JPH01273511A - Speed control device of reaping part of harvester - Google Patents
Speed control device of reaping part of harvesterInfo
- Publication number
- JPH01273511A JPH01273511A JP10103388A JP10103388A JPH01273511A JP H01273511 A JPH01273511 A JP H01273511A JP 10103388 A JP10103388 A JP 10103388A JP 10103388 A JP10103388 A JP 10103388A JP H01273511 A JPH01273511 A JP H01273511A
- Authority
- JP
- Japan
- Prior art keywords
- reaping
- section
- speed
- threshing
- speed control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000013339 cereals Nutrition 0.000 abstract 3
- 230000005540 biological transmission Effects 0.000 description 22
- 238000003384 imaging method Methods 0.000 description 15
- 230000032258 transport Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000003306 harvesting Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011144 upstream manufacturing Methods 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 241001415801 Sulidae Species 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 2
- 239000008186 active pharmaceutical agent Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000015654 memory Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000010902 straw Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Landscapes
- Harvester Elements (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、刈取部における刈刃、引き起し装置等の動作
速度を適正な速度に自動調節する収穫機の刈取部速度制
御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a reaping section speed control device for a harvester that automatically adjusts the operating speed of a cutting blade, a pulling device, etc. in the reaping section to an appropriate speed.
収穫機は、前部に装備した刈取部の動作により圃面上に
植立する穀稈を刈取って脱穀部に搬送し、該脱穀部の動
作により脱穀及び選別処理して精粒を取出すまでの一連
の作業を、圃面上を自走しつつ連続的に行うものである
。このような収Ｗｉ機においては、前記刈取部において
被処理穀稈の量に対応する適正な刈取り状態が得られる
ように、該刈取部の刈刃、引き起し装置等の動作速度を
自動調節する刈取部速度制御装置を設けたものがある。The harvester uses a cutting section installed at the front to harvest the grain culms planted on the field and transports them to the threshing section, which then performs threshing and sorting to extract fine grains. This series of tasks is carried out continuously while moving on the field. In such a harvesting machine, the operating speed of the cutting blade, pulling device, etc. of the cutting section is automatically adjusted so that an appropriate cutting state corresponding to the amount of grain culm to be processed is obtained in the cutting section. Some are equipped with a reaping section speed control device.
従来の刈取部速度制御装置は、刈取り穀稈量が車速に略
対応することに着目し、刈取部の動作速度を車速に応じ
て調節して、適正な刈取り状態を得ようとするものであ
り、エンジンから刈取部への伝動経路の中途に、刈取部
の変速手段として、例えば■ベルトを用いてなる無段変
速装置を設ける一方、車速を検出する車速検出器と、刈
取部の動作速度を検出する刈取部速度検出器とを設け、
雨検出器の検出結果の間に所定の対応関係が成立するよ
うに、前記無段変速装置における速度調節位置を変更す
る構成となっている。Conventional reaping section speed control devices focus on the fact that the amount of grain culm to be reaped approximately corresponds to the vehicle speed, and adjust the operating speed of the reaping section according to the vehicle speed to obtain appropriate reaping conditions. In the middle of the power transmission path from the engine to the reaping section, a continuously variable transmission device using a belt is installed as a speed change means for the reaping section. A reaping section speed detector is provided to detect the speed of the reaping section.
The speed adjustment position in the continuously variable transmission is changed so that a predetermined correspondence is established between the detection results of the rain detector.
さて、刈取部における適正な刈取り状態は、刈取部の動
作速度が刈取り穀稈の量に対応している場合に得られる
。ところが、刈取り穀稈の量は、車速の大小のみならず
、刈取るべき穀稈の圃面上における植立密度等、他の要
因に応じても変化する。従って、前述した如き構成の従
来の刈取部速度制御装置においては、他の要因を適宜に
設定することにより車速と刈取り穀稈の量との間に適宜
の対応関係を得て、この対応関係を満足する穀稈量に対
して適正な動作速度を刈取部に実現するようにしてあり
、他の要因が設定条件と大きく異なる場合、例えば、穀
稈の植立密度が極度に粗又は密であるような圃面上にお
ける収穫作業の際には、適正な刈取り状態が得られない
ために、刈取部から脱穀部への搬送装置において、穀稈
の受は継ぎが適正に行われず、稈こぼれが多発するとい
う難点があり、またこのように搬送される穀稈を脱穀。Now, a proper reaping condition in the reaping section is obtained if the operating speed of the reaping section corresponds to the amount of reaped grain culm. However, the amount of grain culm to be harvested varies not only depending on the vehicle speed but also depending on other factors such as the planting density of the grain culm to be harvested on the field surface. Therefore, in the conventional reaping section speed control device configured as described above, by appropriately setting other factors, an appropriate correspondence is obtained between the vehicle speed and the amount of reaped grain culm, and this correspondence is established. The reaping section is designed to achieve an appropriate operating speed for a satisfactory amount of grain culms, and if other factors differ significantly from the set conditions, for example, the planting density of grain culms is extremely sparse or dense. When harvesting on such a field, it is not possible to obtain proper cutting conditions, and therefore the grain culm is not properly spliced in the conveyor from the reaping section to the threshing section, resulting in spillage of the culm. There is a problem in that it occurs frequently, and the grain culms transported in this way are threshed.
選別処理する脱穀部においても、適正な負荷状態が得ら
れないために、脱穀精度の低下及び脱穀処理に伴う異音
の発生等を招来する虞があった。Even in the threshing section that performs the sorting process, an appropriate load state cannot be obtained, which may lead to a decrease in threshing accuracy and the generation of abnormal noises during the threshing process.
