JPS60742Y2 - Reaping harvester with automatic steering control mechanism - Google Patents

Description

[Detailed Description of the Invention] In recent years, reaping and harvesting machines have been equipped with automatic steering control mechanisms for the purpose of automatically running the machines while following the planted culms.

As the above-mentioned automatic steering control mechanism, among the plurality of planted culm introduction paths arranged horizontally in parallel at the front of the aircraft, one introduced culm is installed on both sides of the introduction path located on the most uncut side. Provided with first and second sensors each detecting a lateral deviation of the shell culm relative to the aircraft body by a certain amount or more due to contact with the culm,
A third system is installed on the introduction path located closest to the already cut side to detect the lateral deviation of the shell culm with respect to the machine body through contact with the introduction shell culm.
a sensor is provided, and when both the first and second sensors are in contact with the culm, the automatic steering control circuit is brought into a steering control state based on the detection result of the third sensor;
A first delay circuit is provided to switch the automatic steering control circuit to a steering control state based on the detection results of the first and second sensors with a time delay after at least one of the sensors comes out of contact with the culm; In order to perform steering control with a time delay after the third sensor comes off the culm, the second
The present inventor had previously proposed a device equipped with a delay circuit.

According to this, when cutting the culms planted in the rows along the planting rows (during row cutting),
It is possible to control the steering so that the culm can be introduced in an orderly and accurate manner into other introducing routes while using the route on the most uncut side as a reference, and
When mowing in a direction approximately perpendicular to the planting row (during horizontal mowing), the steering can be controlled based on the route closest to the mowed side so as not to leave any uncut material. As a result, it is possible to perform extremely good steering control as a whole, and because switching between row mowing control and side mowing control is automated, it is easy to use even for inexperienced people. ing.

Furthermore, as mentioned above, the reason why the first and second delay circuits are provided is as follows.
Due to the presence of shell culms at appropriate intervals in the direction of movement of the aircraft, the first, second, or third sensors are temporarily activated.
Even if the sensor does not come into contact with the culm, stable operation can be achieved by preventing immediate switching from horizontal cutting control to row cutting control or steering control based on the third sensor. This is to enable direction control.

However, in the past, since the delay times set in the first and second delay circuits were always set to the same value, it was sometimes difficult to obtain the desired effect accurately.

In other words, the delay time is set in consideration of the time required for the culm and the sensor to come into contact again after the contact between the culm and the sensor is broken. If the delay time is not changed by changing the speed of progress, the delay time will be too short or too long.

This filial proposal was made keeping in mind the above circumstances,
The above-mentioned automatic steering control mechanism is characterized in that the delay times of both the delay circuits can be adjusted simultaneously by one human operating tool.

In other words, by arbitrarily adjusting the delay time of both delay circuits to a desired value in accordance with changes in cropping conditions and advancing speed, it is possible to always perform good steering control.Moreover, according to the present invention, Considering that it is necessary to change the delay times of both delay circuits by the same amount at the same time, both delay times can be adjusted at once using one human operating tool, so each delay time can be adjusted separately. It can be adjusted more quickly and easily than if it were made to do so.

Embodiments of the present invention will be described in detail below based on illustrative drawings.

FIG. 1 shows a crawler traveling device 1avlb and a threshing device 2.
A combine harvester is shown in which a reaping section is connected to the front of the machine, and as the combine harvester advances, the reaping section is configured to reap the planted culms as described below.

That is, a plurality of planted culm introduction paths at by ct d are formed between the support frames 4 that support the weeding tools 3 at their tips.

(Refer to Figure 2) Then, the culms introduced into each path a are raised to an upright position by the lifting device 5, and the stocks of the culms that have been pulled up are The base end is cut by a reaping device 6, and the harvested husk culms are merged and conveyed to the feed chain 8 of the rear threshing device 2 by a vertical conveyance mechanism 7.

Next, a mechanism for automatically steering and controlling the aircraft by following the planted culm will be explained.

