EA038881B1 - Crop header with wing balance calibration - Google Patents

Abstract

In a crop harvesting header with a center section and two wings where each wing is pivotal relative to the center section about a pivot axis extending in a generally forward direction which includes a balance system to maintain a balanced ground force distribution across the width of the header there is provided an automatic adjustment system for maintaining proper balance. The system includes angle or other sensors which detect the pivot angle of the wing section. This can be used in a static testing system where the position to set to a detected midpoint and/or in a dynamic system where repeatedly, over a time period during which the header is operating, data is detected relating to the positions of each wing frame portion.

Description

The present invention relates to a header for a crop shearing device, such as a windrower or combine harvester, which includes a plurality of sections defining a center section and two wing sections, the sections being balanced to maintain a constant ground force across the width as the total force varies by ground, and in particular to the calibration system for the wing balance.

US Pat. No. 7,918,076 (Talbot), filed by the present applicant on April 6, 2011, discloses a flexible draper header that includes a center section and two wing sections that are pivotally connected. The three header sections are coupled to a balance linkage that uses the weight of the header to keep the wings in balance and maintain a constant cutterbar pressure across the header width.

To maintain a balanced distribution of ground force across the header width, the linkage linkage that secures the wing frame to the center frame requires periodic adjustment.

That is, if the adjustment of the wing balancing system is set accurately, then the wings follow the ground with uniform ground pressure across the width of the header. However, if the wings are installed with too low a pressure from top to bottom, that is, the lift is too high, the wings will tend to rise, and if the lift is too low, the wings will tend to lower.

The modern way of adjusting the wing balance requires the operator to manually measure the force required to move the wing up / down and adjust the linkage by turning the pinch bolt. With this modern adjustment method, correct header adjustment depends on the operator making these adjustments correctly. In addition, it is often not obvious to the operator from observing the header during harvest that adjustments are required.

The essence of the invention

One object of the present invention is to provide a calibration system for wing balance on a flexible header of the above general type that optimizes wing balance settings.

According to the invention, there is provided a header for harvesting an agricultural crop for use in a harvesting operation, comprising:

a main frame structure extending across the width of the header for forward movement generally at right angles to the width across the ground including the crop to be harvested;

an installation unit for transferring the main frame structure on a traction vehicle;

a cutter bar across the front of the table, movable along the ground in a shearing action;

the main frame structure including a center frame portion, a first wing frame section, and a second wing frame section;

moreover, each of the wing portions of the frame is connected to the central portion of the frame by a pivotable connection configured to pivotally move the wing portion of the frame relative to the central portion of the frame about a pivot axis extending generally in the forward direction;

wherein each of the wing portions of the frame is movable around the pivot axis at different angles of the wing portion of the frame relative to the central portion of the frame;

moreover, each wing section of the frame is movable from the middle position, in which the wing section of the frame lies on a common line with the central section of the frame, to a raised position, in which the angle changes so that the wing section of the frame is inclined upward from the pivot axis and downward to a lowered position in which the angle changes so that the wing portion of the frame is tilted downward from the pivot axis;

wherein the first wing portion of the frame includes a first balancing system for applying a first lift to the central portion of the frame and a balanced lift of the first wing to the first wing portion of the frame to support the first wing portion of the frame to provide a balanced distribution of ground force across the width of the header, including a center frame section and a first wing frame section;

moreover, the first balancing system includes a first adjusting element that changes the first ratio of the first lift relative to the lift of the first wing;

wherein the second wing section of the frame includes a second balancing system for applying lift to the center section of the frame and balanced lift of the wing to the second wing section of the frame to support the second wing section of the frame to provide a balanced distribution of force to the ground over the width of the header, including the center frame portion itself and the second wing frame portion;

moreover, the second balancing system includes a second adjusting element that changes the second ratio of the second lift relative to the lift of the second wing;

and a calibration system adapted to calibrate the first and second balancing systems, the calibration system comprising:

- 1 038881 at least one first sensor, which directly or indirectly provides first data related to the angle between the first wing section of the frame and the central section of the frame;

at least one second sensor that directly or indirectly provides second data related to the angle between the second wing portion of the frame and the center portion of the frame;

a first actuator driving said first adjusting element;

a second actuator driving said second adjusting member;

and a processor that receives said first and second data and provides first and second setpoint data therefrom for said first and second actuators.

As used herein, the term balance does not require an actual balance beam to which forces are applied, as in the Talbot patent above, but other systems can be provided to balance the lift forces applied to the center section and wing sections, including structures using adjustable springs or adjustable lifting cylinders. For example, U.S. Patent 9,968,033 (Dunn), issued May 15, 2018, and supplemental U.S. published applications 20180153010 and 20180153102 disclose a processor-controlled hydraulic cylinder system that provides lift to the header. The processor is controlled to adjust the cylinder pressure to provide the required lift, which can change rapidly in response to movement of the header. Cylinders can be used on a wing-type header to support the center section relative to the supporting vehicle and the header wings relative to the center section. In this design, the processor controls cylinder pressure to provide controlled lift to the header sections to control movement and maintain the required ground force from the sections to the ground and balance that ground force between the sections. Thus, the balancing system in this embodiment is part of the processor programming, with the programming also providing other header section responses as set out in the aforementioned documents. Therefore, in this design, the control system is part of the processor program, so that the analysis of the sensor data to calculate a value representing said wing data over a period of time is used as an input to the processor to control the lift forces generated so that the force on the soil is kept balanced over time in three sections.

