JPS6339507A - Direction control system of reaper - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a directional control system for a reaper, and can also be used for a combine harvester.

[Conventional technology] Directional control of grain culms includes row mowing control that detects the row direction of the grain culm and then controls the strike, and reaps by detecting the lateral direction to the grain culm and then controlling the strike. There is horizontal mowing control.

Problems to be Solved by the Invention At the start of mowing in the row cutting control, a weeding frame having a row cutting sensor for detecting grain culms is inserted between the left and right grain culms,
Directional control can be started relatively easily if directional control is activated, but in the case of horizontal mowing control, one machine is required to align the horizontal mowing sensor with the grain culm row of uncut grain culms on the mowed field side. The strike direction of the grain culm row is often approached from the obliquely outer side, making it difficult for the horizontal cutting sensor to approach the progress state parallel to the grain culm row.

At the start of directional control, the reaping device makes a significant left and right turn.

Means for Solving the Problems This invention provides a grain culm sensor (S) that detects when a grain culm is guided to a reaping device (1) and enables automatic direction control.
and horizontal cutting sensors (A) and (B) that detect grain culm rows (3) and perform automatic cutting direction control during horizontal cutting control in which cutting progresses in the horizontal direction with respect to grain culm rows (2). A directional control method for a reaper is characterized in that the horizontal mowing control is started after a certain period of time has elapsed or after a certain distance has been traveled since the start of grain culm detection.

Effect of the Invention In order to perform horizontal mowing control using the reaping device (1), the grain culm row (3
) so that the running direction of the reaping machine is parallel to the grain culm row, move it toward the starting end of the grain culm row (3), and use the horizontal mowing sensors (A) and (B) of the weeding frame to move the grain culm Approach along row (3). When the reaping device (1) guides the grain culm by running the reaping machine body, the grain culm sensor (S) detects that the grain culm is guided by the reaping device (11), and the horizontal reaping sensor (S) detects that the grain culm is guided by the reaping device (11).
When A) detects the grain culm row (3) to be detected, the horizontal mowing control is started after a certain period of time has elapsed or after a certain distance has been traveled. As a result, by moving the reaping machine body in the direction of the grain culm row (3) during this time, the horizontal cutting sensors (A) and (B) and the reaping machine body can move along the grain culm row (3), and the horizontal mowing control conditions The automatic lateral control by the lateral mowing sensors (A) and (B) can be performed smoothly.

Horizontal mowing sensors (A) and (B) are both on the left grain culm row (3)
When the grain culm row (3) is detected by sliding in contact with the grain culm row (3), the direction of the reaping machine is automatically operated to the right, and the horizontal cutting sensors (A) and (B) move to the right side of the grain culm row (A), that is, the outer cut culm. The right correction control (R) is performed so that it is moved to the track side. The horizontal mowing sensor (B) is coming from the grain culm row (3), and the horizontal mowing sensor (A)
When the vehicle is in a state where only the vehicle is detected, the vehicle enters a neutral state and straight-ahead control (N) is performed. When the horizontal cutting sensors (A) and (B) are both roasted to the right side from the grain culm row (3) and are in a non-detection state, they are moved to the left side and left correction control (L) is performed.

Effects of the Invention As described above, at the start of horizontal mowing control, the grain culm sensor (S) guides the grain culm to the reaping device (1), and the horizontal mowing sensor (A) approaches the grain culm row (3). By this,
enters the mode of reaping control, and furthermore, automatic lateral control starts after traveling for a certain period of time or a certain distance. It is easy to operate and can smoothly transition to automatic control.

