JPS6227050Y2 - - Google Patents
Info
- Publication number
- JPS6227050Y2 JPS6227050Y2 JP1979002460U JP246079U JPS6227050Y2 JP S6227050 Y2 JPS6227050 Y2 JP S6227050Y2 JP 1979002460 U JP1979002460 U JP 1979002460U JP 246079 U JP246079 U JP 246079U JP S6227050 Y2 JPS6227050 Y2 JP S6227050Y2
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- sensors
- activated
- turned
- machine
- 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.)
- Expired
Links
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000004913 activation Effects 0.000 claims 1
- 238000005520 cutting process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008531 maintenance mechanism Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
Description
【考案の詳細な説明】
本考案は、相隣る植立茎稈のあいだを突入移動
するデバイダーの左右両脇に、互いに独立した状
態で、植立茎稈との接触・非接触により入切作動
する一対の方向制御用センサーを設け、これら左
右一対のセンサーの何れか一方が入り作動したと
きデバイダーに対してその作動センサーとは反対
側に機体を操向制御するとともに、左右一対のセ
ンサーがともに植立茎稈に接触せずに切り作動状
態にあるときには機体を直進させ、かつ主として
横刈り時に多く見られるように相隣る植立茎稈の
左右方向離間距離が小さくて左右一対のセンサー
がともに入り作動したときにも機体を直進させる
べく構成した制御機構を設けてある条間追従式方
向制御装置付刈取機の改良に関する。[Detailed explanation of the invention] This invention is designed to separate the left and right sides of the divider, which moves between adjacent planted stem culms, by contacting or non-contact with the planted stem culms, independently of each other. A pair of directional control sensors are provided that operate, and when one of the left and right sensors enters and operates, the aircraft is steered to the opposite side of the divider from the operating sensor, and the left and right sensors When the machine is in the cutting operation state without contacting the planted stem culms, the machine moves straight, and the distance between adjacent planted stem culms in the left and right direction is small, as is often seen when mowing horizontally. The present invention relates to an improvement in a reaper with a row tracking type directional control device, which is provided with a control mechanism configured to cause the machine body to move straight even when both are engaged and activated.
従来のこの種の条間追従式方向制御装置付刈取
機にあつては、第８図イ，ロ，ハのように、一方
のセンサーS1が入り作動したのち、このセンサー
が入り作動状態を保つている間に他方のセンサー
S2も入り作動し、しかるのちに前記一方のセンサ
ーのみが切り作動するに至るような状態では、極
めて短時間のうちに頻繁に操向制御動作が行なわ
れ、機体が迷走する故に、乗り心地が悪く、又、
デバイダー１が植立茎稈を突き刺して傷める等の
欠点があつた。 In the conventional harvester with row-to-row following type direction control device, as shown in Fig. 8 (a), (b), and (c), after one sensor S1 is turned on and operates, while this sensor is turned on and keeps operating, the other sensor
When S2 is also turned on and only one of the sensors is turned off, the steering control operation is performed frequently in a very short time, and the aircraft becomes erratic, making the ride uncomfortable.
There was a drawback in that the divider 1 pierced and damaged the planting stem culm.
本考案は、このような従来欠点を解消すること
を目的とする。 The present invention aims to eliminate such conventional drawbacks.
以下、先ず本考案の実施態様を図面に基づいて
説明する。 Hereinafter, first, embodiments of the present invention will be described based on the drawings.
第１図は、多条刈り式コンバインの前処理部の
平面を概略的に示す。複数のデバイダー１……の
うち、既刈側端部以外の任意の（図示のものでは
中央の）デバイダー１には、互いに独立して入切
作動される左右一対の方向制御用センサーS1，S2
が取付けられている。これらセンサーS1，S2は、
第２図、第３図に示すようにくの字状に構成さ
れ、かつセンサーボツクス２内に設けた対応スイ
ツチSw1，Sw2（第４図参照）の回動用縦軸３，
３に対し左右横軸芯周りに相対回動自在に挿通さ
れ、かつ止めナツト４，４……をもつて任意の回
動姿勢で位置固定可能となつていて、前記横軸芯
周りでの姿勢変更によりセンサーS1，S2先端の対
地高さを、雑草の有無、茎稈の倒伏度合等の状況
に対応させて調整する。 FIG. 1 schematically shows a plan view of a pretreatment section of a multi-row combine harvester. Among the plurality of dividers 1..., any divider 1 other than the cut end (the center one in the figure) is equipped with a pair of left and right direction control sensors S1 , which are turned on and off independently of each other. S 2
is installed. These sensors S 1 and S 2 are
As shown in FIGS. 2 and 3, the vertical shafts 3 for rotating the corresponding switches Sw 1 and Sw 2 (see FIG. 4), which are configured in a dogleg shape and provided inside the sensor box 2,
3 so as to be relatively rotatable around the left and right horizontal axes, and can be fixed in position in any rotational position using locking nuts 4, 4... Through this change, the height of the tips of the sensors S 1 and S 2 above the ground can be adjusted in accordance with conditions such as the presence or absence of weeds and the degree of lodging of stems and culms.
