JPS6227052Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to the improvement of a harvester equipped with an automatic steering device. In particular, even when the grain culm is cut at a high height, the steering sensor does not detect the stubble cut at a high height, and the machine This feature is characterized in that the turning control is not performed in the wrong direction of travel.

In a harvester equipped with an automatic steering device, two sensors are installed one behind the other on the front right side of the machine, allowing the machine to cut diagonally into the uncut grain culm group from the harvested side for reaping work. Even if the grain culm is started, the uncut grain culm will not be damaged, and the aircraft's attitude in the direction of travel can be quickly corrected to quickly run stably following the grain culm. This method has been proposed by the inventors of the present invention (Japanese Patent Application No. 47579/1983).

By the way, the height at which the grain culm is reaped varies slightly depending on the degree of softness of the field ground, and in general, the reaping operation is performed by adjusting the reaping height to be slightly higher on soft ground than on hard ground. Therefore, when the cutting operation is started by cutting the machine diagonally from the cut side, the above-mentioned front sensor detects the high-cut stubble on the cut side and removes the uncut grain culm. There is a possibility that an inconvenience may occur in which the aircraft is controlled to turn to the right as if it were detected.

In view of the above-mentioned circumstances, the present invention is designed so that the height of the mounting position of the front sensor installed at the front and rear can be adjusted appropriately and is mounted on the aircraft, so that it will not be affected in any way even when the grain culm is mowed at a high height. This paper proposes a harvester that can perform reaping operations.

EMBODIMENT OF THE INVENTION Below, the harvesting machine based on this invention is explained in detail based on the drawing which shows the Example. Figure 1 consists of a traveling section 1, a reaping section 2, a pulling device 3, a driver's seat 4, a threshing section 5, and a topsucker 7 into which grains threshed by a grain frying conveyor 6 are carried from the lower part of the threshing section 5. It is a right side perspective view of a 4-row cutting harvester. There are five grass dividing boards 8l, 8m ₁ , 8 in front of the lower part of the pulling device 3.
m ₂ , 8m ₃ , and 8r are provided, among which a steering sensor S ₂ is provided on the rear left _side of the grass divider plate 8r located on the right side of the aircraft.
A steering sensor _S3 is provided behind the grass divider plate 8r further forward.

Also, a steering sensor S ₂ is installed behind the left grass dividing plate 8l.
A steering sensor S ₄ is provided so as to face the culm. In normal reaping conditions, the steering sensors S ₂ and S ₄ detect the relative relationship between the machine body (weed dividing board) and the grain culm to be reaped. Based on the positional relationship, the machine body is made to turn left and right to travel along the grain culm. As mentioned above, when starting the harvest by diagonally cutting into the uncut grain culm group from the harvested side (right side), the steering sensor _S3 is used to quickly change the direction of movement of the machine. The obtained right turn command signal is given priority over the signal from the steering sensor _S2 . Sensor S ₁ , which is installed back-to-back with steering sensor S ₂ , is a photoelectric switch for detecting remaining stubble. If a culm is present, it is detected, the grain culm is determined to be unstubble, and the machine is automatically steered, including forward and backward movement, to harvest it.

