JPS62134012A - Reaping controller of combine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a reaping control device for a combine harvester or the like.

Conventional technology Conventionally, a vertical direction control device is used, which uses a strike direction sensor that detects the planting of grain culms to control the reaping direction in the vertical direction along the planted rows of grain culms, and a horizontal direction control device that is perpendicular to the vertical direction. A horizontal direction control device is provided to control the mowing direction, and when the mowing direction is to be run in the vertical direction, a switching device is operated to switch the mowing direction to be controlled by the vertical direction control device, and the mowing direction is controlled by the detection by the running direction sensor. The vertical direction control device controls the vertical mowing direction, and when traveling in the horizontal direction, the switching device is operated to switch the mowing direction to be controlled by the horizontal direction control device, and the running direction sensor This device controls the lateral reaping direction using the lateral direction control device based on the detection of .

Problems to be Solved by the Invention When the combine harvester is run in the vertical direction along the planted rows of grain culms to reap and thresh the grain culms, when the reaping direction is automatically controlled, it is necessary to operate the switching device to control the vertical direction. When the machine is switched so that the harvesting direction is controlled and the harvester is running, if the grain culm is detected by the grain culm during this running, the vertical direction control device changes the harvesting direction of the combine to the left or right. When the combine harvester is changed and controlled to run, or when the combine harvester is run laterally to reap and thresh grain culms and the reaping direction is automatically controlled, the switching device is operated to change the reaping direction using the lateral direction control device. When the combine harvester is switched to the left side or the right side, when the grain culm is detected by the grain culm during the travel, the lateral direction control device controls the direction of the combine to change to the left or right side. However, during this operation, it is necessary to frequently operate the switching device each time the direction of travel is changed from vertical to horizontal, which makes it difficult to operate the combine. There is.

Means for Solving the Problems This invention provides a strike sensor (A) for detecting the planting of grain culms.
, (B), a vertical direction control device (1) that controls the reaping direction to run in the vertical direction along the planting rows of grain culms, and a vertical direction control device (1) that can perform this vertical mowing control and also in the horizontal direction perpendicular to the vertical direction. A reaping control device such as a combine harvester is provided with a switching wave 21 (3) for switching the lateral direction control device (2) that controls the running of the vehicle to green mowing control that can automatically select.

Effect of the Invention When the combine harvester is running for reaping and threshing work, when the reaping direction is automatically controlled only in the vertical direction, the switching device (3) is operated and the vertical direction control device (1) is used to reap only in the vertical direction. If you switch the direction so that it is controlled and run it,
When the strike direction sensor (A) detects a grain culm while traveling in the vertical direction, the reaping direction of the combine is changed to the direction opposite to the side where the grain culm is detected by the longitudinal direction control device i! 1 (1) controls the direction change and this combine runs, and even if the strike direction sensor CB) detects a grain culm while running in the lateral direction, the lateral direction control device (2) changes the harvesting direction of the combine. Run without change control.

Also, when automatically controlling both the vertical and horizontal directions, operate the switching wave and (3) to control both the horizontal direction control device (1) and the horizontal direction control device (1).
, (2) to control the reaping direction, and while traveling in the vertical direction, the vertical direction control device (1) changes the direction and controls the horizontal direction as described above. When the grain culm is detected by the strike direction sensor CB) while the harvester is traveling, the lateral direction control device changes the cutting direction of the combine in the direction opposite to the direction of detection. 1 (2) The direction is controlled to change and this combine runs.

Effects of the Invention This invention provides a longitudinal control device (1) and a lateral control device m (2) that automatically control the reaping direction of a combine harvester based on detected grain culms detected by strike direction sensors (A) and (B).
The switching wave g! is set in advance so that the reaping direction of the combine is controlled by both. When switching is performed by operating 1 (3), the mowing direction is automatically controlled during vertical and horizontal travel, so that the switching is performed each time the traveling direction changes from vertical to horizontal. Wave 2! Since there is no need to perform the operation in (3), the operation of the combine becomes easy, and when the horizontal travel distance is short, the reaping direction can be automatically controlled only during vertical travel. When switching is performed by operating the switching device (3), the mowing direction is not automatically controlled when the lateral direction is short, so the combine does not swing from side to side, which improves the riding comfort of this combine. Become good.

