JPS604690B2 - automatic reaping machine - Google Patents

Description

[Detailed Description of the Invention] The present invention is characterized in that a stem support sensor protruding from the outside of the fuselage structure is pivoted so that it can swing back and forth and is biased to protrude in the lateral direction. The configuration is configured to switch from forward to reverse based on the detection of the return of the vehicle, and to switch to forward and control the rotation toward the side where the sensor is present based on the detection of the return from the forward tilted swinging posture to the neutral posture. This relates to an automatic reaping machine that is capable of unmanned harvesting, and uses a swing sensor to determine whether to switch forward or backward to reliably detect when the machine strays toward the already harvested side, The aim was to prevent collisions with the

Embodiments of the present invention will be described in detail below with reference to illustrative 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 machine of the present invention, and the front part of the machine includes a pulling device 1, a pulling frame 2, a reaping device 3, A reaping section 6 consisting of a horizontal conveyance device 4, a binding device 5, etc. is provided, and behind this reaping section 6 there is a transmission case 8 equipped with a pair of left and right running wheels 7a, 7b, and an engine 9.
and a control handle 10 etc. are provided.

In front of the pulling device 1, a stem support guide 11 for preventing the shield standing stems to be reaped from escaping to the right outside is extended, and on the inside of the lifting frame 2, a lifting device is provided. 1
A guide 12 is fixed to slide and support the base of the planted stem introduced into the planted stem introduction path D between the raising frame 2 and the raising frame 2.

Further, a rectangular reverse guide 14 is pivotally attached to the engine frame 13 at the rear of the fuselage so that it can swing up and down and is biased downward. From the transmission case 8 is the gear shift lever 1.
5 is extended, and at the base of this lever 15,
A forward/reverse switching device 16 is provided for switching the steering bar 15 between a forward position and a reverse position using an internal solenoid.

This switching device 16 includes a first sensor 17 mounted on the outside of the lifting frame 2 so as to be swingable back and forth, a second sensor 18 mounted on the engine frame 13 so as to be swingable back and forth,
The third sensor 19 is pivotally mounted in the pedicle introduction path D so as to be able to swing back and forth, and is driven and controlled as described below based on the swinging changes of the third sensor 19. The first and second sensors 17 and 18 are urged into the neutral posture NI, which protrudes outward from the plant, respectively, and are swung into the forward leaning posture F and the occipital posture R by contact with the shield stem from the rear and front. is configured to operate.

Further, the third sensor 19 is biased in a position that crosses the introduction path D, and is configured to swing backward when it comes into contact with the introduction stalk, and only when the sensor 19 swings backward does the reaping occur. It is configured such that power is transmitted to the section 6. Further, as shown in FIG. 4, the left axle 20 and the left wheel 7a are connected through a pin 21 and an elongated hole 22 with relative rotational flexibility of a certain angle 8.

FIG. 6 shows a control circuit of the solenoid drive circuit 23 that operates the forward/reverse switching device 16, and in the figure, Rel, Re
2, Re3, Re4 are relays, r1, rl', r2, r
2', r2'', pu, me are relay contacts, R1, R2, R3
is a resistor, CI, C2 are capacitors, a, b, c, d, e
are sliding contacts provided at the base of the first sensor 17, respectively, and as shown in FIG. 3, fixed printed conductive contacts f, g,
h' is provided correspondingly. Further, SI is a switch linked to the third sensor 19, and is configured to open as the sensor 18 swings backward. or,
Sq and S3 are switches operated by the second sensor 18, respectively, switch S2 is closed only when the sensor 18 is in the neutral position N', and switch S3 is closed only when the sensor 18 is in the backward tilted position R. It is configured to be closed only at certain times. Also, this control circuit has a built-in safety mechanism for stopping the machine when it strays into a field that has already been mowed.

That is, the relay Re5 is interposed in the circuit in which the sliding contacts a and b are electrically connected, and the relay contact r
5 is connected to a delay circuit 24 for driving a solenoid 33 for disengaging the main clutch.

The main clutch 25 is configured as a tension clutch biased toward the cut side, as shown in FIGS. 1 and 7.
The main clutch lever 26, which is provided to enable unstable switching, is locked in the recess 28 of the operating guide 27 in the clutch disengaged position x side of the unstable switching dead center DP and in the clutch engagement range Z, and the solenoid 33 The bell crank 29 is swung by the main clutch lever 2.
6 is forcibly pressed to release the lock and automatically return to the cut side. When reaping work is performed by manual operation, the main clutch lever 26 is operated to the normal engagement position Y to maintain stability. Next, the automatic reaping operation will be sequentially explained.

