JPS6235725B2 - - Google Patents
Info
- Publication number
- JPS6235725B2 JPS6235725B2 JP314578A JP314578A JPS6235725B2 JP S6235725 B2 JPS6235725 B2 JP S6235725B2 JP 314578 A JP314578 A JP 314578A JP 314578 A JP314578 A JP 314578A JP S6235725 B2 JPS6235725 B2 JP S6235725B2
- Authority
- JP
- Japan
- Prior art keywords
- culm
- stem culm
- sensor
- dead zone
- stem
- 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
- 230000007935 neutral effect Effects 0.000 claims description 9
- 238000003306 harvesting Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009333 weeding Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
Landscapes
- Guiding Agricultural Machines (AREA)
- Harvester Elements (AREA)
Description
【発明の詳細な説明】
本発明は、植立茎稈列と機体との相対横方向偏
位をセンサーにて検出し、前記偏位が一定範囲内
に維持されるように前記センサーに中立不感帯を
有せしめて操向制御を行う刈取収穫機の自動操向
制御機構に関するものである。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.
上記操向制御機構を用いて植立茎稈列に沿う自
動追従を行う場合、植立茎稈が横方向に大きく倒
伏していると、機体が植立茎稈列に対して所定範
囲内に位置していても、倒伏茎稈の穂先側がデバ
イダに引掛けられてしまうことがあつた。 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.
本発明は、植立茎稈がどのように倒伏していて
もその倒伏状態に適した直進基準で追従走行を行
えるようにせんとしたものである。 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.
以下本発明の実施例を例示図に基づいて説明す
る。 Embodiments of the present invention will be described below based on illustrative drawings.
第１図はクローラ走行式コンバインの自動操向
制御機構の全体を示す概略平面を示し、走行ミツ
シヨンケース１に内装した操向クラツチブレーキ
２ａ，２ｂを後述のように制御される油圧シリン
ダ３ａ，３ｂによつて操作すべく構成されてい
る。 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.
前記油圧シリンダ３ａ，３ｂは、夫々電磁バル
ブ４ａ，４ｂを介してポンプ５に接続されるとと
もに、各バルブ４ａ，４ｂは、機体前端に並置さ
れた３個のデバイダ６ａ，６ｂ，６ｃの内の未刈
り側の二つ６ａ，６ｂの背部に設けた茎稈位置検
出用センサーS1によつて切換え制御されるよう構
成されている。 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.
前記センサーS1は、第２図に示すように、植立
茎稈との接触によつて縦軸心Ｐ，Ｐ周りに揺動す
る左右一対の茎稈接触子７ａ，７ｂが、その中間
の茎稈導入径路Ａ側に一定姿勢で突出付勢される
とともに、各接触子７ａ，７ｂと一体的に移動す
る可動接点ａ，ｂ，ｃ，ｄとデバイダ取付杆８，
８に固定の電気接点ｅ，ｆ……ｊの接触状態が接
触子７ａ，７ｂの揺動によつて切換えられること
を検出して、径路Ａに導入された茎稈と機体との
相対横偏位を検出すべく構成されている。 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.
又、最も未刈り側のデバイダ６ａと最も概刈り
側のデバイダ６ｃには導入された茎稈の横方向倒
伏を検出するセンサーS2，S2が設けられている。
このセンサーS2は、第３図に示すように、デバイ
ダ６ａ，６ｃの上面に突出付勢された接触子９，
９と、この接触子９の変位によつて切換え操作さ
れるスイツチ１０ａ，１０ｂとから構成されてお
り、前記センサーS1の各固定接点ｅ，ｆ……ｊ
と、スイツチ１０ａ，１０ｂが第４図に示すよう
に電磁バルブ４ａ，４ｂに接続されている。 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.
次に、上記構成による自動操向制御動作につい
て説明する。 Next, automatic steering control operation with the above configuration will be explained.
植立茎稈が直立又は略直立しているとき。
（第５図参照）
この場合、前記倒伏検出用のセンサーS2，S2
は共に検出作動しないので、スイツチ１０ａ，
１０ｂは第４図中に示す状態にある。従つて、
植立茎稈が径路Ａの中央一定範囲内にある間、
つまり、可動接点ａが固定接点ｅに触れない小
範囲、及び可動接点ｃが固定接点ｈに触れない
小範囲を中立不感帯として直進走行が行われ
る。そして、導入茎稈が左側に片寄ると接触子
７ａが不感帯以上に揺動されて可動接点ａが固
定接点ｅに接続され、左旋回用の電磁バルブ４
ａが切換えられ、油圧シリンダ３ａによつて左
側操向クラツチブレーキ２ａが操作される。
又、茎稈が右側に片寄ると接触子７ｂが変位し
て接点ｃ，ｈが接続されて右側操向クラツチブ
レーキ２ｂが同様に操作され、もつて、茎稈を
各デバイダ６ａ，６ｂ，６ｃの略中央に位置さ
せた直進基準状態での追従操向が行われる。 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.