FIG. 2 is a plan view schematically showing the right side grass divider plate 8r, in which the above-mentioned tactile rod type steering sensor
Both S ₂ and S ₃ are installed with their touch rods pointing to the left, that is, toward the inside of the aircraft. To explain in more detail how these steering sensors S ₂ and S ₃ are mounted, the steering sensor S ₂ is mounted on the grass divider plate mounting rod 9 in order to support the lifting device 3, as shown in FIG. It is attached to the provided stay 9a, and is positioned slightly rearward of the lower end of the lifting device 3. Also the steering sensor
In the support pipe 9b behind the grass divider plate 8r located in front of S ₂ and in front of the pulling device 3,
As shown in FIG. 4, the plate surface of the sensor mounting plate 10 is positioned perpendicular to the longitudinal direction of the aircraft body, and is fixedly mounted vertically. On the surface of the sensor mounting plate 10 located to the right of the support pipe 9b, a straight guide groove 10 with an appropriate width is parallel to the support pipe 9b.
a is opened, and the sliding plate 12 is attached to the sensor mounting plate 10 by a positioning bolt 11a and a nut 11b inserted through the guide groove 10a and one end of the sliding plate 12. A steering sensor S ₃ is attached to the other end of the sliding plate 12 by mounting bolts 13, 13 with its touch lever facing leftward. Therefore, by loosening the nut 11b, the sliding plate 12 can be moved up and down, making it possible to adjust the height position of the steering sensor _S3 . On the other hand, steering sensor S ₂
The steering sensor S ₃ has a relatively long steering wheel with a rearwardly curved tip and a dogleg shape in plan view.
The antennae are short and straight rod-shaped.

Each of the steering sensors S ₂ and S ₃ is provided with a limit switch, and the opening and closing of the contacts is controlled by a cam that rotates in conjunction with the touch rod of each steering sensor S ₂ and S ₃ . The open/close states of the contacts of these limit switches are transmitted as a signal representing the relative positional relationship between the grain culm and the machine body to a control section (not shown) comprising a microcomputer.

The relationship between the contact position between the touch rod of the steering sensor S ₂ and the grain culm Wr and the signal output by the steering sensor S ₂ is as follows. That is, if the contact positions are areas a, b, and c from the grass divider plate 8r side to the _8m3 side as shown in FIG. It reports that the aircraft has veered to the left (or right), that is, it issues a signal commanding a turn to the right (or left), and in area b, the above contact does not operate and the aircraft continues straight ahead. I'm getting used to it. Next, the relationship between the contact position of the steering sensor _S3 and the grain culm Wr and the contact point of the limit switch is as follows. That is, as shown in FIG. 2, the contact is turned on only when the contact position is in area a', which has its left limit at a position closer to the grass divider plate 8r by a distance d than the boundary between areas a and b. , it is designed to emit a signal commanding a right turn.

Therefore, as is clear from the above, the second
In the figure, when the area of contact with the grain culm Wr reaches a, a signal is obtained from the steering sensor _S2 to cause the aircraft to turn to the right. Furthermore, in the normal reaping state following the grain culm Wr, the steering sensor S ₃ does not come into contact with the grain culm Wr and therefore does not emit a signal, and when performing a special reaping start as described above, the steering sensor S ₃ does not come into contact with the grain culm Wr. comes into contact with the grain culm Wr, and when the contact area reaches a', it will issue a signal commanding a right turn. The right turn command signal from the steering sensor _S3 is given priority over the signal from the steering sensor _S2 .

Now, in the actual reaping work, as shown in Fig. 5, the machine is plunged forward to the left from the cut side edge (right side edge) toward the uncut grain culm group W, as shown in Figure 5. You may want to start. At this time, if the reaping mode is row mowing (horizontal mowing), as the aircraft moves forward, the grain culm rays on the right edge of the grain culm group W will eventually come into contact with the steering sensor _S2 , and the contact area changes from c to b → a, but the steering sensor S ₃ is placed ahead of the steering sensor S ₂ , and in this case, the aircraft traveling direction is in line with the grain culm group W. Since it is tilted to the left with respect to the right side edge, by appropriately selecting the above-mentioned dimension d, the steering sensor S ₃ reaches the area a before the contact area of the steering sensor S ₂ reaches the area a. ′ and comes into contact with the grain culm rays on the right edge, the aircraft turns to the right in response to a signal from the steering sensor S ₃ , and the aircraft quickly moves to the grain culm rays in the grain culm group W and its direction of travel. The nose of the aircraft will be rotated so that it will match, and after that, the steering will be controlled based on the signal from the steering sensor _S2 , and the aircraft will travel to follow the grain culm that is to be harvested. In this case, by adjusting the height of the mounting position of the steering sensor S ₃ to a position slightly higher than the height of the stubble on the cut side, the steering sensor S ₃ can be positioned on the cut side. However, there is no risk that the steering sensor S ₃ will come into contact with the highly mowed stubble and issue a right turn command signal, thereby preventing the aircraft from being steered in the wrong direction. Although it is not only the steering sensor _S3 that causes inconvenience due to coming into contact with the highly mown stubble, the reason for making the front steering sensor _S3 particularly high is as follows.