本発明は斯かる事情に鑑みてなされたものであり、刈取
部における処理穀稈の量に影響を与える要因の如何に拘
わらず、常に適正な刈取り状態を実現する刈取部速度制
御装置を提供することを目的とする。The present invention has been made in view of such circumstances, and provides a reaping section speed control device that always achieves an appropriate reaping state, regardless of the factors that affect the amount of grain culm processed in the reaping section. The purpose is to
本発明に係る収穫機の刈取部速度制御装置は、刈取部に
て刈取られた穀稈を脱穀部に搬送して脱穀２選別処理す
る収穫機に装備され、適正な刈取り状態を得るべく、前
記刈取部の動作速度を自動調節する収穫機の刈取部速度
制御装置において、前記搬送の中途における穀稈の、搬
送方向に直交する方向に対する傾斜姿勢を検出する姿勢
検出器と、該姿勢検出器の検出結果に基づいて、前記刈
取り状態の適否を判定する手段とを具備することを特徴
とする。The reaping section speed control device of a harvester according to the present invention is installed in a harvester that transports the grain culm harvested in the reaping section to the threshing section and performs threshing and sorting. A reaping section speed control device for a harvester that automatically adjusts the operating speed of a reaping section includes an attitude detector that detects an inclined attitude of the grain culm in the middle of the conveyance with respect to a direction perpendicular to the conveyance direction; The present invention is characterized by comprising means for determining suitability of the reaping state based on the detection result.
本発明においては、刈取部における刈取りの結果として
、刈取部から脱穀部への搬送穀稈に現出する姿勢により
、刈取部における刈取り状態の適否を判定し、この判定
結果に基づいて、刈取部の動作速度を変更する。In the present invention, as a result of reaping in the reaping section, the suitability of the reaping state in the reaping section is determined based on the posture that appears in the grain culm being transported from the reaping section to the threshing section, and based on this determination result, the reaping section Change the operating speed.
以下本発明をその実施例を示す図面に基づいて詳述する
。第１図は本発明に係る刈取部速度制御装置（以下本発
明装置という）を装備した収穫機の外観斜視図である。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on drawings showing embodiments thereof. FIG. 1 is an external perspective view of a harvester equipped with a reaping section speed control device according to the present invention (hereinafter referred to as the device of the present invention).
図において１は、左右一対の走行うローラ２゜２（片側
のみ図示）の上部に搭載された機体であり、機体１の前
部には、穀稈の刈取りを行う刈取部４が昇降自在に装着
され、また上部左側には、刈取穀稈の脱穀及び選別処理
を行う脱穀部３が前後方向の略全長に亘って設置され、
更に上部右側には、脱穀処理済の精粒を収納する籾タン
クＴが後部に、また運転席ＯＳが前部に夫々設置されて
いる。In the figure, 1 is a machine that is mounted on top of a pair of left and right running rollers 2゜2 (only one side is shown), and at the front of the machine 1, a reaping section 4 that reaps grain culms can be raised and lowered freely. A threshing section 3 for threshing and sorting the harvested grain culms is installed on the left side of the upper part over almost the entire length in the front and back direction.
Furthermore, on the upper right side, a paddy tank T for storing threshed fine grains is installed at the rear, and a driver's seat OS is installed at the front.
走行うローラ２．２には、機体１の後部に搭載されたエ
ンジンＥ（第２図参照）の駆動力が、図示しない主クラ
ッチ、主変速機及び副変速機を介し、更に左右各別のサ
イドクラッチを介して伝達され、左右同時に又は各別に
駆動されるようになっており、収穫機は、走行うローラ
２，２の動作に応じて、前、後進又は旋回するようにな
っている。前記主変速機及び副変速機における変速位置
の設定は、運転席ＤＳ左側の操作コラム５上に配設され
た主変速レバ５０及び副変速レバ５１の回動操作により
各別になされ、更にエンジンＥの回転数の変更は、これ
も前記操作コラム５上に配設されたアクセルレバ５２の
回動操作によりなされるようにしてあり、運転席ＤＳに
着座した作業者は、前記レバ５０，５Ｌ５２の操作によ
り適宜の走行速度を設定し、収［ｉを走行させることが
できる。The driving force of the engine E (see Fig. 2) mounted at the rear of the aircraft body 1 is applied to the running rollers 2.2 via a main clutch, a main transmission, and an auxiliary transmission (not shown), and further to the left and right wheels. The power is transmitted through a side clutch, and the left and right sides are driven simultaneously or separately, and the harvester moves forward, backward, or turns depending on the movement of the running rollers 2, 2. The shifting positions of the main transmission and the auxiliary transmission are set separately by rotating the main shift lever 50 and the auxiliary shift lever 51, which are arranged on the operation column 5 on the left side of the driver's seat DS. The rotation speed is changed by rotating an accelerator lever 52 arranged on the operation column 5, and the operator seated in the driver's seat DS can change the rotation speed of the levers 50, 5L52. It is possible to set an appropriate running speed through operation and run the vehicle at the same speed.