There are several different ways the sensor or sensors can detect the corresponding data in the balancing system.

In one preferred design, the sensor is configured to detect the positions of each wing portion of the frame relative to the center portion of the frame. This can be done by directly determining the relative positions or by determining the positions of each relative to the ground.

That is, in one design, the sensor operates to determine the indicated positions of each wing section relative to the center frame section by detecting the movement of the wing section component relative to the center frame section component, for example, detecting a change in the angle of the wing section frame component relative to the center frame section component, the change in which is proportional to the change in angle on the pivot axis. That is, the sensor may comprise a steering angle sensor mounted at a pivot point, or more preferably mounted between two balance link components that rotate relative to each other when the wing portion of the frame is rotated about a pivot axis.

In another design, a plurality of sensors operate to determine data related to the state of the balance system by detecting the force applied by each of the wing portions of the frame and the center portion of the frame to the ground.

That is, for example, a plurality of individual lug members are provided at spaced apart positions along the main frame structure to support the cutterbar from the ground, and each of the plurality of individual sensors is positioned on a respective one of the lug members to provide an output related to the force applied by the header through the respective lug elements to the ground. These varying forces can be determined and averaged over time to analyze the amount of time that one transducer is more loaded relative to the other, indicating the relative positions of the wing portions of the frame and center. This design does not directly measure the angle between the center and the wing, but rather the distance from the ground. When the header is correctly adjusted and follows the ground well, the force applied to the ground should be the same over the entire width of the header over a period of time. This will confirm that, on average, the angle is maintained as a pure zero.

In one preferred example, the sensor operates by detecting the movement of a wing portion of the frame relative to a component of the center portion of the frame. This can be done by detecting the distance between the components when the wing is pivoting, or it can be done by detecting the angle of the wing's turning position using a conventional angle sensor and providing signals indicating changes in angle as the wing moves up and down relative to the center section.

- 2 038881

In another design, the sensor system includes a plurality of sensors on the center section and the wing sections and operates by sensing the height of each of the wing sections of the frame and the center section of the frame from the ground. Although the ground height varies, measuring the height of each section over time should provide an average height that is the same for each sensor if the balancing system is adjusted correctly. If one or both wing portions show a difference in height from the ground over a period of time, this provides, over a period of time, a value that is related to the positions of each wing portion of the frame relative to the center portion of the frame. Thus, this system uses the ground as a reference location and detects the positions of the center and wing portions relative to this reference. This design does not directly measure the angle between the center and the wing, but rather the distance from the ground. When the header is correctly adjusted and follows the ground well, the ground clearance should be the same across the entire width of the header. This will confirm that, on average, the angle is maintained as a pure zero.

Preferably, the system includes at least one sensor for determining if the header is operating in said harvesting operation such that periods when the combine is not operating are not included in the calculation.

A sensor to determine if the header is operating may include a knife speed sensor, but other additional or alternative sensors may be used.

In a static measuring system with a stationary but working header in the field, a static test is carried out for each of the first and second respective balancing systems of the respective wings independently:

a) to operate the actuator to move the corresponding adjusting element to the maximum lift position, in which the corresponding wing section of the frame is in the raised position;

b) to operate the actuator to move the adjusting member from the maximum lift position until the corresponding wing portion of the frame moves to the middle position, and to record the first position of the adjusting member in the middle position of the corresponding wing portion of the frame;

c) to operate the actuator to move the corresponding adjusting element to the minimum lift position, in which the corresponding wing section of the frame is in the lowered position;

d) to operate the actuator to move the corresponding adjusting member from the minimum lift position until the corresponding wing portion of the frame moves to the middle position, and to record the second position of the corresponding adjusting member in the middle position of the corresponding wing portion of the frame;

e) to determine from the first and second position the setpoint data for the respective balancing system.

Typically, these setpoints are midway between the first and second positions, but if desired, they can be shifted in the same direction, since these two setpoints mark opposite ends of the frictional hysteresis.

Preferably, a wing blocking device is provided for locking the other of the two wing portions of the frame when the corresponding wing portion of the frame is moved during the static test.

The static test can be performed as an independent test to ensure the setpoint is maintained during future harvest operations. This static test can be performed when adjusting the header on the harvester or whenever a header configuration change is made that could affect balance. The static test can be performed automatically or, more preferably, initiated by the operator of the combine whenever the operator thinks it may be necessary.

Alternatively, a static test is conducted to obtain setpoint data that forms the initial setpoint from a static test conducted while the header is stationary and subsequently performs additional dynamic tests while the combine is moving during harvest operation.

In a dynamic measuring system performed during harvest, the processor calculates as a specified value an indication of whether the wing sections of the frame are predominantly raised or predominantly lowered over a period of time. This can be accomplished with a variety of calculations. For example, the system might use an average over a specified period of time. Alternatively, the system can use the summation of the times during which the wings rise relative to the descent. The system can use a set period of time, which is then repeated. However, calculations can be performed that allow the system to operate faster than a specified period of time if a significant deviation from the mean is determined.