第４図は、前記センサーS1，S2の作動に基づい
て機体を操行制御する機構Ａを示した電気回路図
である。ここで、Sw1，Sw2の各々は、前述の通
り左右のセンサーS1，S2に対応するスイツチで、
対応するセンサーが植立茎稈に接触することなく
横方向への突出姿勢を保つているときには閉動さ
れており（これをセンサーの切り作動と定め
る）、かつ対応するセンサーが茎稈との接触によ
り後方へ揺動されたときに開動される（これをセ
ンサーの入り状態と定める）。尚、スイツチ
Sw1，Sw2が常開のものである場合は、その閉状
態をセンサーS1，S2の入り作動状態と定めるもの
とする。So1，So2の各々は、左右の走行装置（図
外）に対する制動用ソレノイド、T1，T2の各々
は、左右ソレノイドSo1，So2に対するスイツチト
ランジスタ、V1，V2の各々は、トランジスタ
T1，T2の導通用電源、V0は両ソレノイドSo1，
So2に対する共用電源、Sw0は第１図にも示した
ように機体が植立茎稈群に突入開始すれば、茎稈
との接当で必ず作動されて電気回路（操向制御機
構Ａ）を起動状態に移行させるスイツチ、複数の
Ｄ……はダイオードを夫々示す。T3は、両セン
サースイツチSw1，Sw2がともに開のとき、つま
り両センサーS1，S2がともに入り作動したとき、
導通用電源V1，V2からソレノイド付勢用のトラ
ンジスタT1，T2に電流が流れることを、アース
により遮断するためのトランジスタであり、この
トランジスタT3はアンド素子ANDを介してセン
サースイツチSw1，Sw2に接続されている。V3は
遮断用トランジスタT3の導通用電源で、何れか
一方のセンサースイツチSw1〔又はSw2〕が開のと
き、つまり何れか一方のセンサーS1〔又はS2〕が
入り作動状態で他方のセンサーS2〔又はS1〕が切
り作動状態にあるときは、アンド素子ANDはそ
の閉動しているスイツチSw2〔又はSw1〕を介して
アースされるためトランジスタT3は導通せず、
従つて開動しているスイツチSw1〔又はSw2〕側の
導通用電源V1〔又はV2〕から付勢用トランジスタ
T1〔又はT2〕に電流が流れてそれを導通し、もつ
てソレノイドSo1〔又はSo2〕を付勢して、何れか
一方の走行装置に制動をかけ、もつて機体を入り
作動したセンサーS1〔又はS2〕とは反対側に操向
制動する。 FIG. 4 is an electrical circuit diagram showing a mechanism A that controls the operation of the aircraft based on the operations of the sensors S 1 and S 2 . Here, each of Sw 1 and Sw 2 is a switch corresponding to the left and right sensors S 1 and S 2 as described above,
When the corresponding sensor maintains a protruding posture in the lateral direction without contacting the planted stem culm, it is closed (this is defined as the sensor cutting operation), and when the corresponding sensor is in contact with the stem culm. It opens when the sensor is swung backwards (this is defined as the sensor's on state). Furthermore, the switch
If Sw 1 and Sw 2 are normally open, the closed state shall be defined as the ON operating state of sensors S 1 and S 2 . Each of So 1 and So 2 is a braking solenoid for the left and right traveling devices (not shown), each of T 1 and T 2 is a switch transistor for the left and right solenoids So 1 and So 2 , and each of V 1 and V 2 is a , transistor
Power supply for continuity of T 1 and T 2 , V 0 is for both solenoids So 1 ,
As shown in Figure 1, the shared power supply for So 2 , Sw 0, is activated when the aircraft starts to enter a group of planted culms, and the electric circuit (steering control mechanism A) is activated upon contact with the culms. ) to the activated state, and a plurality of D... indicate diodes, respectively. T 3 is when both sensor switches Sw 1 and Sw 2 are open, that is, when both sensors S 1 and S 2 are turned on and activated,
This transistor is used to interrupt the flow of current from the conduction power supplies V 1 and V 2 to the solenoid energizing transistors T 1 and T 2 by grounding, and this transistor T 3 is connected to the sensor switch via an AND element AND. Connected to Sw 1 and Sw 2 . V 3 is the conduction power supply for the cutoff transistor T 3 , and when either sensor switch Sw 1 [or Sw 2 ] is open, that is, either sensor S 1 [or S 2 ] is on and in the operating state. When the other sensor S 2 [or S 1 ] is in the off state, the AND element AND is grounded via its closed switch Sw 2 [or Sw 1 ], so the transistor T 3 is not conductive. figure,
Therefore, the energizing transistor is connected to the conduction power supply V 1 [or V 2 ] on the open switch Sw 1 [or Sw 2 ] side.