That is, first and second sensors 9 that swing rearward due to contact with the introduction culm are placed on both sides of the introduction path a, which is located on the most uncut side of the paths a. .10 is provided so as to be elastically returnable, and at the back of the pulling device 5, which is on one side of the introduction path d located on the farthest mowing side, there is a guide member which swings rearward upon contact with the introduction shell culm. 3 sensors 11 are provided so as to be elastically returnable.

Further, a first switch S1 is provided at the base of the first sensor 9 and is operated to contact when the sensor 9 is swung backward, and a first switch S1 is provided at the base of the second sensor 10 so that the sensor 10 is in a free return state. The second part that is operated in contact when
A switch S2, and a third switch S3 that comes into contact with the sensor 10 when the sensor 10 is swung backwards are provided, and the second and third switches S2, . Fourth and fifth switches S1 operated in the same manner as S3
．． S5 are arranged respectively.

Then, the switch S1. . . ., as shown in FIG. 5, is a hydraulic cylinder 1 that engages and operates the steering clutches (not shown) of the pair of crawler traveling devices 1a and lb.
It is connected to the electromagnetic control valves 13 of 2a and 12b, and is configured to automatically control the steering as follows when each switch S□... is operated.

In addition, rNl, IN2...IN5 in Fig. 5 are signal inverters, ND□, ND2 are NAND AND circuits 1 and A.
D2...AD6 is an AND circuit, NR□, NR2
is a NOR circuit, OR is an OR circuit, and O3 is an oscillation circuit.

That is, when the aircraft travels along the planted culm row as shown in FIG. 4A, the first and second sensors 9, 1
Steering control will be performed based on the detection result of 0, and both sensors 9 and 10 will be in one of the states A1...A in FIG.

A1... If the culm is in the center of path a and does not touch both the left and right sensors 9, 10, switch S1. Since B3 is OFF and switch S2 is ON, AND circuit A
There is no output from D and NOR circuit NR2, and control valve 1
3 is maintained in neutral and goes straight ahead.

A2... When the culm moves slightly to the right with respect to path a and the second sensor 10 swings slightly, switch S1.
B2. All B3 are turned off, there is no output from the AND circuit AD4 and the NOR circuit NR2, and straight running is maintained as in the case of A1.

A3... 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 S1. Since B2 is OFF and switch S3 is ON, there is no output from the AND circuit, but outputs are generated from the NOR circuit NR2 and the OR circuit OR.

Therefore, the oscillation circuit OS is activated via the OR circuit OR, and the AND circuit AD6 intermittently outputs an output, causing the control valve 1
3 is operated intermittently.

As a result, the right-turning hydraulic cylinder 12b repeatedly expands and contracts intermittently, causing the aircraft to gradually turn to the right.

Then, when the state returns to A2 or A1, the vehicle starts traveling straight again.

A,... When the culm deviates to the left with respect to the path a and swings the first sensor 9, the switch S1. Since B2 is ON and switch S3 is OFF, there is no output from NOR circuit NR2, but outputs are generated from AND circuit AD and OR circuit OR.

Therefore, contrary to the case of A3, the intermittent output of the AND circuit AD5 causes the hydraulic cylinder 12a for left turning to intermittently extend and contract, causing the aircraft to turn to the left.

In addition, for each of the above cases to A1..., switch S4. Even if S is activated, AND circuit AD4 and NOR
The output of circuit NR2 is not affected.

In addition, when the aircraft travels in a direction substantially perpendicular to the row of planted culms, as shown in FIG. 4B, multiple rows of culms are introduced into path a, and the third sensor Automatic steering control is performed based on the detection result of step 11, and the third sensor 11 is in the state of B1°B2-B1 in FIG.

B1... When the culm on the side that has already been cut is located at the center of the path d, and the third sensor 11 is slightly swung, only the switch S is turned on and the switches S2. B3. S
1 and B5 are turned off, there is no output from the AND circuit AD and the NOR circuit NR2, and the control valve 3 is maintained in neutral, resulting in a straight-ahead running state.

B2... When the 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. B5 is ON, switch S2. B3. B
4 is OFF, there is no output from the AND circuit AD4, but an output is generated from the NOR circuit NR2.