Preferably, the processor receives and uses independent sensor data in the calculations,

- 3 038881 relating to the independent positions of the wing sections of the wing frame, and the processor determines the independent adjustment values for the individual wing sections of the frame from the data of the independent sensors. However, the balancing system can in some cases be applied to both wings, so no independent data is required.

In one example, the processor includes a look-up table for determining an adjustment amount relative to a computed value. That is, the amount of deviation of the mean calculated from zero may indicate a serious out-of-balance situation when the look-up table provides various values for appropriate adjustment.

Preferably, the processor is positioned such that no adjustment is made when the value is within a predetermined acceptability range. Thus, the system is maintained in a general balance situation until the imbalance is determined to be out of range.

To keep track of the required adjustments, the processor preferably records the new adjusting position after the adjustment is made.

This way, if the fenders are perfectly set, they will follow the ground with even ground pressure across the width of the header. However, if they are too light, they will nominally float upward, and if they are too heavy, they will nominally float downward. The calculation assumes that the terrain profile across the header width will vary, but when averaged over the set distance determined by the set harvest time period, the average soil profile across the header width will be flat. In this case, the average value of the positions should be equal to zero.

The system records the position of the wing when harvesting over a set period of time. The system uses various sensors to determine if the header is harvesting. For example, the system records wing position once per second during a 15 minute harvest period and calculates the average wing position over that 15 minute period. At the end of the wing position acquisition time interval, the actuator adjusts the wing balance based on the calculated average wing position. If the wing center position is higher than the linear position, the actuator automatically adjusts the wing balance by a set amount based on the calculated average value. It can be a fixed amount, but more preferably it is determined from a look-up table as a function of the average difference value. After the system has completed alignment, it resumes collecting wing position data and repeats the process that results in continuous system calibration. When the calculated average position is within the predetermined acceptability range, no adjustment is made.

Thus, the system in this document uses an actuator to adjust the balance linkage with the actuator. It is understood that the actual drive mechanism, such as a screw or linear drive or a hydraulic drive, can be selected depending on the design of the balancing system. Thus, the system presented herein provides an adjustment method using the concept that ideally balanced wings will have the wing's midpoint zero or plane in a linear position after being cut for a set period of time.

In many cases, as defined below, a vehicle-mounted center section and two wing sections are provided, which in most cases is the most practical design that provides sufficient flexibility without undue complexity and cost. However, the principles of this invention can be applied to alternative designs that allow multiple sections to be carried on a traction vehicle and that the weight per unit length of each in relation to the ground changes as the total weight changes.

Thus, in one example, there can also be two additional outer wing sections, each of which is pivotally mounted on the outer end of the inner wing section, and each of which has a corresponding pivot joint and linkage that controls the position of the cutterbar as defined herein. ...

The term spring as used in this document is not intended to be limited to a specific type of element that provides a spring force or bias force, but simply defines any element that will allow elastic movement of one component relative to another. This can be provided by a mechanical bending link such as a coil spring or tension spring, or it can be provided by a fluid such as air or hydraulic cylinders, and the term is also intended to include the corresponding mechanical connections of these links to the required elements. In this regard, hydraulic cylinders with suitable accumulators for receiving and discharging fluid into the cylinders are effective.

The description contains references to bending the cutterbar. This bending movement can be achieved by providing a specific hinge between two pieces of the bar, or by providing a cutterbar that can bend enough to accommodate the required bending, without the need for an actual hinge defining a particular pivot axis.

The term brake element used in the above definition is not intended

- 4,038881 to restrict to any particular header component and may be provided with any element that physically engages the ground as the cutterbar and knife elements move over the ground. Thus, the braking element can be provided by the cutterbar itself or by an additional component behind the cutterbar. In addition, closely spaced rollers or other elements can be used that roll on the ground and thus reduce friction, provided that the lift is evenly distributed over the cutterbar to provide the floating action to which the present invention is directed, although this is is generally unnecessary and not traditionally used.

The docking assembly can be an adapter frame designed to connect the header to an existing combine harvester feeder chamber. However, such an adapter is not necessary and the mounting assembly can be formed by simply connecting elements that directly connect the header to the combine harvester.

In most cases, the header is not supported by ground wheels, so all ground lift is transmitted through the elongated braking element. However, this system can be used where other lug elements are provided.

In addition, the dynamic system described here can be used without an initial static test system, but in some cases, unless an attempt is made to provide an initial setpoint information that approaches the balance condition, the dynamic system may not be able to move to the actual balance state quickly enough. to avoid a significant period of operation during which the balance is out of adjustment.

Thus, the system can now include static calibration, which will calibrate the wing balance at the push of a button from the harvester cab. This system can be used as an independent system or in combination with a dynamic regulation system.

In a static calibration system, this static calibration is completed when the combine is not harvesting while the header is running, so that all blades, cutterbar, and reel are running and the header is raised off the ground.