Current flows through T 1 [or T 2 ], conducts it, and energizes solenoid So 1 [or So 2 ], which applies braking to one of the traveling gears, which then enters the aircraft and activates it. The steering brake is applied to the opposite side of the sensor S 1 [or S 2 ].
そして本案にあつては、遮断用トランジスタ
T3とそれの電源V3とのあいだに、両センサース
イツチSw1，Sw2がともに開のとき、つまり両セ
ンサーS1，S2がともに入り作動している状態から
何れか一方が切り作動したとき、機体を一定の設
定時間ｔ（１〜２秒）に亘り直進維持するところ
の、タイマー、リレー等内蔵の機構Ｂを介在させ
ている。つまり、この機構Ｂは、両スイツチ
Sw1，Sw2がともに開のとき導通してトランジス
タT3を導通し、かつ何れか一方のスイツチSw1
〔又はSw2〕が閉となつたときにアンド素子ANDの
働きでタイマーを作動させかつリレーにより自己
保持してトランジスタT3の導通状態を設定時間
ｔに亘り維持し、その時間の経過後、リレーを解
除してトランジスタT3を遮断するものである。 In this case, the cutoff transistor
When both sensor switches Sw 1 and Sw 2 are open between T 3 and its power supply V 3 , that is, both sensors S 1 and S 2 are connected and operating, one of them is switched off and activated. When this happens, a built-in mechanism B such as a timer and relay is interposed to keep the aircraft moving straight for a predetermined set time t (1 to 2 seconds). In other words, this mechanism B has both switches
When both Sw 1 and Sw 2 are open, they conduct and transistor T 3 becomes conductive, and either switch Sw 1
When [or Sw 2 ] is closed, the timer is activated by the action of the AND element AND, and the relay is self-maintained to maintain the conduction state of the transistor T 3 for a set time t, and after that time has elapsed, It releases the relay and cuts off the transistor T3 .
従つて、第６図のタイムチヤートに示す如く、
一方のセンサーS1が入り作動しこれに対応するス
イツチSw1が開動して機体が一側方へ繰向された
のち（これは従来の第８図イと同じである）、他
方のセンサーS2も入り作動しこれに対応するスイ
ツチSw2も開動して機体を直進させるに至つたの
ち（これも従来の第８図ロと同じである）、前記
一方のセンサーS1が切り作動して前記他方のセン
サーS2のみが入り作動状態となつたときには、前
記の機構Ｂの作動により、他方のセンサーS2が入
り作動状態にあるにも拘わらず、機体は前記設定
時間ｔだけ直進状態を引き続き維持することとな
る。この状態を第７図に示す。これは従来の第８
図ハとは異なる。この設定時間ｔの経過後、未だ
前記他方のセンサーS2が入り作動状態にあるとき
には、機体は他側方に操向される。又、設定時間
ｔが経過した時点で前記他方のセンサーS2が切り
作動状態に既に移行しておれば、機体は尚も直進
状態を維持することとなる。何れにしても、微小
な単位時間内で起こる操向制動動作の頻度が従来
の場合に比し小さくなつている。 Therefore, as shown in the time chart of Figure 6,
After one sensor S 1 is turned on and activated, the corresponding switch Sw 1 is opened and the aircraft is turned to one side (this is the same as the conventional figure 8A), the other sensor S 2 is also turned on and activated, and the corresponding switch Sw 2 is also opened to make the aircraft go straight (this is also the same as the conventional figure 8 B), and then the one sensor S 1 is turned off and activated. When only the other sensor S2 is turned on and activated, the mechanism B operates so that the aircraft remains in the straight-line state for the set time t even though the other sensor S2 is turned on and activated. This will continue to be maintained. This state is shown in FIG. This is the traditional 8th
This is different from Figure C. If the other sensor S2 is still in the activated state after the set time t has elapsed, the aircraft is steered to the other side. Furthermore, if the other sensor S2 has already entered the cut-off state when the set time t has elapsed, the aircraft will still maintain its straight-ahead state. In any case, the frequency of steering braking operations that occur within a minute unit time is lower than in the conventional case.