Embodiment During rotation, the combine harvester body (4) has a pair of left and right crawler-type traveling devices (5), and power is transmitted from the engine through a traveling transmission device having a pair of left and right running clutches. This strike clutch can be disengaged by activating the left electromagnetic solenoid (7) or the right electromagnetic solenoid (8) by a pulse signal from the strike control device (6), and by disengaging the strike clutch, the strike direction is shifted to the disengaged side. let

The combine machine body (4) is provided with a reaping device (1) at the front, and has a configuration in which the grain culm harvested by the reaping device (1) is transferred and supplied to a threshing device at the rear side for threshing. Reaping device (
1) consists of a weeding frame (9) from the front end to the rear, a grain culm pulling device f+01, a raking device (1υ), a cutting blade device (121, etc.), and a weeding frame (9) at the right end. A pair of front and rear side mowing sensors (B) and (A) are provided facing inward, and the actuator is rotatable back and forth and biased forward by a spring, and protrudes in a direction perpendicular to the direction of travel. Among these, the horizontal mowing sensor (A) on the rear side is set longer than the horizontal mowing sensor (B).The contact point is set by a fixed rotation angle rearward of these horizontal mowing sensors (A) and (B). is turned ON and OFF to output an output signal to the strike direction control device (6) to perform the predetermined horizontal mowing control.

The structure of the row mowing control is that the actuator of the row mowing sensor (C) is protruded from the left side of the leftmost weeding frame (9), the actuator of the row mowing sensor (D) is protruded from the right side, and the actuator of the row mowing sensor (D) is protruded from the right side of the weeding frame (9). When the row cutting sensor (C) comes into contact with the grain culm row (2) on the left side of this weeding frame (9) and turns over a certain angle and turns ON, it activates the solenoid (8) on the right side to correct the right side. control (R), and when the right row cutting sensor (D) contacts the right grain culm row (2) of this weeding frame (9) and is turned ON by a certain angle or more, the right solenoid ( 7) to perform left correction control (L),
In addition, both the left and right row cutting sensors (C) and (D) are connected to the grain culm rows (2
1 (21) is not detected and is in the OFF state, the single solenoid (71 (81) is not activated and is in a relationship that allows straight-line control (N), so that the strike direction control device (6) is configured.

The actuator of the grain culm sensor (S) is the row cutting sensor (C).
(D) is protruded inside the weeding frame (9) on the side where it is attached, and the mowing blade device [i f121
A horizontal mowing sensor is provided to detect a grain culm being guided to the side, and to activate lateral control or automatic running direction control of row mowing control by detecting this grain culm.
In relation to A), while these grain culm sensors (S) detect the grain culms and are turned ON, the horizontal cutting sensor (A) is ONL,
In this case, the lateral control is not started for a certain period of time or for a certain travel distance after both of them are turned ON. If it is determined by a certain period of time, a delay timer may be provided to delay the start of the lateral control. In addition, in the case of a fixed travel distance, a vehicle speed sensor (1:1) is provided to detect the vehicle speed, and the travel control device (6) calculates the travel distance from the travel speed. (141 is an automatic control device) It is an automatic switch that activates the

The row cutting control is to move the combine harvester along the direction of the grain culm row (2) and then perform the cutting action.
Since the plant bases are aligned in the row direction and the spacing between each row is wide, the weeding frame (9) with row cutting sensors (C) and (D) is used.
) is also easy to separate. In addition, the grain culm row (3) is the grain culm row (
It is perpendicular to the direction of 2).

It is along the boundary line between the uncut grain culm and the cut field side, and is formed by the previous reaping action, and the curvature of the grain culm row changes depending on the state of this reaping. In addition, in the reaping direction, each plant has the same inter-plant spacing as the above-mentioned row spacing.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a plan view, FIG. 2 is a block diagram, and FIG. 3 is an operational display showing some operational relationships. In the figure, code (1) is the reaping device, (2) is the grain culm, and (3)
indicates a grain culm row, (A) and (B) indicate horizontal cutting sensors, and (S) indicates a grain culm sensor.

Claims (1)

[Claims] A grain culm sensor (S) that detects that the grain culm is guided to the reaping device (1) and enables automatic direction control;
A horizontal mowing sensor (3) that detects grain culm cutting (3) during horizontal mowing control in which the mowing progresses in the horizontal direction relative to (2), and performs automatic cutting direction control.
A) A directional control system for a reaping machine characterized by starting horizontal mowing control after a certain period of time has elapsed or after a certain distance has been traveled since the start of grain culm detection according to (A) and (B).