刈取部４は、下部の左右に前方に突出する態様にて固設
された一対の分草杆４０．４０、該分草杆４０゜４０の
後側上部に構成され、棒状をなす多数のタイン４１ａ、
４１ａ・・・を左右方向に水平に保った状態で上方向
に移動させてこれらの間に導入される穀稈を引き起こす
べ（動作する引き起し装置４１、及び該引き起し装置４
１の後下方に配設され１．左右方向に往復動する刈刃４
２等を備え、機体１の前進に伴って分草杆４０，４０・
・・の間に導入される穀稈を、引き起し装置４１の前述
の動作により引き起ごしつつ、これの株元を刈刃４２に
より切断して刈取るものである。該刈取部４には、エン
ジンＥの駆動力が、図示しない刈取りクラッチ、及び無
段変速装置６（第２図参照）を介して後述するように伝
達されており、引き起し装置４１におけるタイン４１ａ
、 ４１ａ・・・の上動速度、及び刈刃４２の往復動速
度等、刈取部４の動作速度は、エンジンＥの回転数と、
前記無段変速装置６における速度調節位置とにより決定
されるようになっている。前記刈取りクラッチの係断は
、操作コラム５上に配設された刈取りタラッチレバ５３
の回動操作に応じてなされ、該レバ５３が係合側に回動
操作されている場合にのみ、刈取部４に駆動力の伝達が
なされるようになっている。The reaping section 4 includes a pair of grass dividing rods 40.40 fixedly installed in a manner that projects forward to the left and right at the lower part, and a large number of rod-shaped tines at the upper rear side of the grass dividing rods 40.40. 41a,
41a... should be moved upward while being held horizontally in the left-right direction to cause the grain culm to be introduced between them (the operating pulling device 41 and the pulling device 4
It is arranged at the rear lower part of 1. Cutting blade 4 that reciprocates in the left and right direction
It is equipped with a second class, and as the aircraft 1 moves forward, the dividing rods 40, 40,
The grain culm introduced between the two is pulled up by the above-described operation of the pulling device 41, and is harvested by cutting the base of the grain with the cutting blade 42. The driving force of the engine E is transmitted to the reaping section 4 as described later through a reaping clutch (not shown) and a continuously variable transmission 6 (see FIG. 2). 41a
, 41a... and the reciprocating speed of the cutting blade 42, the operating speed of the reaping section 4 is determined by the rotation speed of the engine E,
The speed adjustment position in the continuously variable transmission 6 is determined. The reaping clutch is engaged or engaged by a reaping tarlatch lever 53 disposed on the operation column 5.
The driving force is transmitted to the reaping section 4 only when the lever 53 is rotated toward the engagement side.
図中７は、刈取部４と脱穀部３との間に、後部を上向き
として傾斜させた状態に配設した縦搬送チエインであっ
て、これの始端部及び終端部は、刈取部４の後側に配設
された図示しない下部搬送装置の終端部、及び脱穀部３
左側に形成された扱口に沿って前後方向に延設されたフ
ィードチエイン８の始端部に夫々臨ませである。而して
、刈取部４の前述の動作により刈取られた穀稈は、前記
下部搬送装置の動作により左側に搬送された後、縦搬送
チエイン７に受は継がれ、次いで該チエイン７によりそ
の株元を挾持された状態で後上方に搬送された後、フィ
ードチエイン８に受継がれ、前記扱口から脱穀部３内に
穂先を挿入した状態で更に後方に搬送される間に、脱穀
部３内部において脱穀され、脱穀処理済の排藁は、フィ
ードチエイン８の終端部から圃面上に排出されるように
なっている。In the figure, 7 is a vertical conveyance chain arranged between the reaping section 4 and the threshing section 3 in an inclined state with the rear part facing upward. The terminal end of the lower conveying device (not shown) disposed on the side and the threshing section 3
They face the starting ends of feed chains 8 extending in the front-rear direction along the handling ports formed on the left side. The grain culms harvested by the above-mentioned operation of the reaping section 4 are conveyed to the left side by the operation of the lower conveyance device, and then transferred to the vertical conveyance chain 7, which then transfers the grain to the stem. After being conveyed rearward and upward in a state in which the grains are held in place, they are transferred to the feed chain 8, and while being conveyed further rearward with the ear tip inserted into the threshing part 3 from the handling opening, the threshing part 3 The waste straw that has been threshed inside is discharged onto the field from the terminal end of the feed chain 8.
脱穀部３の前部外壁には、縦搬送チエイン７により搬送
される穀稈を撮像する撮像装置９０と、該撮像装置９０
からの画像信号を処理する画像信号処理部９１等から構
成され、刈取部４から脱穀部３へ搬送中の穀稈の姿勢を
検出する姿勢検出器９が固着しである。On the front outer wall of the threshing section 3, there is provided an imaging device 90 for imaging the grain culms transported by the vertical transport chain 7;
It consists of an image signal processing section 91 that processes image signals from the grain culm, etc., and a posture detector 9 that detects the posture of the grain culm being conveyed from the reaping section 4 to the threshing section 3 is fixed thereto.
第２図は、撮像装置９０による撮像範囲を示す模式的平
面図と共に示す姿勢検出器９の構成を示すブロック図で
ある。FIG. 2 is a block diagram showing the configuration of the attitude detector 9 together with a schematic plan view showing an imaging range by the imaging device 90. FIG.