Embodiment In the illustrated example, the combine harvester (5) is a traveling equipment having a crawler and a gear case (6) containing a built-in transmission mechanism for rotationally driving the crawler in its lower part. 1 (7
), and a threshing device (8) is installed above the traveling device (7).
, a prime mover (9), a driver's seat (lO), etc. are provided, and this prime mover fi (9) rotationally drives a transmission mechanism in the gear case (6). The structure includes clutches (31) and (31) for blocking the rotation of the crawlers on both the left and right sides.

A box-shaped operating device (11) is provided in front of the driver's seat (10), and the gear case (6) is attached to this operating device (11).
A side clutch lever (12) is provided to manually operate the clutch (31) in the left side, and when the side clutch lever (12) is operated, the clutch (31) is disengaged and the clutch (31) on the left or right side is disengaged. When the rotation of the crawler stops, the combine (5) can change its running direction to the left or right, or can rotate, and the side clutch lever (12) can be returned to its original position. When the grain latch (31) is operated, the crawler rotates, and the combine harvester (5) moves straight.6 The threshing device (8) is fed by the grain culm transfer device (13). The threshing device (8) is configured to thresh the harvested grain culms while being held and transferred between the chute 7 and the clamping plate, and the front part of the threshing device (8) is equipped with a separating rod (14) for separating the grain culms to be harvested. 15), (1
8), and these separation rods (14), (15), (18)
A pulling device (17) for pulling up the separated grain culm is provided on the rear side, and a cutting blade (18) for reaping the grain culm being pulled is provided on the lower side of this pulling device (17). ) A raking device (19) for raking the harvested grain culm is provided on the upper side, and this raking device (19) is provided on the upper side.
9) On the upper side, there is provided a grain culm transfer device (13) that pinches and transfers the harvested grain culm and supplies it to the threshing device (8).

A grain lifting device (20) is provided on the side of the threshing device (8) for frying the threshed grains and discharging them outside the machine, and the rear side is equipped with a grain lifting device (20) for hoisting the threshed grains and discharging them to the outside. This configuration includes a waste culm processing device (21) that discharges the waste to the surface.

The separation rod (14) on the left side in the reaping direction is provided with an actuator projecting on both left and right sides and a strike sensor (A) having a switch inside, and the separation rod (lli) on the right side is provided with a long actuator projecting to the left side. A short actuator and a strike direction sensor (CB) having a switch inside are provided, and a grain (!-count sensor (22)) for detecting the number of grain culms is provided at the lower end of the raising device (17). It is.

The surface plate portion of the operating device (11) includes an automatic manual switching device (23) for switching the reaping direction of the combine (5) between manual operation and automatic control operation, and an automatic manual switching device (23) for automatically controlling the reaping direction of the combine (5). A switching device (3) is provided for automatically controlling both the longitudinal control device (1) or the longitudinal control device m (1) and the lateral control device (2), and the operating device (11) includes an operating lever (24) for running or stopping the combine harvester (5), and a speed change lever (25) for changing the running speed of the combine harvester (5).
The vertical direction control device (1) is installed inside.
), the lateral control device (2), the grain culm count sensor (
Integration device (2B) that calculates vI of the detected value detected by 22)
, a comparison circuit (27), a setting circuit that sets a reference value (
28) and the column switch (29) and the row switch (3
0) etc.

Switching the automatic manual Gino switching device (23) to the automatic side,
The switching device (3) is connected to the longitudinal control device'j! L (1) is operated to the operating side to make the combine (5) run, and when the actuator on the left or right side of the strike direction sensor (A) detects a grain culm during this run, the longitudinal direction control is activated. The corresponding column switch (28) of the installation: C1) is in the ON state,
When this tandem switch (29) is turned on, the actuator of the strike direction sensor (A) in the gear case (6) detects the grain culm, and the clutch (31)
) enters a state of "ν", the crawler 11 on the disengaged side of this clutch (31) stops rotating, and the reaping direction of the combine (5) is controlled to change to the left or right direction. The configuration is as follows.