植立茎稈が左側に倒伏している場合。（第６
図参照）
この場合、左側のセンサーS2のみが茎稈を検
出するので、スイツチ１０ａ，１０ｂは第８図
中に示す状態となる。このため可動接点ｂの移
動のみがバルブ切換えに関係することになり、
可動接点ｂが固定接点ｅとｆとの中間にある範
囲が中立不感帯となる。つまり、この場合のセ
ンサーS1の中立不感帯は上記の場合より右側
にシフトされ、デバイダ６ａ，６ｂが左倒伏茎
稈の左側脇に近づいた位置を直進基準として、
一方の接触子７ａのみを用いた追従走行が行わ
れる。 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.
植立茎稈が右側に倒伏している場合。（第７
図参照）
この場合、センサーS2，S2が共に茎稈を検出
するので、スイツチ１０ａ，１０ｂは第９図中
に示す状態となる。このため可動接点ｄの移動
のみがバルブ切換えに関係することとなり、可
動接点ｄが固定接点ｉとｊとの間にある範囲が
中立不感帯となる。つまり、この場合のセンサ
ーS1の中立不感帯は上記の場合よりも左側に
シフトされ、各デバイダ６ａ，６ｂ，６ｃが右
倒伏茎稈の右側脇に近づいた位置を直進基準と
して、他方の接触子７ｂのみを用いた追従走行
が行われるのである。 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.
以上実施例で詳述したように、本発明は冒記構
成の自動操向制御機構において、機体前部に植立
茎稈の直立、右倒れ、及び左倒れを検出するセン
サーを設け、茎稈横倒れ検出時には前記センサー
の中立不感帯を、茎稈直立時の不感帯位置よりも
茎稈倒れ方向に反対の方向へシフトし、もつて、
茎稈直立時には機体前端デバイダを隣接茎稈列間
の中央に位置させた直進基準状態とし、茎稈横倒
れ時には倒伏茎稈の株元近くにデバイダを入り込
ませた直進基準状態とするように構成してあるこ
とを特徴とするものであるから、茎稈が直立又は
略直立時には、デバイダを隣接茎稈列の略中央に
維持することによつて導入されるべき茎稈列の列
間距離が多少変化しても、各デバイダ間に確実に
導入できるとともに、隣接茎稈列をその中央にお
いてデバイダで均一に分草することができ、又、
横倒伏時には、デバイダを倒伏茎稈の株元近くに
入り込ませてデバイダを無理なく確実にすくい上
げて立上がらせることができるのである。つま
り、本発明によれば直立、倒伏に拘わらず夫々に
適した分草機能を発揮させ得る直進基準で株追従
を行うことが可能となつたのである。 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.
図面は本発明に係る刈取収穫機の自動操向制御
機構の実施の態様を例示し、第１図は全体構成の
概略平面図、第２図は茎稈偏位検出用センサー部
の拡大平面図、第３図はセンサー部の縦断側面
図、第４図はバルブ駆動回路図、第５図乃至第７
図は各種分草状態を示し、各図イは背面図、各図
ロは平面図である。第８図及び第９図は夫々第６
図及び第７図の状態に対応する回路図である。
６ａ…デバイダ、S1…偏位検出用センサー、S2
…横倒れ検出用センサー。
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)
サーS1にて検出し、前記偏位が一定範囲内に維持
されるように前記センサーS1に中立不感帯を有せ
しめて操向制御を行う刈取収穫機の自動操向制御
機構において、機体前部に植立茎稈の直立、右倒
れ、及び左倒れを検出するセンサーS2を設け、茎
稈横倒れ検出時には前記センサーS1の中立不感帯
を、茎稈直立時の不感帯位置よりも茎稈倒れ方向
と反対の方向へシフトし、もつて、茎稈直立時に
は機体前端デバイダ６ａ…を隣接茎稈列間の中央
に位置させた直進基準状態とし、茎稈横倒れ時に
は倒伏茎稈の株元近くにデバイダ６ａ…を入り込
ませた直進基準状態とするように構成してあるこ
とを特徴とする刈取収穫機の自動操向制御機構。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. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP314578A JPS5497217A (en) | 1978-01-14 | 1978-01-14 | Automatic steering control mechanism of reaper and harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP314578A JPS5497217A (en) | 1978-01-14 | 1978-01-14 | Automatic steering control mechanism of reaper and harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5497217A JPS5497217A (en) | 1979-08-01 |
| JPS6235725B2 true JPS6235725B2 (en) | 1987-08-04 |
Family
ID=11549177
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP314578A Granted JPS5497217A (en) | 1978-01-14 | 1978-01-14 | Automatic steering control mechanism of reaper and harvester |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5497217A (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6334485Y2 (en) * | 1979-08-31 | 1988-09-13 | ||
| JPS5749303U (en) * | 1980-09-03 | 1982-03-19 | ||
| JPS57115814U (en) * | 1981-01-09 | 1982-07-17 | ||
| JPS58175407A (en) * | 1982-04-08 | 1983-10-14 | 株式会社クボタ | Automatic sterring type combine |
-
1978
- 1978-01-14 JP JP314578A patent/JPS5497217A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5497217A (en) | 1979-08-01 |
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