撮像装置９０は、例えば、５１２Ｘ ５１２の画素数を
有するＣＣＤ （Ｃｈａｒｇｅ Ｃｏｕｐｌｅｄ Ｄ
ｅｖｉｃｅ 、電荷結合素子）９０ａと、該ＣＣＤ９０
ａの受光面に光を集める集光レンズ９０ｂ等から構成さ
れたものであり、第２図に２点鎖線にて示す如く、縦搬
送チエイン７にて搬送される穀稈Ｍの一部又は全部をそ
の内部に含み穀稈Ｍの搬送方向と平行な辺を有する略長
方形の撮像視野Ａ内の撮像がなされるように取付は位置
が設定されている。ＣＣＤ ９０ａの各画素は、これら
の表面上における光照射量に対応する電荷を蓄積し、画
像信号処理部９１から所定時間毎に与えられるトリガ信
号に応じて、蓄積電荷をＡ／Ｄ変換器９２に出力する。The imaging device 90 is, for example, a CCD (Charge Coupled D) having a pixel count of 512×512.
evice, charge-coupled device) 90a, and the CCD 90
It is composed of a condensing lens 90b that collects light on the light-receiving surface of a, etc., and as shown by the two-dot chain line in FIG. The mounting position is set so that an image is captured within a substantially rectangular imaging field of view A having sides parallel to the conveying direction of the grain culm M therein. Each pixel of the CCD 90a accumulates charges corresponding to the amount of light irradiated on these surfaces, and the accumulated charges are transferred to the A/D converter 92 in response to a trigger signal given from the image signal processing section 91 at predetermined intervals. Output to.
Ａ／Ｄ変換器９２の出力信号は、前記描像視野Ａを、縦
横に各５１２分割した各部分の明るさに対応するディジ
タル信号であり、ビデオメモリ９３又はビデオメモリ９
４に一旦記憶される。画像信号処理部９１は、前記トリ
ガ信号に応じて動作し、ビデオメモリ９３．９４のいず
れかの記憶内容、具体的には、−回前のトリガ信号に応
じた撮像装置９０の動作に応じてなされた記憶内容を取
込み、これから撮像視野Ａ内の穀稈Ｍの、搬送方向に対
する傾斜姿勢を求め、傾斜方向及び傾斜程度に対応する
レベルの姿勢信号を後述する速度制御部１０に出力する
。The output signal of the A/D converter 92 is a digital signal corresponding to the brightness of each part obtained by dividing the visual field A into 512 parts vertically and horizontally, and is a digital signal corresponding to the brightness of each part divided into 512 parts vertically and horizontally.
4 is temporarily stored. The image signal processing unit 91 operates according to the trigger signal, and operates according to the stored contents of either of the video memories 93 and 94, specifically, according to the operation of the imaging device 90 according to the - times previous trigger signal. The stored contents are taken in, the tilted attitude of the grain culm M within the imaging field of view A with respect to the transport direction is determined, and an attitude signal of a level corresponding to the inclination direction and degree of inclination is output to the speed control unit 10 described later.
第３図及び第４図は、撮像装置９０による穀稈Ｍの撮像
例を示す図である。第３図の撮像例においては、穀稈Ｍ
は、穂先を搬送方向上流側に向け、搬送方向に直交する
基準線Ｂに対し角度αだけ傾斜した状態で搬送されてお
り、一方、第４図の撮像例においては、穂先を搬送方向
下流側に向け、前記基準線Ｂに対し角度βだけ傾斜した
状態で搬送されている。画像信号処理部９１は、ビデオ
メモリ９３．９４からの取込みデータから、穀稈Ｍの傾
斜姿勢、具体的には、前記基準線Ｂに対する傾斜方向及
び傾斜角度を認識し、穀稈Ｍが基準線Ｂに対しいずれの
方向にも傾斜していない場合に所定の基単レベル■。を
有する姿勢信号を出力し、第３図（又は第４図）に示す
如く、穀稈Ｍが穂先を搬送方向上流側（又は下流側）に
向けて傾斜して搬送されている場合には、前記傾斜角α
（又は傾斜角β）の大きさに相当するだけ前記基準レベ
ル■。3 and 4 are diagrams showing examples of imaging of grain culm M by the imaging device 90. In the imaging example of Fig. 3, the grain culm M
is conveyed with the tip facing upstream in the conveying direction and inclined by an angle α with respect to the reference line B perpendicular to the conveying direction.On the other hand, in the image capture example of FIG. 4, the tip is facing downstream in the conveying direction. The paper is being transported in a state where it is inclined by an angle β with respect to the reference line B. The image signal processing unit 91 recognizes the inclination posture of the grain culm M, specifically, the inclination direction and inclination angle with respect to the reference line B, from the captured data from the video memories 93 and 94, and recognizes that the grain culm M is aligned with the reference line B. A predetermined basic level ■ if it is not inclined in any direction with respect to B. As shown in FIG. 3 (or FIG. 4), when the grain culm M is being transported with the tip thereof tilted toward the upstream side (or downstream side) in the transport direction, The inclination angle α
(or the inclination angle β).
よりも大きい（又は小さい）レベルの姿勢信号を出力す
るようになしである。There is no way to output an attitude signal with a level larger (or smaller) than the one shown in FIG.
さて、本発明装置は、以上の如く構成された姿勢検出器
９の出力信号に基づいて、刈取部４の動作速度を自動調
節するものであり、第５図はその構成を示すブロック図
である。Now, the device of the present invention automatically adjusts the operating speed of the reaping section 4 based on the output signal of the attitude detector 9 configured as described above, and FIG. 5 is a block diagram showing the configuration. .