This static calibration is performed from the combine cab, where the operator presses one button (on the in-cab user interface) and the system takes all the necessary measurements and makes the necessary adjustments. This can be used in a variety of ways:

a) as a stand-alone system in which the user will calibrate whenever he deems it necessary.

b) in conjunction with an auto-adjustment system. The static calibration serves as a reference point for flexion adjustment, and the auto-alignment system continuously monitors and adjusts flexure to ensure consistently good balance.

c) with a system similar to an auto-alignment system that monitors the flexibility characteristic and reminds the operator when a calibration is required. The tracking algorithm is similar to that used in the auto-adjustment system. The user then uses the static calibration system to perform the calibration when it suits them.

During operation, the system prompts the user to place the header in the calibration position. This can be monitored by the system using a reel forward / backward sensor, a reel raise / lower sensor, the addition of a tilt cylinder sensor, and the addition of a gyroscope to measure the horizontal alignment of an adapter that attaches the header to the harvest vehicle. With this feedback, the system prompts the operator to make any necessary adjustments to the header position. Actuators or cylinders are used for adjustments as described in the auto-adjusting system. Actuators or cylinders are used to remotely interlock flex and float systems. The system uses a position sensor on the cylinder / actuator to measure the position of the compression rod. The system uses a steering angle sensor at a suitable position in the balancing system, such as the upper boom / crank, to measure the position of the wing and determine when the center position has been reached.

Brief Description of Drawings

Embodiments of the invention will now be described in conjunction with the accompanying drawings, in which:

fig. 1 is taken from US Pat. No. 6,675,568 and shows a schematic rear view of a general header of the present invention with a combine harvester that acts as a traction vehicle and an associated adapter omitted for convenience of illustration. According to the present invention, a sensor system is included that responds to a load applied by the center section and wing sections to the ground;

fig. 2 is taken from US Pat. No. 6,675,568 and shows a schematic top plan view of the prior art header of FIG. one;

fi g. 3 shows an isometric rear view and one side of one embodiment of a header with the adapter removed and shows one embodiment of the adjustment system of the present invention;

- 5 038881 fi g. 4 shows a rear view of the header with the adapter removed and showing another embodiment of the adjustment system of the present invention;

phi g. 5 is a schematic illustration of the system logic of a device according to the present invention;

FIG. 6 is a schematic illustration of the adjustment logic of a device according to the present invention.

Detailed description of the invention

Reference is made to US Patent 6,865,871 (Patterson), issued March 15, 2005, which discloses the details of an adapter for mounting a header to a combine harvester.

Also cited is US Patent 6,675,568 (Patterson), issued Jan. 13, 2004, which discloses parts of the general flexible header to which the present invention pertains. FIG. 1 and 2 and part of the following description are taken from this patent for the convenience of the reader. Additional details not included in this document can be obtained by reference to this patent.

Also cited is U.S. Patent 7,918,076 (Talbot), issued April 5, 2011, which discloses in FIG. 3 is a rear view of a header 10 carried on an adapter 11 or an installation unit attached to a feeder house 12 of a combine harvester. FIG. 1 adapter omitted for illustration purposes.

Header 10 includes a frame 13 delimited by a main rear beam 14 and a plurality of forward-extending arms 15 that extend downward from beam 14 and then forward under a table 16 that extends over the header. At the front end of the table 16, a cutter bar 17 is provided. On the top of the table 16, a canvas transport system 18 is provided, which transports the crop from the cutter bar along the header to the unloading point at the feeder chamber 12. The canvas system 18 thus includes two side webs 18A, extending from respective header ends inwardly to the feeder house, and a center adapter section 18B that serves to feed crop from the side webs 18A back to the feeder house.

The header further includes a reel 19 including a beam on which a plurality of reels (not shown) are mounted that are carried on a beam to rotate with the beam about the axis of the beam. The beam is carried on reel support arms 19B that extend from the beam back and up to a support bracket attached to the main crossbeam 14. The reel arms can be raised and lowered by hydraulic cylinders 19D connected between the respective arm and beam 14.

The foregoing description of the header is only schematic of the structure, since the details of the structure are well known to the person skilled in the art.

Also in FIG. 2, the adapter 11 comprises a frame 20 which is attached to the feeder chamber 12 and carries at its lower end a pair of forward-extending pivot arms 21 which form the respective first and second spring-loaded lifting members and which extend forward underneath the respective one of the header frame members 15. The pivot arms 21 can pivot up and down about the respective pivot pins 23 each independently of the other arm. Each arm is supported by a respective spring 24 attached to a corresponding arm 21. Thus, the respective springs 24 provide respective first and second spring lift forces that act to pull up the respective arm 21 and provide lift under the header at a lifting point midway along the corresponding element 15 of the frame and under the canvas 18 and table 16.

A rod 26 is provided in the center of the adapter that extends from the frame 20 forward in the form of a hydraulic cylinder that allows the cylinder length to be adjusted, thereby pivoting the header back and forth around the pivot point of the levers 21 on the underside of the header. Thus, the orientation of the header, that is, the angle of the table 16 to the horizontal, can be tilted by the operation of the cylinder forming the bar 26.

In addition, the orientation of the header with respect to an axis extending forward from the direction of travel, which is at right angles to the crossbeam 14, is performed by an independent pivotal movement of the arms 21 provided with springs 24, which act as a float system. In addition, the entire header can float up and down on the springs 24, with the bar 26 pivoting to accommodate the up and down movement, and the levers 21 pivoting about the corresponding pin 23.