Therefore, the oscillation circuit O5 is activated via the OR circuit OR, and the AND circuit AD6 intermittently outputs an output, causing the control valve 13
operate intermittently.

As a result, the right-turning hydraulic cylinder 12b repeatedly expands and contracts intermittently, causing the aircraft to gradually turn to the right.

Then, when the state returns to B1, the vehicle starts traveling straight again.

B3... When the culm on the most cut side deviates to the left with respect to the path d and comes off the third sensor 11, the switch S1. B4 is ON, switch S2. B3. B5 is OF
Since it becomes F, there is no output from NOR circuit NR2, but
Outputs will be generated from the AND circuit AD and the OR circuit OR. Therefore, contrary to the case of the bird, the AND circuit AD
The hydraulic cylinder 12a for left turning is intermittently expanded and contracted by the intermittent output of 5, and the aircraft turns to the left until it returns to the state of B1.

As explained above, during row cutting, the first and second sensors 9
, 10, and during horizontal mowing, the steering is controlled based on the detection results of the third sensor 11. Moreover, this control mode switching is performed when the introduction path a is It will be automatically selected depending on whether the culm of a stock or two culms will be included.

Also, in the circuit shown in Fig. 5, there is a third
A second delay circuit for transmitting the electric signal from the switch S3 with a delay time so that even if the sensor 11 loses contact with the planted stem culm and swings back, the electric signal from the switch S3 is not immediately turned to the left. T2 and a switch so as not to immediately switch to the row mowing control state even if one or both of the first and second sensors 9, 10 loses contact with the culm and swings back in the horizontal mowing state. A first delay circuit T1 is provided for transmitting electrical signals from S□, S2 with a delay time, and both circuits T1. As shown in FIG. 6, at T2, as the interlocking switches 14a and 14b are switched, the resistance values of the resistance mechanisms R1 and R2 are simultaneously changed stepwise by the same amount, and the delay time is arbitrary. It is configured to be adjusted for changes.

Incidentally, in carrying out the present invention, in the resistance mechanisms R1 and R2,
As shown in FIG. 7, there are variable resistors 15a and 15b whose resistance values are automatically changed in conjunction with changes in running speed,
The delay time may be automatically adjusted to be longer as the traveling speed decreases.

[Brief explanation of the drawing]

The drawings illustrate 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 of the combine, Fig. 2 is a schematic plan view showing the sensor mounting section, and Fig. 3 A□ ,
A2. A3. A4. B□, B2. B3 is a schematic diagram showing the detection state of the sensor, FIGS. 4A and B are schematic plan views showing the reaping form, FIG. 5 is a circuit diagram, and FIG. 6 is a circuit diagram showing the first and second delay circuit parts. FIG. 7 is a circuit diagram of another embodiment. 9.10,11...Sensor, T1. T2...
...Delay circuit, a...Introduction path.

Claims (1)

[Scope of Claim for Utility Model Registration] Among the plurality of planted culm introduction routes a and b arranged horizontally in parallel at the front of the aircraft, introduction route a located on the most uncut side First and second sensors 9 and 10 are provided on both sides to detect lateral deviation of the culm relative to the machine body by a certain amount or more due to contact with the culm of the introduced husks, and are located on the most already-cut side. A third sensor 11 is provided on the introduction path d for detecting the lateral deviation of the shell culm with respect to the fuselage by contact with the introduction shell culm, and both the first and second sensors 9 and 10 are in contact with the shell culm. In this state, the automatic steering control is in the steering control state, and after at least one of the first and second sensors 9 and 10 comes out of contact with the culm, the automatic steering control circuit is switched to the first, second, and second sensors with a time delay. Second sensor 9,1
In order to switch to the steering control state based on the detection result of 0, the first
A delay circuit T1 is provided, and a second delay circuit T2 is provided to perform steering control with a time delay after the third sensor 11 comes off the culm, and both delay circuits T1, T
1. A reaping and harvesting machine with an automatic steering control mechanism, characterized in that two delay times can be adjusted simultaneously by one human operating tool.