図においてＥは、走行うローラ２，２、脱穀部３及び刈
取部４等、収穫機各部の駆動力を発生するエンジンであ
る。エンジンＥから刈取部４への伝動経路の中途には、
無段変速装置６が設けてあり、エンジンＥの駆動力は、
前記刈取りクラッチ及び該無段変速装置６を介して刈取
部４に伝達されている。無段変速装置６としては、例え
ば、駆動側Ｖプーリ６０、従動側Ｖプーリ６１、及びこ
れらの間に張架された■ヘルド６２を備えてなる図示の
如きＶベルト式のものが用いられる。In the figure, E is an engine that generates driving force for each part of the harvester, such as the running rollers 2, 2, threshing section 3, and reaping section 4. In the middle of the transmission path from the engine E to the reaping section 4,
A continuously variable transmission device 6 is provided, and the driving force of the engine E is
It is transmitted to the reaping section 4 via the reaping clutch and the continuously variable transmission 6. As the continuously variable transmission device 6, for example, a V-belt type device as shown in the figure is used, which includes a driving side V-pulley 60, a driven side V-pulley 61, and a heald 62 stretched between them.
この無段変速装置６の構成につき簡単に説明すると、駆
動側■プーリ６０は、エンジンＥの出力軸Ｅ１に■ベル
ト等の適宜の伝動機構を介して連結され、該エンジンＥ
の回転に伴って回転する駆動軸Ｅ２に、また従動側■プ
ーリ６１は、引き起し装置４１及び刈刃４２等、刈取部
４における各可動部に図示しない伝動機構を介して連結
され、その回転に応じて引き起し装置４１におけるタイ
ン４１ａ、４１ａ・・・の上動及び刈刃４２の往復動等
がなされるようにした刈取部駆動軸４３に、夫々同軸的
に装着されている。To briefly explain the configuration of this continuously variable transmission device 6, a driving side pulley 60 is connected to an output shaft E1 of an engine E via an appropriate transmission mechanism such as a belt.
The driven side pulley 61 is connected to the drive shaft E2 which rotates with the rotation of the drive shaft E2, and the driven side pulley 61 is connected to each movable part of the reaping section 4, such as the pulling device 41 and the cutting blade 42, via a transmission mechanism (not shown). They are each coaxially attached to a reaping unit drive shaft 43 that allows the tines 41a, 41a, .
駆動側■プーリ６０は、傘形部分を有する固定ブーり部
材６０ａを、回転及び軸長方向の移動を拘束した状態で
駆動軸Ｅ２に固着し、同様の傘形部分を有する移動ブー
り部材６０ｂを回転を拘束すると共に軸長方向への摺動
自在に駆動軸Ｅ２に装着し、夫々の傘形部分の間に■ベ
ルト６２を巻掛けるための■字形の溝が形成されるよう
に両者を対向させてなり、従動側■プーリ６１は、刈取
部駆動軸４３に回転及び軸長方向の移動を拘束して固着
された固定プーリ部材６１ａと、刈取部駆動軸４３に回
転を拘束すると共に軸長方向への摺動自在に装着された
移動プーリ部材６１ｂとを、同様に対向させてなるもの
である。従動側■プーリ６１の移動プーリ部材６１ｂは
、固定プーリ部材６１ａに近付く方向、即ち前記Ｖ字溝
の幅を狭める方向へ、押しばね６１ｃにより常時付勢さ
れており、また駆動側■プーリ６０の移動プーリ部材６
０ｂは、その一部を駆動軸Ｅ２の外側に遊嵌された移動
リング６０ｃに係合させてあり、該リング６０ｃの軸長
方向の移動に伴って移動し、固定プーリ部材６０ａに接
近又は離反するようになしである。そして、刈取部速度
調整用のモータ１１は、その回転を減速機１２を介して
回動アーム１３に伝達し、これを、その一端部を枢軸と
して回動せしめるべくなしてあり、該アーム１３の他端
部は、前記移動リング６０ｃに係合させである。而して
、モータ１１が正転（又は逆転）した場合、回動アーム
１３がこの回転方向に対応する方向に回動し、移動リン
グ６０ｃがこの回動方向に対応する方向に移動する結果
、移動プーリ部材６０ｂが固定プーリ部材６０ａに接近
（又は離反）し、両部材間に形成されるＶ字溝の幅が狭
く（又は広く）なる。Driving side (1) The pulley 60 has a fixed booby member 60a having an umbrella-shaped portion fixed to the drive shaft E2 in a state where rotation and movement in the axial direction are restrained, and a movable booby member 60b having a similar umbrella-shaped portion. is attached to the drive shaft E2 so as to restrict its rotation and to be able to slide freely in the axial direction, and the two are connected so that a ■-shaped groove for winding the belt 62 is formed between the respective umbrella-shaped portions. The driven side pulley 61 is made up of a fixed pulley member 61a which is fixed to the reaping part drive shaft 43 so as to restrict rotation and movement in the axial direction, and a fixed pulley member 61a which is fixed to the reaping part drive shaft 43 so as to restrict rotation and movement in the axial direction. A movable pulley member 61b mounted so as to be slidable in the longitudinal direction is similarly opposed to the movable pulley member 61b. The movable pulley member 61b of the driven side pulley 61 is constantly urged by a push spring 61c in the direction of approaching the fixed pulley member 61a, that is, in the direction of narrowing the width of the V-shaped groove. Moving pulley member 6
0b has a part engaged with a movable ring 60c that is loosely fitted on the outside of the drive shaft E2, and moves as the ring 60c moves in the axial direction to approach or move away from the fixed pulley member 60a. There is nothing like that. The motor 11 for adjusting the speed of the reaping section transmits its rotation to the rotating arm 13 via the reducer 12, and is configured to rotate the rotating arm 13 about one end of the rotating arm 13. The other end is engaged with the moving ring 60c. Therefore, when the motor 11 rotates forward (or reversely), the rotating arm 13 rotates in a direction corresponding to this rotating direction, and the moving ring 60c moves in a direction corresponding to this rotating direction. The movable pulley member 60b approaches (or moves away from) the fixed pulley member 60a, and the width of the V-shaped groove formed between both members becomes narrower (or wider).
