the opening of FIG. 3, when the stem culm moves slightly to the right with respect to the path A1 and the second sensor par 10 swings slightly, the switches S□, S2. All S3 are turned off, and in this state the aircraft travels straight.

As shown in FIG. 3, when the stem culm moves greatly to the right with respect to the path A□ and the second sensor par 10 swings backward greatly, the switch S1. S2 is OFF.

Switch S3 is turned on, and in this state, the aircraft turns to the right.

As shown in Fig. 3-2, when the stem culm moves to the left with respect to the path A1 and the first sensor par 9 is swung backward, switches S and S2 are turned ON and switch S3 is turned OFF. The aircraft turns left.

Note that these operations are performed by switch S1. This is done independently of the signal from S5.

Furthermore, as shown in Fig. 4B, when traveling perpendicular to the planted stem culm row, multiple rows of stem culms will be introduced into the path A□, and in this state, the 3 sensor par 11
automatically controlled based on the detection results.

In other words, as shown in FIG. When the OFF state is brought about, the steering control mode is automatically switched to the one based on the detection result of the third sensor par 11, as shown in FIG.
When the stem culm is in the center of the path and the bar 11 swings slightly,
Switch S4. When S5 is turned OFF and the vehicle is running straight, as shown in FIG.
N, a right turn is performed, and further, as shown in Fig. 3, when the stem culm shifts to the left with respect to the path A and the bar 11 approaches a protruding position, the switch S4 is turned ON and a left turn is made. It is done.

In addition, even when cutting along the stem culm row, the sensor bar 11 of the present invention
may also be used.

[Brief explanation of drawings]

The drawings show an embodiment of the reaping and harvesting machine with an automatic steering control mechanism according to the present invention, in which Fig. 1 is a side view, Fig. 2 is a schematic plan view showing the sensor bar attachment part, and Fig. 3 , two, ho,
FIGS. 4A and 4B are schematic plan views showing a detection state, and FIGS. 4A and 4B are schematic plan views showing a reaping state for a group of planted stems and culms. 11...Sensor bar, hmm...route.

Claims (1)

[Scope of Claim for Utility Model Registration] ■ One sensor par 11 that swings backward when pressed against the planted stem culm is pivoted on one side of the planted stem culm introduction path A on the most cut side. At the same time, another planted stem culm introduction route A1
A pair of left and right sensor pars 9, 10 are pivotally supported on both sides of the interior, which control the steering of the aircraft by swinging backwards when pressed against the planted stem culm. When both detect the presence of a stem culm, the sensor par 11 installed in the path closest to the cut side is between the protruding posture that crosses the path A at right angles and the slightly backward swinging posture. If the aircraft is turned on the uncut side and is in an attitude with a large backward swing, the aircraft will be turned on the cut side, and if the aircraft is in an attitude with a slight backward swing and a large backward swing, the aircraft will be A reaping harvester with an automatic steering control mechanism characterized by being configured to move straight ahead. (2) The reaping harvester with an automatic steering control mechanism according to claim (2), wherein the angle between the slightly backward swung position and the protruding position is set to approximately 10 degrees. (2) The automatic steering control according to claim 2 of the utility model registration claim or claim 2 of the utility model registration claim, wherein the greatly swung backward posture is a posture swung backward by approximately 45 degrees or more from the protruding posture. A reaping harvester with a mechanism.