[A] Forward travel for reaping (see Figure 5 A) When the gear change control lever 15 is set to the forward position and the machine is directed toward the outermost shield ridge line A, the lower surface of the reaping section 6 comes into sliding contact with the field. In this state, due to the contact guidance action of the guides 11 and 12, the aircraft moves forward following the stalk row A while guiding it to the shield stalk introduction path D.

Then, the reaping section 6 is driven by the operation of the third sensor 19, and automatic reaping travel is performed. Also, at this time, the first
The second sensors 17 and 18 assume the rearward posture R by being supported by the adjacent shield stem row B. Therefore, in this case,
Contacts c and e in the control circuit are connected via conductive contact g, contact b is connected to contact f, and relay Re2
is energized and the relay circuit is self-maintained by closing the relay contact r2.

'Low Reverse return run (see Figure 5) When the cutting of the catalpa row A is completed and the aircraft protrudes an appropriate distance forward from the end of the adjoining shield row B, the first sensor 17 detects the stalk row A. It separates from the final fraction B2 of row B and swings back to the neutral position N, so that contacts b and f are disconnected and contacts a and b are connected.

Also, at this time, there is no pedicle in the introduction path D, and the third sensor 1
Since the switch 9 is swinging back, the switch SI is closed and the relay Re3 is energized. Furthermore, from the moment the contacts b and f are disconnected, the relay Re2 self-maintains the circuit while the charging current flows through the capacitor CI (approximately 0.3 to 0.4 seconds), and upon completion of charging, the relay Re2 is disconnected. . Therefore, during this charging time, the relay contacts rq and b' provided in the reverse switching circuit i of the solenoid drive circuit 23 are closed, and the speed change lever 15 is switched to the reverse position by the forward/reverse switching device 16. When the machine is switched to the reverse state as described above, the machine automatically returns to reverse along the previous forward travel trace by the sliding guide action of the reverse guide 14 and the end-cutting planting row B and the stump row C. .

When the aircraft moves backward, the first and second sensors 17,
18 assumes a forward leaning posture F due to contact with the adjacent shield pedestal row B, and as a result, contacts e and d are connected via conductive contact g, contacts b and f are connected, and relay Re1
is energized and the relay circuit is self-maintained by closing the relay contact rl.

Forward switching operation (see Figure 5 C) When the aircraft crosses the end (starting end) of the stalk row B by moving backward, the first sensor 17 comes off from the starting end stock BI and swings back to the neutral position N'. However, the contacts b and f are disconnected, and the contacts a and b are connected.

Therefore, as in the case of {o}, since the relay Rel remains energized only during the charging time of the capacitor CI, the relay contact rl of the forward switching circuit i of the solenoid drive circuit 23
′ and are closed. In this case, the second sensor 18 has naturally come off the stem and is in the neutral position N, so the switch S2 is closed, so the solenoid drive circuit 23 is energized and the shift lever 15 is moved to the forward position. Can be switched. 9 Forward steering operation (see Fig. 5 2) When switching from reverse to forward, the left wheel 7a is aligned with the axle 2.
0, the machine is stopped for a certain period of time, and only the right wheel 7b is driven forward, and the body is rotated to the left and moved forward.

Then, the guide 11 grasps the stalk row B from the outside and introduces the stalk row B into the introduction path D, and the above-mentioned state 'a) is again achieved. In this case, if the amount of circulation is insufficient and the stem row B cannot be introduced into the introduction path D, the first sensor 17 will come into contact with the adjacent tub standing stem row B and assume the backward posture R, and the contact points b and f , o and e are connected, and the relay Re2 is energized. However, since the third sensor 19 is in the return position and the switch SI remains open, the second sensor 18 is assisting as much as possible. When the backward leaning position R is reached and the switch S3 is closed, a charging circuit for the capacitor C2 is established, and after a charging time (about 1 to 2 seconds) has elapsed for the capacitor C2, the relay R is turned on.
When e4 is energized, the contact closes.

As a result, relay Re3 is energized and the contact closes.
The reverse switching circuit i of the solenoid drive circuit 23 becomes energized, and the speed change lever 15 is switched to the reverse position.

When traveling backwards, the first sensor 17 returns to the forward leaning position F.
This is the same as the backward return running state described above, and when the first sensor 17 leaves the starting plant BI of the shield-stem row B, the forward switching operation C described above is performed again.