従って、駆動側■プーリ６０における■ベルト６２のピ
ッチ径が増大（又は減少）し、これに応じて■ヘルド６
２の張力が増加（又は減少）する結果、従動側Ｖプーリ
６１におけるプーリ部材６１ａ、６１ｂが、前記張力と
押しばね６１ｃの付勢力とが釣り合うまで離反（又は接
近）せしめられ、従動側■プーリ６１におけるピッチ径
が減少（又は増大）して、刈取部駆動軸４３の回転数が
増加（又は減少）するのである。Therefore, the pitch diameter of the belt 62 on the driving side pulley 60 increases (or decreases), and accordingly, the pitch diameter of the belt 62 on the drive side
As a result of the increase (or decrease) in the tension of the driven side V-pulley 61, the pulley members 61a and 61b of the driven side V-pulley 61 are separated (or approached) until the tension and the biasing force of the push spring 61c are balanced, and the driven side pulley 61 is moved away from (or approached). The pitch diameter at 61 decreases (or increases), and the rotational speed of the reaping section drive shaft 43 increases (or decreases).
前記モータ１１の駆動回路１４は、マイクロプロセッサ
を用いてなり、刈取部４の動作速度を自動調節すべく動
作する速度制御部１０の出力ボートｂ１及びｂ２に接続
されており、出力ボートｂ＋ がハイレベルとなった場
合、駆動回路１４からの給電によりモータ１１が正転し
、無段変速装置６の前述の動作により刈取部駆動軸４３
の回転数が増加し、刈取部４における引き起し装置４１
及び刈刃４２の動作速度が増大する一方、出カポ−）ｂ
ｚがハイレベルとなった場合、モータ１１は逆転し、刈
取部４の動作速度が減少するようになしである。The drive circuit 14 for the motor 11 uses a microprocessor, and is connected to output boats b1 and b2 of a speed control section 10 that operates to automatically adjust the operating speed of the reaping section 4, and when the output boat b+ is high, level, the motor 11 rotates in the normal direction by power supply from the drive circuit 14, and the above-mentioned operation of the continuously variable transmission 6 causes the reaping part drive shaft 43 to rotate.
The number of rotations increases, and the pulling device 41 in the reaping section 4 increases.
While the operating speed of the cutting blade 42 increases, the output capo)b
When z becomes high level, the motor 11 is reversed and the operating speed of the reaping section 4 is reduced.
一方速度制御部１０の人力ボートａ＋には、前記姿勢検
出器９が接続され、該検出器９の出力信号が与えられて
いる。従って、速度制御部１０は大カポ−）ａ＋への入
力信号により、刈取部４から脱穀部３への搬送中の穀稈
のＭの姿勢を認識できる。On the other hand, the attitude detector 9 is connected to the human-powered boat a+ of the speed control unit 10, and an output signal of the detector 9 is provided. Therefore, the speed control section 10 can recognize the attitude of the grain M during transportation from the reaping section 4 to the threshing section 3 based on the input signal to the large capo a+.
また速度制御部１０の入力ボートａｚには、前記刈取り
タラッチレバ５３の基端枢支部近傍に配設され、該レバ
５３が刈取りクラッチを係合する側に回動操作された場
合にオンする刈取りスイッチ２０が接続され、該スイッ
チ２０のオンに応じて入力ボートａ、がハイレベルに転
じるようになしである。In addition, the input boat az of the speed control unit 10 includes a reaping switch that is disposed near the base end pivot portion of the reaping tarlatch lever 53 and is turned on when the lever 53 is rotated to the side that engages the reaping clutch. 20 is connected, and the input port a changes to high level when the switch 20 is turned on.
従って速度制御部１０は、入力ボートａ２のレベルによ
り、刈取部４への駆動力の伝達の有無を認識できる。Therefore, the speed control section 10 can recognize whether the driving force is being transmitted to the reaping section 4 based on the level of the input boat a2.
更に速度制御部１０の入力ポートａ３には、刈取部駆動
軸４３の回転数を検出する回転数検出器２１が接続され
ている。回転数検出器２１としては、例えば、第５図に
示す如く、刈取部駆動軸４３の一部に同軸的に固着され
た検出ギヤ４３ａの歯を、電磁ピックアップにより検出
するものを用いればよく、該検出器２１の出力は計数部
２２にて所定時間計数され、刈取部駆動軸４３の回転数
、即ら刈取部４の動作速度に相当する信号として速度制
御部１ｏに入力されるようになっている。Further, a rotation speed detector 21 that detects the rotation speed of the reaping section drive shaft 43 is connected to the input port a3 of the speed control section 10. As the rotation speed detector 21, for example, as shown in FIG. 5, a sensor that detects the teeth of a detection gear 43a coaxially fixed to a part of the reaping section drive shaft 43 using an electromagnetic pickup may be used. The output of the detector 21 is counted by a counting section 22 for a predetermined period of time, and is inputted to the speed control section 1o as a signal corresponding to the rotational speed of the reaping section drive shaft 43, that is, the operating speed of the reaping section 4. ing.
このように構成された速度制御部１０は、次のように動
作する。The speed control section 10 configured as described above operates as follows.