The table 16 provides behind the cutter bar 17 a brake plate 16A which is adapted to engage in the ground. This provides an upward force from the ground that tends to lift the header away from the support springs 24. In practice, the springs are adjusted to support most of the header weight, leaving a relatively small proportion of the weight on the ground. Thus, the header can float up and down as the ground provides varying heights and one end of the header can move up independently of the other end by independently deflecting the springs 24. The header thus tends to follow the ground level.

Beam 14 forms the main frame structure, which is divided into several separate hours

- 6 038881 tei 14A, 14B depending on the number of header sections. In the illustrated embodiment, there are three sections including a center frame or center frame portion 10A, a first wing section or wing section 10B of the frame, and a second wing section or wing section 10C of the frame. The center section 10A is mounted on the adapter so that the arms 21 continue to engage with the center section. The wing sections are pivotally connected to the center section so that each can pivot up and down about a respective pivot axis generally parallel to the direction of travel.

The beam 14 is divided into three sections, each of which interacts with a corresponding one of the sections 10A, 10B and 10C and thereby delimits the main beam. Each section of beam 14 includes corresponding frame members 15 that support a corresponding section of the table. Thus, as best shown in FIG. 4, there is a kink 14C between the beam sections 14A and 14B of the center section 10A and one wing section 10B. The outermost frame member 15A of the wing section 10B is located at the fracture. The end member 15B of the frame of the center section 10A is spaced inwardly from the fracture, leaving a gap for the pivot connection 27 extending from the member 15A of the frame to the member 15B of the frame and a defining pivot pin 27A lying on the pivot between the wing section 10B and the center section 10A.

Each of the two sections 10A and 10B is supported relative to the other to pivotally move the wing section 10B about an axis extending through the pin 27A and through the kink 14A so that the wing section is supported at its inner end in the center section, but can pivot downward at its outer end. so that the weight at the hanging end is not supported by the center section and causes a downward or counterclockwise pivotal movement of the wing section 10B.

The wing section 10C is installed in an identical or symmetrical manner for pivotal movement about the other end of the center section 10A. The allowable amount of pivot movement of the wing section relative to the center section about the axis of the pivot pin 27A is maintained at a slight angle, generally less than 6 ° degrees and preferably less than 4 °, controlled by suitable mechanical thrust members that provide in a suitable location with the necessary mechanical strength to support the wing section frames from moving up or down outside the stop elements.

In one example, the suspended weight of the wing section 10B is supported on a balance linkage, generally designated 30, which transfers this weight from the inner end of the beam 14 of section 10B through a support to the center section 10A on springs 24. The linkage is partially shown in FIG. 3 and includes a tension bar 31 extending from the inner end of the beam 14 to the crank 32 at the outer end of the center section 10A on the beam 14 together with an additional compression bar 33 that extends downward from the crank to a balance beam 34 located in the center section 10A at its connection to the lever 21.

The balance link 30 acts to transfer the suspended weight of the wing section inward to the center section and at the same time balance the lift provided by the springs 24 so that it is proportionally applied to the center section and to the wing section.

The header is attached to the combine feeder chamber using the above float system that supports the header so that it can be moved upward when a vertical force of about 1 to 15% of its weight is applied to the cutterbar from the ground. The float linkage response, which typically supports 85 to 99% of the header weight on the header, is used to balance the weight of the wings.

The system is designed so that if the operator sets the float so that the float system supports 99% of the header weight, the remaining 1% will be evenly distributed over the cutterbar. If the operator changes the float so that 85% is supported by the combine, then the remaining 15% will also be evenly distributed over the cutterbar without operator adjustment. Thus, not only the total lift for each section varies in proportion to the total lift, but also the lift in each section is balanced across the width of the section. Since the sections between the ends are rigid, this requires that the lift forces be balanced between the ends to ensure that each section, and therefore all sections, is evenly distributed over the cutterbar. This is achieved in this embodiment by a balancing system that includes a linkage connecting the force to the wing section, and in particular to the balancing beam 34. Thus, the balancing beam 34 balances the lifting force applied to the ends of the center section with respect to the lifting force which is applied to the suspended weight of the wing section so that the lifting force is uniform across the width of the header.

The internal weight of the wing section is transmitted through the hinge 27 to the suspended end of the central section and this weight is transmitted directly to the balance beam 34. Also, the suspended weight of the wing section is transmitted through the rod 31 and the crank 32 to the balance beam 34. Another additional lifting force from lever 21 is applied to the balancing beam.

Thus, the balance beam 34 is located above the lever 21 (see Figures 3 and 4). The balance beam 34 has a front end 34A which is pivotally connected to the frame member 15 by a transverse pivot pin 34B. The arm 21 extends forward to the front lift point 21A which engages the lower portion of the balance bar front end 34A. Lift from arm 21 is applied upward at point 21A, which is in front of beam 14 and below table 16.

The balance bar 34 extends back from the front end 34A back to the rear end 34C to which the compression bar 33 is connected on the bushing 33A. Thus, the compression rod or compression member 33 applies an upward pushing force that acts to support the suspended weight of the wing section and also applies some lift to the center section through the crank 32.

