JPH073A - Steering apparatus of reaping harvester - Google Patents
Steering apparatus of reaping harvesterInfo
- Publication number
- JPH073A JPH073A JP14725893A JP14725893A JPH073A JP H073 A JPH073 A JP H073A JP 14725893 A JP14725893 A JP 14725893A JP 14725893 A JP14725893 A JP 14725893A JP H073 A JPH073 A JP H073A
- Authority
- JP
- Japan
- Prior art keywords
- ridge
- sensor
- levee
- weeding tool
- machine body
- 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
Landscapes
- Guiding Agricultural Machines (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、刈取収穫機を自動操向
する装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically operating a harvester.
【０００２】[0002]
【従来の技術】従来より、作物に沿って機体を自動操向
する手段が種々開発されているが、畦際における刈取時
には人為的に操向操作するように構成していた。2. Description of the Related Art Conventionally, various means for automatically manipulating a machine body along a crop have been developed, but it has been constructed so that a maneuvering operation is artificially performed at the time of mowing at a ridge.
【０００３】[0003]
【発明が解決しようとする課題】つまり、畦際では手植
えすることがあるために、最も畦に近い作物と畦との距
離が特に小さいことがあり、このような場合に作物追従
方式の自動操向制御を行うと、機体前端下部の未刈側端
部に配置した未刈側固定分草具が畦に衝突するおそれが
あり、そこで、畦際における刈取時には人為的に操向操
作することが多いのである。しかし、機体前端下部の未
刈側端部に配置した未刈側固定分草具の位置は搭乗運転
部から見づらいために、人為操向操作の誤操作で畦に未
刈側固定分草具を突っ込むトラブルを生じこともあり、
畦際走行時の操向操作性の向上及び未刈側固定分草具の
破損防止の面から改良の余地があった。本発明の目的
は、畦際における刈取走行の運転性を向上し、かつ、畦
との衝突による未刈側固定分草具の破損を確実に防止す
る点にある。That is, since the plant may be manually planted at the edge of the ridge, the distance between the crop closest to the ridge and the ridge may be particularly small. In such a case, the crop-following automatic operation is performed. If the direction control is performed, the uncut side fixed weeding tool located at the uncut side end of the lower part of the front end of the machine may collide with the ridges.Therefore, it is possible to artificially steer when cutting the ridges. There are many. However, it is difficult to see the position of the uncut side fixed weeding tool placed at the uncut side end of the lower part of the front end of the machine, so the uncut side fixed weeding tool is thrust into the ridge due to an incorrect operation of the manual steering operation. It may cause trouble,
There was room for improvement in terms of improving the steering operability when driving on the edge of the ridge and preventing damage to the fixed weeding tool on the uncut side. An object of the present invention is to improve the operability of mowing traveling on a ridge and to reliably prevent damage to the uncut side fixed weeding tool due to a collision with the ridge.
【０００４】[0004]
【課題を解決するための手段】本発明の特徴構成は、機
体前端下部の未刈側端部に未刈側固定分草具を設けた刈
取収穫機において、未刈側固定分草具とその横側の畦と
の間隔を検出するセンサーを設け、センサーからの情報
に基づいて未刈側固定分草具と畦との間隔を設定範囲に
維持する状態で機体操向操作部を自動操作する畦追従走
行用制御器を設けたことにある。A characteristic configuration of the present invention is to provide a reaping harvester in which an uncut side fixed weeding tool is provided at an uncut side end of a lower portion of a front end of a machine body. A sensor that detects the distance from the ridge on the lateral side is provided, and the airframe steering operation section is automatically operated based on the information from the sensor while maintaining the distance between the fixed weeding tool on the uncut side and the ridge within the set range. There is a controller for running the ridges.