速度制御部１０は、ます入カポ−）ａｚのレベルにより
、刈取りクラッチの係断状態を調べ、これが遮断されて
おり、刈取部４への駆動力の伝達がなされていない場合
には、制御動作を行うことなく待機する。刈取りクラッ
チの係合が確認された場合、速度制御部１０は、次に人
力ボートａ＋への入力信号を取込み、刈取部４から脱穀
部３へ搬送中の穀稈Ｍの傾斜姿勢を認識する。The speed control unit 10 checks the engaged state of the reaping clutch based on the level of the input capo az, and if the reaping clutch is disconnected and the driving force is not being transmitted to the reaping unit 4, the control operation is performed. Wait without doing anything. When engagement of the reaping clutch is confirmed, the speed control section 10 then receives an input signal to the human-powered boat a+, and recognizes the tilted posture of the grain culm M being conveyed from the reaping section 4 to the threshing section 3.
さて、搬送中の穀稈Ｍの傾斜姿勢は、刈取部４における
刈取り状態に応じて異なる。即ち、刈取部４の動作速度
が適正な速度よりも小さ（、引き起し装置４１における
穀稈の引き起し速度が車速に対応する速度よりも小さい
場合、刈取部４への穀稈導入量は〜車速に対応するため
、穀稈の引き起こしが十分になされないままに下部搬送
装置に株元が挾持された状態、換言すれば穂先が遅れた
状態で搬送が開始される結果、該下部搬送装置から穀稈
を受継ぎ、脱穀部３へ搬送する縦搬送チエイン７におい
ても、株元に対し穂先が遅れた搬送状態が現出し、撮像
装置９０による撮像される撮像視野Ａ内の穀稈Ｍは、穂
先が搬送方向下流側に向けて傾斜した姿勢、即ち前記第
４図に示す如き傾斜姿勢を示すことになり、逆に刈取部
４の動作速度が適正な速度よりも大きい場合、穂先が搬
送方向上流側に向けて傾斜した姿勢、即ち前記第３図に
示す如き傾斜姿勢を示すことになる。Now, the inclined posture of the grain culm M during transportation differs depending on the reaping state in the reaping section 4. In other words, the operating speed of the reaping section 4 is lower than the appropriate speed (if the speed at which the grain culm is pulled up by the pulling device 41 is lower than the speed corresponding to the vehicle speed, the amount of grain culm introduced into the reaping section 4 In order to keep up with the vehicle speed, the grain head is clamped by the lower conveying device before the grain culm is raised sufficiently, in other words, the grain tip is delayed and conveyance is started, resulting in the lower conveyance being delayed. Even in the vertical conveyance chain 7 which inherits the grain culm from the device and conveys it to the threshing section 3, a conveyance state in which the tip of the grain lags behind the stock head appears, and the grain culm M within the imaging field of view A that is imaged by the imaging device 90 appears. In this case, the tip of the ear is inclined toward the downstream side in the conveyance direction, that is, the tip of the ear is in an inclined posture as shown in FIG. It exhibits an attitude inclined toward the upstream side in the conveyance direction, that is, an inclined attitude as shown in FIG. 3 above.
人力ボートａ＋への人力信号、即ち姿勢検出器９からの
姿勢信号は、前述した如く搬送方向に対する穀稈Ｍの傾
斜方向及び傾斜角度の大きさに対応するから、速度制御
部１０は、入力ボートａＩへの入力信号を取込んだ後、
これと前記基準レベル■。との間の大小関係を調べるこ
とにより、刈取部４における刈取り状態の適否、具体的
には刈取部４の動作速度の適正速度に対する大小を判定
することができる。例えば、速度制御部１ｏは、入力ボ
ートａ１への人力信号と基準レベルＶ０との差を求め、
これが負（又は正）である場合には、搬送中の穀稈Ｍが
、搬送方向に対し穂先を前（又は後）とした搬送状態に
あること、換言すれば刈取部４の動作速度が過小（又は
過大）であると判定すると共に、前記差の絶対値により
適正速度からの偏り量を求め、この偏り量に対応す、る
時間だけ出力ボートｂ、（又は出カポ−ｈｂｚ）をハイ
レベルに転じ、モータ１４を正転（又は逆転）させ、無
段変速装置６における変速位置を変更して、刈取部駆動
軸４３を増速（又は減速）せしめ、該駆動軸４３の回転
数、即ち刈取部４の動作速度を適正速度に維持する。Since the human power signal to the human-powered boat a+, that is, the attitude signal from the attitude detector 9, corresponds to the inclination direction and the inclination angle of the grain culm M with respect to the transport direction as described above, the speed control unit 10 controls the input boat After capturing the input signal to aI,
This and the standard level ■. By examining the magnitude relationship between the two, it is possible to determine whether the reaping state of the reaping section 4 is appropriate, specifically whether the operating speed of the reaping section 4 is large or small relative to the appropriate speed. For example, the speed control unit 1o determines the difference between the human power signal to the input boat a1 and the reference level V0,
If this is negative (or positive), it means that the grain culm M being transported is in a state where the tip is in the front (or back) with respect to the transport direction, in other words, the operating speed of the reaping unit 4 is too low. (or excessive), determine the amount of deviation from the proper speed from the absolute value of the difference, and set the output boat b (or output capo-hbz) to a high level for the time corresponding to this amount of deviation. , the motor 14 is rotated forward (or reversed), the speed change position in the continuously variable transmission device 6 is changed, the speed of the reaping section drive shaft 43 is increased (or decelerated), and the rotational speed of the drive shaft 43 is increased, i.e. The operating speed of the reaping section 4 is maintained at an appropriate speed.