A pivot pin 34B is attached to the center section so that some weight from the center section that is not transferred to the crank is transferred to the pivot pin and through that pin to the balance bar 34.

The lift force from the respective one of the first and second lift arms 21 is fully applied to the corresponding one of the first and second lift positions 21A of the balance beam. All three forces are applied to the balancing bar and the balancing bar acts automatically in proportion to the forces relative to the lifting force.

The support assembly includes a first component which is a pin 34B for providing lift to the center portion of the frame. The support assembly, which is a linkage, includes a second component, which is a tension bar 33, configured to provide lift F2 to the suspended weight of the second or wing portion of the frame.

The entire support assembly, including the balance beam 34, the lift arm 21, and the springs 24, is configured to provide a floating movement of each of the first and second frame portions, i.e., the center and wing portions of the frame, relative to each other and relative to the traction vehicle, so that the upward pressure from the ground on the braking element 16A, which is greater with the downward force for a portion of the header weight and supported by the lift, tends to lift each of the center and wing portions of the frame relative to the traction vehicle.

The balance beam 34 is positioned so that the first and second lift forces F1 and F2 vary in proportion to the change in the total lift FT. Since the force F2 includes the force that lifts the wing section and a part of the force that lifts the center section, it can be balanced against the lift force F1, which applies lift to the center section. The geometry of the balance beam and linkage including the crank is positioned such that the balance system thus defined provides the lift forces of the center section and wing section as defined above.

It should be noted that the linkage provided by the tension bar 31, the compression bar 33, and the crank 32 does not include a spring connection and is a direct mechanical linkage, so that the spring action or floating action of the wing section is provided by the spring 24.

The balance bar 34 extends parallel to the arm 21 so that the pivot pins or bushings 34B and 33A have an axis at right angles to the balance bar and the arm 21. The forces continue generally at right angles to the arm 21 since the arm 21 is generally horizontal under the frame header and under the balance beam.

The crank 32 is positioned and supported on the beam 14 such that the rod 31 extends along the length of the beam 14 through the space 14A. The rod 31 is located above the pivot 27A and transmits tension forces.

A compression rod 33 is pivotally attached to the crank at a pivot pin 32B. The length of the crank arm 32C can be adjusted by sliding the pin 32B along the slot 32D, thereby adjusting the mechanical advantage of the crank to vary the mechanical advantage or moment of force F2 imparted to the suspended weight of the wing section. The crank can be adjusted so that the forces F1 and F2 are balanced to create an approximately equal contact pressure between the ground and the brake pad. The crank 32 is rotated on a pin 32E carried on a support 32F attached to the frame. The rod 31 is attached to the crank 32 by a pin 32G.

It will be understood that a balancing system using a balancing bar 34 and rods 32 and 33 is just one of many examples of a balancing system design that can be used.

In the system shown in the aforementioned patents and manufactured and sold by MacDon, the operator needs to periodically adjust the wing balance by adjusting the position of the 32B pin

- 8 038881 along the boom 31.

In accordance with the present construction, an adjustment system is provided, one embodiment of which is shown in FIG. 3 and is generally designated 40. This structure 40 is configured to automatically adjust the balancing system to maintain a balanced distribution of forces on the ground.

The adjustment system 40 includes a first sensor 41 on a pivot pin 27A for the left wing 10B and a second sensor (not visible) on a corresponding pivot pin of the second wing 10C. In this embodiment, the sensors 41 are steering angle sensors mounted on a pin 27A that detect the angle of the wing 10B relative to the center portion 10A and any changes over time as the wing floats up and down, as described above. In addition or alternatively, the sensor 41A may be provided on a pivot pin 31A at the end of the tension rod where the rod is pivotally coupled to the crank 32, since the angle of travel at the pin 21A is directly proportional to the angle at the pin 27A.

A locking pin 51 is provided that can lock the pivot movement of the wing frame portion 10B relative to the central frame portion 10A so that when actuated by the actuator 51, the pin 50 engages with the seat 52 to keep the beams 14A and 14B from pivoting about the pin 27A. Such a locking structure can be provided in many places, but it is most conveniently provided directly on the beam 14.

Adjustment actuator 43 on pin 32B is provided to move pin 32B to desired positions.

Sensor 46 provides an input signal indicating the operation of the header, for example from the cutterbar. Processor 42 is provided to receive input signals from sensors and from a look-up table. 45 and to control the output signal the lock pin actuator 51 and the adjusting actuator 43.

In the dynamic adjustment system, the sensors 41 or 41A of the two wing portions of the frame independently operate repeatedly during the period of time during which the header is operating in said harvesting operations to detect the varying positions of each wing portion 10B of the frame relative to the central portion of the frame 10A.

The processor 42 is positioned in response to the positions determined by the sensors 41 to calculate values representing the positions of the wing portions of the frame over a set period of time.