第４図の電気回路図において点線でかこんだ回
路部分ａとソレノイドSo1，So2とのあいだには、
第５図に示すような手動操作回路が接続され、手
動スイツチSw1′にてソレノイドSo1，So2を付勢
するときは、センサーS1，S2による操向制御が切
換スイツチSw3によつて遮断しておくように構成
してある。 In the electrical circuit diagram of Fig. 4, between the circuit part a surrounded by the dotted line and the solenoids So 1 and So 2 ,
When a manual operation circuit as shown in Fig. 5 is connected and the manual switch Sw 1 ' energizes the solenoids So 1 and So 2 , the steering control by the sensors S 1 and S 2 is transferred to the changeover switch Sw 3. It is constructed so that it can be shut off.
尚、センサーS1，S2は、上例の如く機体進行方
向に沿つて前後に位置をずらせて配設する他、進
行方向で同一位置に設けても良い。この場合、第
７図の隣接茎稈が、進行方向で前後に位置ずれし
ている状態を想定すれば良い。但し前後に位置を
ずらせておくとボツクス２の横巾が小さくてす
む。 Note that the sensors S 1 and S 2 may be arranged at the same position in the direction of movement, instead of being arranged so as to be shifted back and forth along the direction of movement of the aircraft as in the above example. In this case, it is sufficient to assume that the adjacent stem culms in FIG. 7 are displaced back and forth in the direction of movement. However, if the positions are shifted from front to back, the width of Box 2 can be made smaller.
以上、実施態様について述べたが、本考案によ
る条間追従式方向制御装置付刈取機の要旨は、相
隣る植立茎稈のあいだを突入移動するデバイダー
１に左右一対の方向制御センサーS1，S2を独立的
に入切作動可能な状態に取付け、これら左右一対
のセンサーS1，S2の何れか一方が入り作動したと
き、その作動センサーS1又はS2とは反対側に機体
を操向制御し、かつ、左右一対のセンサーS1，S2
がともに切り作動及び入り作動したとき、機体を
直進させる制御機構Ａを設けてある条間追従式方
向制御装置付刈取機において、前記制御機構Ａ中
に、前記左右一対のセンサーS1，S2がともに入り
作動した状態から何れか一方が切り作動したと
き、機体を一定時間に亘り直進維持する機構Ｂを
介在させてあるという点に存し、殊に横刈り時に
多く見られるように、一方のセンサーのみが入り
作動したのち、他方のセンサーも入り作動して両
センサーがともに入り作動状態となり、しかる後
に前記一方のセンサーが切り作動して前記他方の
センサーのみが入り作動状態にあるといつた、一
連の変化を極く僅かの時間内に受ける茎稈の植立
状態にあつても、前記の直進維持機構Ｂの働き
で、従来の場合に比し、微小な単位時間内に起こ
る操向制御動作の頻度を小さくできるから、機体
が迷走することを大巾に抑制できることとなり、
従つて乗り心地が快適となるとともにデバイダー
の植立茎稈に対する不測の突き刺さり現象も大巾
に抑制することができて、極めて良好で安定した
条間追従方向制御を遂行し得るに至つた。 Although the embodiments have been described above, the gist of the reaper with inter-row tracking type direction control device according to the present invention is that a pair of left and right direction control sensors S 1 are installed in the divider 1 that moves between adjacent planted stem culms. , S 2 are installed so that they can be turned on and off independently, and when either one of the left and right sensors S 1 and S 2 is turned on and activated, the airframe is installed on the opposite side of the operating sensor S 1 or S 2 . and a pair of left and right sensors S 1 and S 2
In a reaper with a row tracking type direction control device, which is provided with a control mechanism A that causes the machine to move straight when both of them perform a cutting operation and a turning operation, the left and right pair of sensors S 1 and S 2 are installed in the control mechanism A. The mechanism B is interposed to keep the machine moving straight for a certain period of time when either of them is turned off from the state in which both are engaged and operated. When only one sensor is turned on and activated, the other sensor is also turned on and both sensors are turned on and activated, and then one of the sensors is turned off and only the other sensor is turned on and activated. In addition, even when the stem culm undergoes a series of changes in an extremely short period of time, thanks to the function of the straight-moving maintenance mechanism B, the operations that occur within a very small unit of time are possible compared to the conventional case. Since the frequency of direction control operations can be reduced, it is possible to greatly prevent the aircraft from wandering.