なお本実施例においては、姿勢検出器９は、１般送方向
に直交する基準線Ｂに対する傾斜方向及び傾斜角度を姿
勢信号として出力する構成としたが、例えば、搬送方向
に平行な基準線等、他の基準線に対する傾斜方向及び傾
斜角度を出力する構成としてもよいことは言うまでもな
い。In this embodiment, the attitude detector 9 is configured to output the inclination direction and inclination angle with respect to the reference line B perpendicular to the general transport direction as an attitude signal. , it goes without saying that a configuration may also be adopted in which the inclination direction and inclination angle with respect to other reference lines are output.
また本実施例においては、刈取部４の変速手段として、
■ベルト式の無段変速装置６を用いているが、リングコ
ーン式等、他の形式による無段変速装置を用いてもよく
、更に有段式の変速装置を用いてもよい。Further, in this embodiment, as a speed change means of the reaping section 4,
(2) Although a belt type continuously variable transmission 6 is used, other types of continuously variable transmission such as a ring cone type or the like may be used, or a stepped type transmission may also be used.
［効果〕
以上詳述した如く本発明装置においては、刈取部におけ
る刈取り状態の適否を、刈取部から脱穀部へ搬送中の穀
稈の姿勢により判定しているから、圃面上における植立
密度の粗密等、刈取り量に影響を与える車速以外の要因
の如何に拘わらず、常に適正な刈取り状態が実現され、
搬送中における稈こぼれが防止でき、更に脱穀部におけ
る脱穀精度の低下及び異音の発生が防止できる等、本発
明は優れた効果を奏する。[Effects] As described in detail above, in the device of the present invention, the appropriateness of the reaping state in the reaping section is determined by the attitude of the grain stalks being conveyed from the reaping section to the threshing section. Regardless of factors other than vehicle speed that affect the amount of mowing, such as the density of the mowing, the appropriate mowing condition is always achieved.
The present invention has excellent effects such as being able to prevent spillage of culms during transportation, and further preventing deterioration in threshing accuracy and generation of abnormal noise in the threshing section.
第１図は本発明装置を装備した収穫機の外観斜視図、第
２図は姿勢検出器の模式的ブロック図、第３図及び第４
図は姿勢検出器を構成する撮像装置による盪像例を示す
図、第５図は本発明装置の構成を示すブロック図である
。
３・・・脱穀部 ４・・・刈取部 ６・・・無段変
速装置 ９・・・姿勢検出器 １０・・・速度制御
部１１・・・モータ ２０・・・刈取りスイッチ
２１・・・回転数検出器 ４１・・・引き起し装置
４２・・・刈刃４３・・・刈取部駆動軸 ６０・・
・駆動側■プーリ６１・・・従動側Ｖプーリ ９０・
・・撮像装置 ９１・・・画像信号処理部 Ｅ・・
・エンジン
特 許 出願人 ヤンマーａ機株式会社代理人 弁理
士 河 野 登 夫第３図
第４図Figure 1 is an external perspective view of a harvester equipped with the device of the present invention, Figure 2 is a schematic block diagram of the attitude detector, Figures 3 and 4.
The figure shows an example of an image taken by an imaging device constituting the attitude detector, and FIG. 5 is a block diagram showing the configuration of the apparatus of the present invention. 3... Threshing section 4... Reaping section 6... Continuously variable transmission 9... Attitude detector 10... Speed control section 11... Motor 20... Reaping switch
21... Rotation speed detector 41... Pulling device
42... Cutting blade 43... Reaping part drive shaft 60...
・Drive side ■Pulley 61... Driven side V pulley 90・
...Imaging device 91...Image signal processing unit E...
・Engine patent Applicant Yanmar A-Ki Co., Ltd. Agent Patent attorney Noboru Kono Figure 3 Figure 4
Claims (1)
、選別処理する収穫機に装備され、適正な刈取り状態を
得るべく、前記刈取部の動作速度を自動調節する収穫機
の刈取部速度制御装置において、 前記搬送の中途における穀稈の、搬送方向 に対する傾斜姿勢を検出する姿勢検出器と、該姿勢検出
器の検出結果に基づいて、前記 刈取り状態の適否を判定する手段と を具備することを特徴とする収穫機の刈取 部速度制御装置。[Claims] 1. A harvester is equipped with which the grain culm harvested by the reaping section is transported to the threshing section for threshing and sorting, and the operating speed of the reaping section is adjusted in order to obtain an appropriate reaping state. A reaping section speed control device of a harvester that automatically adjusts the reaping section speed control device includes: an attitude detector that detects an inclined attitude of the grain culm in the middle of the conveyance with respect to the conveyance direction; 1. A reaping section speed control device for a harvester, comprising means for determining suitability.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10103388A JPH01273511A (en) | 1988-04-22 | 1988-04-22 | Speed control device of reaping part of harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10103388A JPH01273511A (en) | 1988-04-22 | 1988-04-22 | Speed control device of reaping part of harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01273511A true JPH01273511A (en) | 1989-11-01 |
Family
ID=14289857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10103388A Pending JPH01273511A (en) | 1988-04-22 | 1988-04-22 | Speed control device of reaping part of harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01273511A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009106255A (en) * | 2007-11-01 | 2009-05-21 | Yanmar Co Ltd | Harvester |
-
1988
- 1988-04-22 JP JP10103388A patent/JPH01273511A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009106255A (en) * | 2007-11-01 | 2009-05-21 | Yanmar Co Ltd | Harvester |
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