JPS6235725B2 - - Google Patents

Description

Detailed Description of the Invention The present invention detects the relative lateral deviation between the planted stem culm row and the machine body using a sensor, and provides a neutral dead zone to the sensor so that the deviation is maintained within a certain range. The present invention relates to an automatic steering control mechanism for a reaping and harvesting machine that performs steering control using a reaper.

When performing automatic tracking along a row of planted stalks using the above steering control mechanism, if the planted stalks culm is largely horizontally lodging, the aircraft will not move within a predetermined range with respect to the row of planted stalks. Even in the correct position, the tip side of the lodging stem culm was sometimes caught in the divider.

The present invention is intended to enable the following movement to be carried out on a straight-line basis suitable for the state of lodging, no matter how the planted stem culm is lodging.

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

FIG. 1 shows a schematic plan view showing the entire automatic steering control mechanism of a crawler-traveling combine harvester, in which steering clutch brakes 2a, 2b installed in a traveling transmission case 1 are controlled by a hydraulic cylinder 3a, 3b.

The hydraulic cylinders 3a, 3b are connected to a pump 5 via electromagnetic valves 4a, 4b, respectively, and each valve 4a, 4b is connected to one of three dividers 6a, 6b, 6c arranged in parallel at the front end of the machine. It is configured to be switched and controlled by a stem culm position detection sensor _S1 provided on the back of the two uncut sides 6a and 6b.

As shown in FIG. ₂ , the sensor S1 has a pair of left and right stem culm contacts 7a and 7b that swing around the vertical axes P and P due to contact with the planted stem culms, and Movable contacts a, b, c, d and a divider mounting rod 8, which are urged to protrude in a constant posture toward the stem culm introduction path A side and move integrally with the respective contacts 7a and 7b.
8 detects that the contact state of fixed electrical contacts e, f...j is switched by the swinging of contacts 7a, 7b, and detects the relative lateral deviation between the stem culm introduced into path A and the body. is configured to detect the position.

Further, the divider 6a on the most uncut side and the divider 6c on the most roughly cut side are provided with sensors S ₂ and S ₂ for detecting lateral lodging of the introduced stem culm.
As shown in FIG. 3, this sensor _S2 includes contacts 9, which are biased to protrude from the upper surfaces of the dividers 6a and 6c.
9, and switches 10a, 10b which are operated by the displacement of this contactor 9, and each fixed contact e, f...j of the sensor _S1 .
The switches 10a, 10b are connected to the electromagnetic valves 4a, 4b as shown in FIG.

Next, automatic steering control operation with the above configuration will be explained.

When the planted stem culm is erect or nearly erect.
(See Figure 5) In this case, the sensors S ₂ and S ₂ for detecting lodging
Since both do not detect, the switches 10a and
10b is in the state shown in FIG. Therefore,
While the planted stem culm is within a certain central range of path A,
In other words, straight traveling is performed with a small range where the movable contact a does not touch the fixed contact e and a small range where the movable contact c does not touch the fixed contact h as a neutral dead zone. Then, when the introduced stem culm shifts to the left, the contact 7a is swung beyond the dead zone, and the movable contact a is connected to the fixed contact e, and the electromagnetic valve 4 for left rotation
a is switched, and the left steering clutch brake 2a is operated by the hydraulic cylinder 3a.
Furthermore, when the stem culm shifts to the right side, the contact 7b is displaced and the contacts c and h are connected, and the right steering clutch brake 2b is operated in the same way, thereby moving the stem culm between the dividers 6a, 6b, and 6c. Follow-up steering is performed in a straight-line reference state located approximately in the center.

When the planted stem culm is lodging to the left. (6th
(See figure) In this case, only the left sensor _S2 detects the stem culm, so the switches 10a and 10b are in the state shown in FIG. Therefore, only the movement of movable contact b is related to valve switching.
The range where the movable contact b is located midway between the fixed contacts e and f becomes a neutral dead zone. In other words, the neutral dead zone of the sensor S ₁ in this case is shifted to the right side compared to the above case, and the position where the dividers 6a and 6b approach the left side of the left lodging culm is taken as a straight line reference.
Follow-up travel is performed using only one contactor 7a.

When the planted stem culm is lodging to the right. (7th
(See figure) In this case, since both sensors S ₂ and S ₂ detect the stem culm, the switches 10a and 10b are in the state shown in FIG. Therefore, only the movement of the movable contact d is related to valve switching, and the range where the movable contact d is between the fixed contacts i and j becomes a neutral dead zone. In other words, the neutral dead zone of the sensor S ₁ in this case is shifted to the left side compared to the above case, and the position where each divider 6a, 6b, 6c approaches the right side of the right lodging culm is a straight line reference, and the other contactor Follow-up travel is performed using only 7b.

As described in detail in the embodiments above, the present invention provides an automatic steering control mechanism having the above-mentioned configuration with a sensor for detecting whether the planted stem culm is upright, falling to the right, or falling to the left. When detecting sideways falling, the neutral dead zone of the sensor is shifted in a direction opposite to the direction of falling of the stem culm from the position of the dead zone when the stem culm is upright;
When the stem culm is erect, the front end divider of the machine is located in the center between adjacent stem culm rows, which is the straight-line reference condition, and when the stem culm is falling sideways, the divider is inserted near the base of the lodging stem culm, which is the straight-line reference condition. Therefore, when the stem culms are erect or nearly erect, the distance between the stem culm rows to be introduced can be reduced by maintaining the divider approximately at the center of the adjacent stem culm rows. Even if there is some variation, it can be reliably introduced between each divider, and adjacent stem culm rows can be evenly divided by the divider in the center, and
When lodging horizontally, the divider can be inserted near the base of the lodging stem culm and the divider can be easily and reliably scooped up and raised up. In other words, according to the present invention, it has become possible to follow the stock on a straight-line basis, which allows the plant to perform a weeding function suitable for both upright and lodging positions.

[Brief explanation of the drawing]

The drawings illustrate embodiments of the automatic steering control mechanism for a reaping harvester according to the present invention, with FIG. 1 being a schematic plan view of the overall configuration, and FIG. 2 being an enlarged plan view of a sensor section for detecting stem culm deviation. , Fig. 3 is a longitudinal cross-sectional side view of the sensor section, Fig. 4 is a valve drive circuit diagram, and Figs. 5 to 7.
The figures show various states of weeding, with each figure A being a rear view and each figure B being a plan view. Figures 8 and 9 are respectively 6
FIG. 8 is a circuit diagram corresponding to the state shown in FIGS. 6a... Divider, S ₁ ... Deflection detection sensor, S ₂
...Sensor for detecting sideways fall.

Claims (1)

[Claims] 1. The relative lateral deviation between the planted stem culm row and the aircraft body is detected by the sensor S ₁ , and the sensor S ₁ is provided with a neutral dead zone and steered so that the deviation is maintained within a certain range. In the automatic steering control mechanism of the reaping and harvesting machine that performs control, a sensor S ₂ is provided at the front of the machine body to detect whether the planted stem culm is standing upright, falling to the right, or falling to the left _. The neutral dead zone was shifted from the dead zone position when the stem culm was erect to the direction opposite to the direction in which the culm falls, and when the culm was erect, the front end divider 6a of the machine body was positioned at the center between adjacent culm rows. An automatic steering control mechanism for a reaping/harvesting machine, characterized in that the automatic steering control mechanism for a reaping/harvesting machine is configured to set the standard state of straight movement, and when the stem culm falls sideways, to set the standard state of straight movement with a divider 6a inserted near the base of the lodging stem culm. .