Therefore, the riding comfort is improved, and it is also possible to largely suppress the phenomenon of the divider sticking into the planted stem culm, making it possible to perform extremely good and stable inter-row tracking direction control.
図面は本考案に係る条間追従式方向制御装置付
刈取機の実施の態様を例示し、第１図はコンバイ
ン前処理部の平面図、第２図は要部の正面図、第
３図はその平面図、第４図、第５図は電気回路、
第６図はタイムチヤート、第７図は操向作用状態
を示す平面図である。第８図イ〜ハは従来のもの
の操向作用状態を示す平面図である。
１……デバイダー１、S1，S2……センサー、Ａ
……制御機構、Ｂ……直進維持機構。
The drawings illustrate an embodiment of the reaper with a row tracking type direction control device according to the present invention, in which FIG. 1 is a plan view of a combine pre-processing section, FIG. 2 is a front view of the main parts, and FIG. The plan view, Figures 4 and 5 are electric circuits,
FIG. 6 is a time chart, and FIG. 7 is a plan view showing the steering operation state. FIGS. 8A to 8C are plan views showing the steering operation state of the conventional device. 1...Divider 1, S1 , S2 ...Sensor, A
...Control mechanism, B...Straight motion maintenance mechanism.
Claims (1)
ダー１に左右一対の方向制御用センサーS1，S2を
独立的に入切作動可能な状態に取付け、これら左
右一対のセンサーS1，S2の何れか一方が入り作動
したとき、その作動センサーS1又はS2とは反対側
に機体を操向制御し、かつ、左右一対のセンサー
S1，S2がともに切り作動及び入り作動したとき、
機体を直進させる制御機構Ａを設けてある条間追
従式方向制御装置付刈取機において、前記制御機
構Ａ中に、前記左右一対のセンサーS1，S2がとも
に入り作動した状態から何れか一方が切り作動し
たとき、機体を一定時間に亘り直進維持する機構
Ｂを介在させてあることを特徴とする条間追従式
方向制御装置付刈取機。 A pair of left and right direction control sensors S 1 and S 2 are attached to the divider 1 that moves between adjacent planted stem culms so that they can be turned on and off independently. 2 is activated, the aircraft is steered to the opposite side of the activation sensor S 1 or S 2 , and a pair of left and right sensors
When S 1 and S 2 both turn on and off,
In a reaper with a row-following direction control device that is equipped with a control mechanism A that causes the machine to move straight, the pair of left and right sensors S 1 and S 2 are both inserted into the control mechanism A, and either one of them is activated. 1. A reaping machine with a row tracking type direction control device, characterized in that a mechanism B is interposed to maintain the machine body moving straight for a certain period of time when the machine is cut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1979002460U JPS6227050Y2 (en) | 1979-01-13 | 1979-01-13 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1979002460U JPS6227050Y2 (en) | 1979-01-13 | 1979-01-13 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS55104008U JPS55104008U (en) | 1980-07-21 |
| JPS6227050Y2 true JPS6227050Y2 (en) | 1987-07-11 |
Family
ID=28805544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1979002460U Expired JPS6227050Y2 (en) | 1979-01-13 | 1979-01-13 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6227050Y2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5921305A (en) * | 1982-07-27 | 1984-02-03 | 株式会社クボタ | Automatic steering control apparatus of reaming harvester |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5213863A (en) * | 1975-07-09 | 1977-02-02 | Fuji Robin Kk | Threshing depth automatic regulator |
| JPS5224865A (en) * | 1975-08-14 | 1977-02-24 | Matsushita Electric Ind Co Ltd | Threshing position controller of thresher |
| JPS5510177B2 (en) * | 1975-06-07 | 1980-03-14 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS621859Y2 (en) * | 1978-07-05 | 1987-01-17 |
-
1979
- 1979-01-13 JP JP1979002460U patent/JPS6227050Y2/ja not_active Expired
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5510177B2 (en) * | 1975-06-07 | 1980-03-14 | ||
| JPS5213863A (en) * | 1975-07-09 | 1977-02-02 | Fuji Robin Kk | Threshing depth automatic regulator |
| JPS5224865A (en) * | 1975-08-14 | 1977-02-24 | Matsushita Electric Ind Co Ltd | Threshing position controller of thresher |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS55104008U (en) | 1980-07-21 |
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