As shown in FIG. 5 and 6, processor 42 receives signals from sensors 41 or 41A on each wing portion of the frame and independently records the left and right wing positions determined by steering angle sensors 41 multiple times, such as once per second, for a set period of time, such as 15 minutes. The processor 42 then calculates an average value from these signals. These calculations are performed only when the harvest system is operating to avoid skewing results from stationary data or data obtained when the header is not on the ground. Sensor 46 provides an input signal indicative of header operation, for example from the cutterbar. For example, a sensor 45 for determining whether the header is operating may receive data from a knife speed sensor.

Based on the difference in average calculated from the nominal zero difference expected when the header is operating properly, the processor looks at a reference table. 45 to determine which of the settings is currently being determined. In response to this value from the lookup table. 45 actuator 43 on adjustment 32B is actuated to move the adjustment to the newly determined correct position.

In fact, the calculated averages allow the processor to provide an indication of whether the wing portions of the frame are predominantly raised or predominantly lowered over a period of time. That is, the wings will rise and fall at different times during operation, depending on the height of the ground, but the average value over the set time period should be zero.

Since two separate sensors are provided, one for each wing, this allows the processor to compute the independent sensor data related to the independent positions of the wing portions of the frame to determine the independent adjustment values for the individual wing portions of the frame from the independent sensor data. However, in some balancing systems, the wings can be adjusted as a common single adjustment by the common actuation of adjustments 32B by the associated actuators 43.

Processor 42 and / or Reference Table 45 may provide an output so that when the value is within a predetermined acceptability range outside the nominal zero value, no adjustment is made.

As discussed above, the system also provides a static calibration system in which the logic for static automatic calibration is as follows:

a) the user clicks start;

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b) the system prompts the user to start the header;

c) the system locks one wing with a lock 50 and unlocks the other wing;

d) the system moves the actuator 43 in a fully inward direction, i.e. to the right, as shown, so that the influence of the boom 33 is reduced and the wing section descends or falls to its lowest position in the gloomy wing position;

e) the system moves the actuator 43 in an overhead direction, thereby causing the wing to move upward until the wing aligns or moves to a mid-position as determined by the wing position sensor 41. The adjustment position 32B of the compression rod 33 is recorded by data from the actuator 43;

f) the system moves the actuator 43 in a fully outboard direction, that is to the left, as shown, so that the influence of the boom 33 is increased and the wing section rises to its highest position in the smiling wing position;

g) the system moves the actuator 43 in an inward direction, thereby causing the wing to move downward until the wing aligns or moves to the middle position, as determined by the wing position sensor 41. The adjustment position 32B of the compression rod 33 is recorded with data from the actuator 43.

The two previous steps e) and g) define both hysteresis limits. The system now moves the compression bar to a position midway between the two hysteresis values. It is important that the header is running during this static test as this improves the reliability of the hysteresis limits.

The system now repeats the steps on the other wing with the first wing locked and the static calibration is complete.

Processor 42 also records adjustment positions from static or dynamic tests after adjustment is complete. The processor 42 may also delay the dynamic adjustment system to allow the operator to override the input signal values and re-set the operator's desired value, or the value from a static test, or factory default. In the event that static testing is not available or provided, the system can look up values from a table that will set the flex linkage to a theoretically correctly adjusted position based on header size and potential equipment. Factory reset can be used as a reference point. Using a datum close to the target position allows for more efficient and faster continuous refinement provided by dynamic calibration while the header is harvesting.

As shown in FIG. 4, an alternative system 40A is provided in which a processor 42A receives signals from a number of height sensors 48A, 48B, 48C, and 48D at the ends of the wing portions 10A and 1 ° C and at the ends of the center portion 10A. They serve to determine the height of the sensor, and therefore the area on which it is installed, from the ground. Thus, the system detects the distance of each wing section of the frame and the center section of the frame from the component relative to which each section moves, in this case from the ground. Over a period of time, all three sections should have a statistically the same average distance from the ground, and any change in this distance indicates that the wings are too heavy or too light to be adjusted as indicated above.

As shown in FIG. 1, a further alternative system is provided in which a plurality of separate lug members 50 are provided at spaced apart positions along the main frame structure 14 to support the cutterbar from the ground. There are center members 50 that generally support the center section and wing members that are mounted on or adjacent to the outer end of each wing. Each element includes a load cell 51 to provide an output signal related to the force applied by the header through the respective lug elements. The system works to determine data related to the condition of the balance system by determining the force applied by each of the wing sections of the frame and the center section of the frame to the ground.

This data is then tracked over a selected period of time and provides information about the load applied by each of the sections to the ground, which indicates its position relative to the other sections. This data, collected over time, can be used to create a value that influences the adjustment of the balancing system.