That is, if the stubble is detected by the front steering sensor _S3 and the stubble is turned to the right, the reaping section will not correctly enter the group of uncut grain culms, and it will be necessary to perform manual steering again. In this sense, stubble detection by the steering sensor _S3 must be avoided.

On the other hand, if the steering sensor S ₃ does not touch the stubble lower than this and almost reaches the uncut grain culm group, then the steering sensor S 2 does not touch the stubble lower than this, and then the steering sensor S ₂ touches the stubble higher than this. Even if it comes into contact with the stubble, the resulting right turn will only last for a short period of time until the steering sensor S ₂ comes out of contact with the stubble, after which it will continue to come into contact with the uncut grain culm. This allows for correct steering. In fields like this where high mowing is required, it is meaningful to set the steering sensor _S3 high. It goes without saying that the steering sensor _S2 may also be set high. Also, if you are trying to make a right turn relying only on the steering sensor _S2 , the aircraft will travel to the grain culm rays on the left side, which is not the target for reaping, in this process. However, since the steering sensor _S3 is provided, this damage can be avoided by issuing a right turn command. Furthermore, as is clear from the above, when steering during normal reaping following the grain culm, the contact rod of the steering sensor S ₃ does not come into contact with the grain culm Wr, and unnecessary No signal is emitted.

Now, by setting the height of the steering sensor _S3 to a position lower than the above-mentioned state or lower than that of the steering sensor _S2 , it is possible to detect a lodging grain culm at its base.

In other words, when this setting is made, the steering sensor _S3 enters below the center or tip of the lodging grain culm, which is laid down on the side, and comes into contact with the base of the stalk, making it possible to detect the correct position. I can do it. Incidentally, when the steering sensor _S3 comes into contact with the lodging grain culm from above or outside, the area is a' and the machine turns to the right, making it impossible to properly thrust the reaping section into the group of uncut grain culms.

FIG. 6 shows another embodiment in which the same function as described above is provided by making it possible to arbitrarily adjust the height of the mounting position of the steering sensor _S2 provided at the rear of the lifting device 3. It is. An outer receiving metal fitting 14 is attached to the stay 9a that is set up to support the lifting device 3.
A sliding guide cylinder 15 in the form of a hexagonal cylinder is fixed to the lower part of the outer receiving metal fitting 14. A hexagonal prism-shaped sliding shaft 16 that is slidably fitted into the sliding guide cylinder 15 is disposed, and a steering sensor S ₂ is attached to the lower end of the sliding shaft 16 with its touch lever facing leftward. There is. A sleeve 18 through which a push-pull operating wire 17 is inserted is attached to the upper end of the outer receiving fitting 14 with nuts 18a, and one end of the operating wire 17 is attached to the upper end of the sliding shaft 16. The other end is attached to a sensor height adjustment rod (not shown) provided near the driver's seat 4 described above. Then, by operating the sensor height adjustment rod, the operation wire 17 is
The height position of the steering sensor _S2 can be adjusted by pulling or pushing out the sliding shaft 16 to move it up and down. Note that since the sliding shaft 16 has a hexagonal cross section and is fitted into the sliding cylinder 15, it does not rotate when it moves up and down. The state in which the height of the mounting position of the steering sensor _S2 is adjustable and the reaping operation is performed is as shown in FIG. 7. This FIG. 7 shows a front view of the lifting device 3, and the grain culm Wr' to be harvested is brought to the inside of the machine body by the lifting tine 3a of the lifting device 3, and the grain culm Wr' is As shown in the figure, it is curved into a substantially inverted S shape. Therefore the steering sensor
If the height of the mounting position of S ₂ is increased, it will move away from the grain culm Wr′ to be harvested, and when the aircraft veers further to the left, a signal will be issued and the aircraft will turn to the right. Take control.