Then, the steering is performed by repeating forward and backward movement until the shield is introduced into the introduction path 0 and the third sensor 19 swings backward. Steps '-8' described above are one cycle of operation, and the same operation is repeated thereafter to sequentially reap and harvest the shield-stemmed catalpa row by row.

In addition, the following safety measures are taken in the above-mentioned Yokunari to prevent stock shortages and strays.

Countermeasures against stock shortages during forward reaping travel Even if the first sensor 17 returns from the rearward position R to the forward leaning position F due to a stock shortage during the above-mentioned forward reaping travel,
While the third sensor 19 detects the stem, the switch SI remains open, so the relay Re3 does not operate, the solenoid drive circuit 23 is not energized, and the vehicle continues moving forward.

Therefore, the reverse switching control is performed only when the first sensor 17 and the third sensor 19 are both removed from the stalk, that is, when one stroke of mowing is completed. [o} Countermeasures against stock shortage during return to reverse As described above, even if the first sensor 17 returns from forward position F to neutral position N due to a stock shortage during return to reverse, the second sensor 18
While the vehicle is in the forward position due to the bushing with the stalk, the switch S2 of the forward switching circuit i is kept open, so that the backward motion is continued.

Therefore, the forward switching control is performed only when both the first and second sensors 17 and 18 come off the stem, that is, when the backward return is completed. 1. If the sensor 17 to prevent straying into the mowed field returns to the neutral attitude N and the aircraft deviates to the mowed field and travels, the port movement contacts a and b are connected. At the same time, switch SI is opened due to the return of sensor 19, so relay Re5
is activated, the capacitor 30 of the delay circuit 24 is charged, and the base voltage of the transistor 31 is increased, so when a certain period of time (charging time) has passed while the sensor 17 has returned to the neutral attitude N, the solenoid 33 is activated. The main clutch lever 26 is automatically operated to the disengaged position x to stop the machine, and the buzzer 32 connected in parallel with the solenoid 33 is activated to notify the worker who is away from the machine that the machine has strayed. be.

Furthermore, when the main clutch lever 26 reaches the disengaged position It is easier to restart the next work by turning off only 25 and stopping the aircraft.

Alternatively, the shift lever 26 may be forcibly operated to neutral or the left and right steering clutches may be forcibly disengaged at the same time based on the detection of straying. Also, the main clutch 25 disengagement operation and the gear shift lever 2
When the aircraft is stopped by the neutral operation in step 6, if the brakes on the running wheels 7a and 7b are activated at the same time, overrun due to inertia can be prevented, making it even safer. As described in detail in the embodiments above, according to the present invention, if the machine comes off the stalks during automatic reaping work and wanders, the sensor for detecting the end of the stalk row detects this and stops the machine, etc. as a safety measure. This is done automatically, making it possible to prevent collisions with ridges, etc.

[Brief explanation of drawings]

The drawings illustrate embodiments of the automatic reaping machine according to the present invention,
Fig. 1 is an overall side view, Fig. 2 is an overall plan view, Fig. 3 is a plan view of the base of the first sensor, Fig. 4 is a partial longitudinal side view showing the mounting part of the left wheel, and Fig. 5 2 is a schematic plan view showing the sequential operation of automatic reaping work, FIG. 6 is a control circuit diagram, FIG. 7 is a side view of the main clutch operating section, and FIG. 8 is a schematic plan view of the main clutch operating section. 7a, 7b, . ．． ...Traveling wheel, 17...Sensor, 25...Main clutch, N...Neutral posture, F...Side posture, R...・Lateral posture. Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8

Claims (1)

[Scope of Claims] 1. A stem culm contact sensor 17 protruding from the lateral outside of the fuselage body is pivoted so as to be able to swing back and forth and project in the lateral direction, and the sensor 17 can be changed from a backward swinging attitude R to a neutral attitude. Switching from forward to reverse is performed based on the detection of the return to N, and switching to forward and control of turning to the sensor presence side is performed based on the detection of return from the forward tilting swing posture F to the neutral posture N. In the automatic reaping machine configured as above, the sensor 17 is configured to operate a mechanism that stops driving the running wheels 7a and 7b when the sensor 17 is held in the neutral position N for a certain period of time or more. Machine. 2. The automatic reaping machine according to claim 1, wherein the traveling drive stop mechanism is a main clutch 25.