【０００５】[0005]
【作用】つまり、畦際における刈取走行において、未刈
側固定分草具とその横側の畦との間隔をセンサーで検出
させて、センサーからの情報に基づいて畦追従走行用制
御器により未刈側固定分草具と畦との間隔を設定範囲に
維持するように自動的に機体を操向操作するように構成
してあるから、畦際における刈取走行の運転が容易であ
り、畦との衝突による未刈側固定分草具の破損を確実に
防止できる。[Effect] In other words, during mowing traveling at the edge of the ridge, the sensor detects the distance between the fixed weeding tool on the uncut side and the ridge on the lateral side, and the controller for the ridge-following traveling determines the distance based on the information from the sensor. Since it is configured to automatically steer the machine to maintain the distance between the fixed-side weeding implement on the cutting side and the ridge, it is easy to drive the cutting operation on the ridge and It is possible to reliably prevent damage to the fixed weeding tool on the uncut side due to the collision of.
【０００６】[0006]
【発明の効果】その結果、畦際における刈取走行の運転
性を向上でき、かつ、畦との衝突による未刈側固定分草
具の破損を確実に防止できる、畦際の刈取走行性能にお
いて一段と優れた刈取収穫機を提供できるようになっ
た。As a result, it is possible to improve the driving performance of the mowing traveling on the ridge, and to reliably prevent the uncut side fixed weeding tool from being damaged due to the collision with the ridge, and to further improve the mowing traveling performance on the ridge. We are now able to provide excellent harvesters.
【０００７】[0007]
【実施例】図１に自脱型コンバインの前部が示されてい
る。このコンバインは、左右一対のクローラ式走行装置
１を備えた車体の前部に、刈取部２を油圧シリンダ３に
よる支点４周りでの揺動で昇降操作自在に連結するとと
もに、車体上に脱穀装置７を搭載し、前記刈取部２に左
右に並設した固定分草具１２、植立穀稈引起こし装置
５、刈刃６、刈取穀稈を脱穀装置７に送る株元側挾持搬
送装置８及び穂先側係止搬送装置９を設け、脱穀装置７
には刈取部２からの穀稈を横倒し姿勢で挟持搬送しなが
ら脱穀装置７内を通過させるフィードチェーン１０を設
けた構造となっている。図２及び図３に示すように、機
体前端下部に位置する固定分草具１２のうち未刈側端部
に配置した未刈側固定分草具１２ａに、未刈側固定分草
具１２ａとその横側の畦との間隔を検出する接触揺動式
センサー１３を、畦側に張り出すようにバネで付勢した
状態で設け、左右のクローラ式走行装置１の推進速度に
差を付けて機体を操向するための機体操向操作部１４を
センサー１３からの情報に基づいて自動操作する畦追従
走行用制御器１５を設け、畦際における刈取走行におい
てセンサー１３と畦追従走行用制御器１５の作用で未刈
側固定分草具１２ａと畦との間隔を設定範囲に維持する
ように構成してある。つまり、畦にセンサー１３を接触
させて、センサー１３が標準姿勢Ｘである時には左右の
クローラ式走行装置１を同速で駆動して機体を直進さ
せ、センサー１３が標準姿勢Ｘより張り出した姿勢Ｙで
ある時には、左側のクローラ式走行装置１の推進速度を
低下させることで機体を畦に接近するように操向させ、
センサー１３が標準姿勢Ｘより引っ込んだ姿勢Ｚである
時には、右側のクローラ式走行装置１の推進速度を低下
させることで機体を畦から離すように操向させ、畦際に
おける刈取走行の運転を容易にし、畦との衝突による未
刈側固定分草具１２ａの破損を防止するように構成して
ある。機体に固定したセンサー台１６に縦向きの支軸１
７を立設し、センサー１３を支軸１７に回転自在に取付
け、センサー１３にボールストッパー１８をセンサー台
１６の複数の凹部１９に選択的に係合自在に付設し、セ
ンサー１３の対機体取付け角度調節により未刈側固定分
草具１２ａと畦との設定間隔を変更できるように構成し
てある。EXAMPLE FIG. 1 shows the front part of a self-removing combine. In this combine, a cutting unit 2 is connected to a front portion of a vehicle body provided with a pair of left and right crawler type traveling devices 1 so as to be vertically movable by swinging around a fulcrum 4 by a hydraulic cylinder 3, and a threshing device is provided on the vehicle body. A fixed weeding tool 12, which is mounted side by side on the cutting section 2, a planting grain culm raising device 5, a cutting blade 6, and a stock side holding and conveying device 8 for sending the slaughter grain culm to the threshing device 7. And the tip side locking transport device 9 are provided, and the threshing device 7 is provided.