switching the automatic manual switching device (23) to the automatic side;
Switching the switching device (3) to a side where the longitudinal control device (1) and the lateral control device (2) operate,
When the combine harvester (5) runs, the number of detected grain culms detected by the grain culm detection sensor (22) during this travel is input into the integration device 21 (2B), and this input value and the setting circuit The comparison circuit (27) compares the set value set in (28) with the number of plants detected, and if the number of detected plants is less than the set value, it is detected that the vehicle is traveling in the horizontal direction, and if it is greater than or equal to the set value, it is detected that the vehicle is traveling in the vertical direction. When it is detected that the vehicle is traveling in the vertical direction, the travel direction sensor (
When the seven quaters in A) detect grain culms, the reaping direction of the combine (5) is controlled to change in the same way as described above, and when it is detected that the combine harvester (5) is traveling in the lateral direction, the strike direction is changed. When the actuator of the sensor (B) detects a grain culm, the row switch (30) of the lateral control device (2) is turned on;
0) becomes the engaged state Jf, the clutch (31) on the right side in the gear case is disengaged, and when this clutch (31) is disengaged, the rotation of the crawler on the right side is stopped and the combine harvester (5 ) is controlled to change the direction of reaping to the right.

An output adjustment device 6 is provided on the surface plate of the operating device ff1 (11), and the configuration is such that the output can be switched between a strong output and a weak output by switching each of the output 'tJ rods. Then, the vertical and horizontal switches (28),
(30) is configured so that the input power is 1g for a long time, and when the output is switched to a weak output, the vertical and horizontal switches (29) and (30
) may be configured to enter the ON state for a short time.

When working with the combine harvester (5), the operator must sit in the driver's seat (10).
However, when automatically controlling the reaping direction in both the vertical and horizontal directions, the switching device (3) is switched between the vertical control wave 21 (1) and the horizontal control device (2). Switch to the side where both are activated,
When the combine (5) is run, the strike direction sensor (A
), (B) detects the grain culm, the longitudinal control wave 22 (
1) and the lateral control device (2), this combine (
5) The mowing direction is automatically controlled and the machine runs. When automatically controlling only the longitudinal direction, the switching device (3) is switched to the side where only the longitudinal direction control device (1) is operated, and the combine (5) is run. When the sensor (A) detects a grain culm, the vertical direction control device (1) automatically controls the reaping direction of the combine (5) and the combine harvester (5) runs.

When the combine harvester (5) is run, the grain culms to be harvested are separated by the separating rods (14), (15), and (16), and the separated grain culms are held and pulled up by the pulling device 21 (17). While transporting the grain upward, the harvested grain (ν) is harvested with the cutting blade (18) and is raked with the raking device (18).
), this grain culm transfer device (13) clamps the harvested grain culm and transports it upwards, and then it is supplied to the threshing device 71 (8), where the chest 7 and the clamping plate of this threshing device (8) Hold it in place,
This threshing gear? i! 1 (8) Threshing during transportation,
The threshed grains are shelled to the upper part by the grain lifting device (20) and discharged outside the machine, and the threshed I culms are cut by the expelled culm processing device (21) and discharged to the field.

The vertical direction control device (1) is operated by operating the function device (3).
) and the horizontal direction control device 21 (2) can be used to automatically control the reaping direction of the combine (5), or the vertical direction control device (1) can be used to automatically control the reaping direction only in the vertical direction. ! Since the combine harvester (5) can also be controlled, the combine harvester (5) can be easily operated.

[Brief explanation of drawings]

The figures show one embodiment of this system. Fig. 1 is a block diagram, Fig. 2 is an enlarged plan view of a part thereof, Fig. 3 is an enlarged front view of a part thereof, and Fig. 4 is a block diagram. FIG. 2 is an overall side view of the combine harvester. In the figure, (A) is a strike sensor, (B) is a strike sensor, (1) is a longitudinal control device, and (2) is a lateral control! I
t2t, (3) indicates a switching device.

Claims (1)

[Claims] A vertical direction control device (1) that controls the reaping direction to travel in the vertical direction along the planted rows of grain culms using strike direction sensors (A) and (B) that detect the planting of grain culms, and this vertical mowing control device. A reaping control device for a combine harvester or the like, which is equipped with a switching device (3) that automatically selects a lateral direction control device (2) that controls the movement in the lateral direction perpendicular to the vertical direction, and a dual-mowing control that can automatically select the mode. .