Claims (19)

1. A header for harvesting agricultural crops for use in harvesting work, containing: a main frame structure extending across the width of the header for forward movement generally at right angles to the width across the ground including the crop to be harvested; - 10 038881 installation unit for transferring the main frame structure on a traction vehicle; a cutting bar across the front of the table, made with the ability to move along the ground in a shearing action; where the main frame structure includes a central frame section, a first wing frame section, and a second wing frame section; where each of the wing portions of the frame is connected to the central portion of the frame by a pivotable connection configured to pivotally move the wing portion of the frame relative to the central portion of the frame about a pivot axis extending generally in the forward direction; where each of the wing portions of the frame is made with the ability to move around the pivot axis at different angles of the wing portion of the frame relative to the central portion of the frame; moreover, each wing section of the frame is made with the ability to move from the middle position, in which the wing section of the frame lies on a common line with the central section of the frame, to a raised position, in which the angle changes so that the wing section of the frame is inclined upward from the pivot axis and downward to a lowered position in which the angle changes so that the wing portion of the frame is deflected downward from the pivot axis; where the first wing section of the frame includes a first balancing system for applying the first lift to the center section of the frame and balanced lift of the first wing to the first wing section of the frame to support the first wing section of the frame to provide a balanced distribution of force to the ground across the width of the header including a central frame portion and a first wing frame portion; wherein the first balancing system includes a first adjusting element that changes the first ratio of the first lift relative to the lift of the first wing; wherein the second wing section of the frame includes a second balancing system for applying lift to the central section of the frame and balanced lift of the wing to the second wing section of the frame to support the second wing section of the frame in order to provide a balanced distribution of force to the ground over the width of the header, including a central frame portion and a second wing frame portion; wherein the second balancing system includes a second adjusting element that changes the second ratio of the second lift relative to the lift of the second wing; and a calibration system adapted to calibrate the first and second balancing systems, the calibration system comprising: at least one first sensor that directly or indirectly provides first data related to the angle between the first wing portion of the frame and the center portion of the frame; at least one second sensor that directly or indirectly provides second data related to the angle between the second wing portion of the frame and the center portion of the frame; a first actuator for driving said first adjusting element; a second actuator driving said second adjusting member; and a processor that receives said first and second data and provides first and second setpoint data therefrom for said first and second actuators. 2. The header of claim 1, wherein said at least one sensor is operable to determine said positions of each wing frame portion relative to the center frame portion by detecting movement of the wing frame component relative to the center frame portion component. 3. The header of claim 1 or 2, wherein said at least one sensor is operable to detect a change in the angle of a wing portion of the frame relative to a component of a center portion of the frame, the change being proportional to the change in angle on the pivot axis. 4. The header of claim 3, wherein the sensor comprises a steering angle sensor located at the turning point. 5. The header of claim 4, wherein the steering angle sensor is positioned between two balance link components that pivot relative to each other when the wing portion of the frame is rotated about a pivot axis. 6. The header of claim 1, wherein said at least one sensor operates to determine said positions of each wing portion of the frame relative to the central portion of the frame by determining the distance of each of the wing portions of the frame and the central portion of the frame from the ground, and a plurality of sensors are provided for determining the height areas from the ground. 7. The header of claim 1, wherein said at least one sensor is operable to determine said positions of each wing portion of the frame relative to the central portion of the frame by determining the relative pressure of the wing portions of the frame and the central portion of the frame to the ground, and a plurality of sensors are provided to determine the pressure of the portions on the ground in staggered positions along the header. 8. A header according to any one of claims 1-7, in which said processor repeatedly receives data from said first and second sensors during a period of time during which the header operates in - 11,038881 specified harvesting work. 9. The header of claim 8, wherein the processor calculates first and second set point data for said first and second actuators by determining if wing portions of the frame are predominantly raised or predominantly lowered over a period of time. 10. The header of claim 8 or 9, wherein the processor records data during harvest for a set period of time. 11. The header of claim 10, wherein the processor calculates, as said value, the average position of said wing portions of the frame over a predetermined period of time. 12. The header of claim 11, wherein the processor includes a look-up table for determining an adjustment amount relative to a calculated value. 13. A header according to any one of claims 1-7, in which the processor operates, with a stationary or working header, for each of the first and second respective balancing systems independently: a) to operate the actuator to move the corresponding adjusting element to the maximum lift position, in which the corresponding wing section of the frame is in the raised position; b) to operate the actuator to move the adjusting member from the maximum lift position until the corresponding wing portion of the frame moves to the middle position, and to record the first position of the adjusting member in the middle position of the corresponding wing portion of the frame; c) to operate the actuator to move the corresponding adjusting element to the minimum lift position, in which the corresponding wing section of the frame is in the lowered position; d) to operate the actuator to move the corresponding adjusting element from the minimum lift position until the corresponding wing portion of the frame moves to the middle position, and to record the second position of the corresponding adjusting member in the middle position of the corresponding wing portion of the frame; e) to determine from the first and second position the setpoint data for the respective balancing system. 14. The header of claim 13, wherein the set points are midway between the first and second positions. 15. A header according to claim 13 or 14, wherein a wing locking device is provided for locking the other wing portion of the frame when the corresponding wing portion of the frame is moved. 16. A header as claimed in any one of claims 13-15, wherein said set point data forms the initial set point data from a static test conducted while the header is stationary and subsequently performs additional dynamic tests as the combine is moving during harvest operation. 17. The header of claim 16, wherein, in said dynamic tests, said processor repeatedly receives data from said first and second sensors over a period of time during which the header is operating in said harvesting operation. 18. The header of claim 17, wherein the processor calculates first and second set point data for said first and second actuators by determining if wing portions of the frame are predominantly raised or predominantly lowered over a period of time. 19. The header of claim 18, wherein the processor calculates the average position of said wing portions of the frame over a predetermined period of time.