1 has a structure in which a feed chain 10 is provided to pass the grain culm from the reaping unit 2 sideways while sandwiching and transporting the grain culm in the threshing device 7. As shown in FIG. 2 and FIG. 3, the uncut side fixed weeding tool 12a is provided on the uncut side fixed weeding tool 12a arranged at the uncut side end of the fixed weeding tool 12 located at the lower part of the front end of the machine body. The contact swing sensor 13 for detecting the distance from the ridge on the side is provided in a state of being biased by a spring so as to project to the ridge, and the propulsion speeds of the left and right crawler type traveling devices 1 are made different from each other. A ridge-following traveling controller 15 for automatically operating the machine body steering operation unit 14 for steering the machine body on the basis of information from the sensor 13 is provided, and the sensor 13 and the ridge-following traveling controller are provided for mowing traveling on the ridge. By the action of 15, the gap between the uncut side fixed weeding tool 12a and the ridge is maintained within the set range. That is, when the sensor 13 is brought into contact with the ridges and the sensor 13 is in the standard posture X, the left and right crawler type traveling devices 1 are driven at the same speed to move the machine body straight, and the sensor 13 projects the posture Y that is overhanging from the standard posture X. When it is, the propulsion speed of the crawler type traveling device 1 on the left side is decreased to steer the aircraft to approach the ridge,
When the sensor 13 is in the posture Z retracted from the standard posture X, the propulsion speed of the crawler-type traveling device 1 on the right side is reduced to steer the aircraft away from the ridges, facilitating the operation of mowing traveling on the ridges. In addition, the uncut side fixed weeding tool 12a is prevented from being damaged due to the collision with the ridge. Vertical support shaft 1 on the sensor base 16 fixed to the aircraft
7, the sensor 13 is rotatably attached to the support shaft 17, the ball stopper 18 is attached to the sensor 13 so as to be selectively engageable with the plurality of recesses 19 of the sensor base 16, and the sensor 13 is attached to the body. The setting interval between the uncut side fixed weeding tool 12a and the ridge can be changed by adjusting the angle.
【０００８】〔別実施例〕図４に示すように、センサー
１３の対機体取付け角度を調節するために、縦向きの支
軸２０に回転自在に取付けたセンサー１３にバネ２１と
操作具２２と連動のワイヤー２３を連結し、操作具２２
により搭乗運転部などから遠隔操作できるように構成し
てもよく、また、センサー１３の対機体取付け角度を固
定してもよい。センサー１３の形式は接触式、あるい
は、超音波や光を利用した無接触式などの公知のものか
ら適宜選定できる。本発明は、各種形式のコンバインや
バインダーなどの刈取収穫機に適用できる。[Other Embodiments] As shown in FIG. 4, in order to adjust the mounting angle of the sensor 13 with respect to the machine body, a spring 21 and an operating tool 22 are attached to a sensor 13 rotatably mounted on a vertically oriented support shaft 20. Connecting the interlocking wire 23, the operation tool 22
May be configured to be remotely controlled from the boarding operation unit or the like, and the mounting angle of the sensor 13 with respect to the body may be fixed. The type of the sensor 13 can be appropriately selected from known types such as a contact type or a non-contact type using ultrasonic waves or light. INDUSTRIAL APPLICABILITY The present invention can be applied to various types of combine harvesters, binders, and other harvesters.
【０００９】尚、特許請求の範囲の項に図面との対照を
便利にするために符号を記すが、該記入により本発明は
添付図面の構成に限定されるものではない。It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.
【図面の簡単な説明】[Brief description of drawings]
【図１】コンバイン前部の側面図FIG. 1 is a side view of the front part of the combine.
【図２】要部の平面図FIG. 2 is a plan view of the main part
【図３】要部の一部切り欠き側面図FIG. 3 is a side view of a main part with a part thereof cut away.