In addition, if the height of the mounting position of the steering sensor S ₂ is lowered, it will come into contact with the upright part of the grain culm Wr′, and a signal will be generated by a slight deviation of the aircraft to the left. This can be used to control the aircraft by turning it to the right. That is, by adjusting the height of the mounting position of the steering sensor S ₁ , it is possible to easily adjust the detection sensitivity of the steering sensor S ₁ , and by adjusting the height above a certain level, the above-mentioned sensor
Similar to S ₃ , it can be made insensitive to stubble that has been cut to a high height.

As described in detail above, the harvesting machine according to the present invention is located on the right side of the machine body (on the left side in the case of a reverse-hand specification model with the left side being the harvested side), and the steering sensor S is located in front and behind the pulling device 3, respectively. ₂ and _S3 are provided, and the steering is controlled by the signal, and the height of the mounting position of the front steering sensor _S3 can be adjusted, so when there is a high-cut stubble on the already-cut side. By adjusting the height of the mounting position of the steering sensor S ₃ to a height where it does not come into contact with the stubble that has been cut too high, the steering sensor S ₂ can come into contact with the stubble and issue a signal, causing the aircraft to erroneously It is possible to reliably prevent the risk of steering control in the opposite direction. Even when cutting the uncut grain culm group W diagonally from the cut side to start reaping, correct steering control can be performed regardless of the presence or absence of high-cut stubble, and the grain culm It is possible to quickly reach a stable automatic steering control state without causing unnecessary damage. Furthermore, if there is no high-cut stubble and there is a lodging grain culm, _{the steering sensor S 3 should} be set at a sufficiently low position. It has the advantage of entering the underside (inside) of the culm and correctly detecting the position of the plant base, and it is possible to provide a harvesting machine with a high-performance automatic steering function.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is a right side perspective view of the harvester according to the present invention, and FIG.
The figure is a schematic plan view of the grass dividing plate on the right side of the aircraft.
The figure is a right side view showing how the steering sensors S ₂ and S ₃ are installed, Figure 4 is a rear view of the grass divider plate showing how the steering sensor S ₂ is installed, and Figure 5 is an explanatory diagram of the operation of the harvester. Figure 6 is a side view showing different mounting states of the steering sensor _S2 ;
FIG. 7 is a front view of the lifting device during reaping with the steering sensor _S2 in different mounting states. 1... Traveling part, 2... Reaping part, 3... Pulling device, 4... Driver's seat, 8l, 8m ₁ , 8m ₂ , 8m ₃ ,
8r... Grass divider plate, 9a... Stay, 9b... Support pipe, 10... Sensor mounting plate, 12... Sliding plate, 14... Outer holder, 15... Sliding guide cylinder, 16... ...Sliding shaft, 17...Operation wire, W
... Grain culm group, Wr... Grain culm ray, S ₂ , S ₃ , S ₄ ... Steering sensor.

Claims (1)

[Scope of utility model registration request] In a harvester equipped with an automatic steering device that uses a sensor to detect the relative positional relationship between the grain culm to be harvested and the machine body, the machine follows the grain culm by controlling based on the detection results. Two sensors are installed one behind the other on the right (or left) side of the front part, and the area where the signal to turn the aircraft to the right (or left) is obtained is the area of the front sensor and the area of the rear sensor. A harvesting machine which is included here as being smaller than the area, and further characterized in that the height position of at least a front sensor is adjustable.