【図４】別実施例の要部平面図FIG. 4 is a plan view of an essential part of another embodiment.
１２ａ 未刈側固定分草具 １３ センサー １４ 機体操向操作部 １５ 畦追従走行用制御器 12a Uncut side fixed weeding tool 13 Sensor 14 Airframe steering operation part 15 Controller for ridge following running
Claims (1)
分草具（１２ａ）を設けた刈取収穫機において、前記未
刈側固定分草具（１２ａ）とその横側の畦との間隔を検
出するセンサー（１３）を設け、前記センサー（１３）
からの情報に基づいて前記未刈側固定分草具（１２ａ）
と畦との間隔を設定範囲に維持する状態で機体操向操作
部（１４）を自動操作する畦追従走行用制御器（１５）
を設けてある刈取収穫機の操向装置。1. A reaping harvester having an uncut side fixed weeding tool (12a) provided at an uncut side end of a lower portion of a front end of a machine body, wherein the uncut side fixed weeding tool (12a) and a ridge on a side thereof. A sensor (13) for detecting the interval between
Based on information from the uncut side fixed weeding tool (12a)
A ridge-following traveling controller (15) for automatically operating the machine body steering operation unit (14) while maintaining the distance between the ridge and the ridge within a set range.
Steering device for harvesting and harvesting machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14725893A JPH073A (en) | 1993-06-18 | 1993-06-18 | Steering apparatus of reaping harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14725893A JPH073A (en) | 1993-06-18 | 1993-06-18 | Steering apparatus of reaping harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH073A true JPH073A (en) | 1995-01-06 |
Family
ID=15426168
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14725893A Pending JPH073A (en) | 1993-06-18 | 1993-06-18 | Steering apparatus of reaping harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH073A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007050614B4 (en) | 2006-10-31 | 2018-05-09 | Toyota Jidosha Kabushiki Kaisha | Knee protective airbag device |
| JP2019170361A (en) * | 2018-03-27 | 2019-10-10 | ヤンマー株式会社 | Combine harvester |
-
1993
- 1993-06-18 JP JP14725893A patent/JPH073A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007050614B4 (en) | 2006-10-31 | 2018-05-09 | Toyota Jidosha Kabushiki Kaisha | Knee protective airbag device |
| JP2019170361A (en) * | 2018-03-27 | 2019-10-10 | ヤンマー株式会社 | Combine harvester |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6832469B2 (en) | Automatically adjusting shaker head harvester with steering correction and improved shaker head mounting | |
| US20050252190A1 (en) | Adjustable shaker head harvester with steering correction and improved shaker head mounting | |
| EP2995189B1 (en) | Combined cam and reel arm | |
| US6901731B2 (en) | Automatically adjusting shaker head harvester with steering correction and improved shaker head mounting | |
| GB1591434A (en) | Device for removing the stalk from a cabbage head and a cabbage-harvesting machine including such a device | |
| JPH073A (en) | Steering apparatus of reaping harvester | |
| JPH0561887B2 (en) | ||
| JPS6245525Y2 (en) | ||
| JP3000629B2 (en) | Combine grain culm conveyor | |
| JP3417045B2 (en) | Combine harvester | |
| JP2878225B2 (en) | Combine harvester | |
| JP2605775Y2 (en) | Direction detection device in harvester | |
| JP4617138B2 (en) | Combine | |
| JPH0547560Y2 (en) | ||
| JPH0751018B2 (en) | Combine harvesting pretreatment device | |
| JPS6018012Y2 (en) | Automatic steering control type reaping machine | |
| JP3046691B2 (en) | Steering control of reaper | |
| JP5313749B2 (en) | Combine | |
| JP2956416B2 (en) | Left and right slide type harvester | |
| JPH0662608A (en) | Stem culm position detector of reaping harvester | |
| JPH0531863Y2 (en) | ||
| JPH0119639Y2 (en) | ||
| JPH05103528A (en) | Control device of threshing depth of combine | |
| JPH0528083B2 (en) | ||
| JPS6181725A (en) | Combine |