JP2001025316A - Combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a combine harvester which has a function for making it possible to automatically lower a reaping device lifted at a lifting position to a position where grain straws can always be reaped, when a reaping work may be started, and further, has a function for enabling the elimination of a danger that the reaping device rushes into a risen ground, when the combine harvested travels in a state that the reaping device is lowered to a lower position. SOLUTION: When a reaping device is placed at a lifted position and when a combine harvester travels for a prescribed distance, the reaping device is automatically lowered to a prescribed height. Even when the reaping device is placed in a lifted state and when the combine harvester travels for a prescribed distance or more, the reaping device can automatically be lowered to a predetermined ground height to perform the reaping work. When the combine harvester travels for a constant distance in a state that the reaping device is automatically lowered to a lowering position and when a grain straw sensor is switched off, the reaping device can automatically vertically be operated to eliminate a danger that the reaping device rushes into a risen ground during the travel of the combine harvester.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to an agricultural combine for harvesting cereals and the like.

[0002]

2. Description of the Related Art When a combine starts a harvesting and threshing operation, a culm in a field is subjected to weeding by a weeding tool provided at a lower front end of a mowing device, and then the culm is raised from a laid state by a raising action of a culm raising device. It is raised in an upright state, the root of the grain culm reaches the cutting blade, is cut, and is inherited by the grain culm supply / conveyance device, and is successively conveyed upward and rearward.

[0003] In the rear part of the feeding and feeding device for the grain stalk, the handling depth is adjusted, the feed is supplied from the feed chain to the threshing device, and the threshing is performed by the teeth of a rotating handling cylinder in the threshing device.
The thresh-processed material is sorted in a sorting room, and the threshed-sorted grains are temporarily stored in a Glen tank, and when the storage amount is accumulated, the grains are carried out of the combine by an auger.

[0004]

The use of a combine has reduced labor and efficiency in harvesting cereals in a field, that is, cutting and threshing. The harvesting operation by the combine is performed by a driving operation of an operator boarding the combine. The operator must perform various driving operations one after another, but in particular, in order to properly mow the culm to be planted in the field, almost continuously steer the traveling direction of the combine according to the row of grains, It is necessary to raise and lower the mowing device to an appropriate height from the field ground.
These operations require low concentration of physical labor for the operator, but require extremely high concentration of mental labor.

[0005] In order to reduce the mental labor intensity of the operator, various types of automation of the combine operation are being performed, and a height detector such as an ultrasonic sensor is attached to the reaper to reduce the height of the reaper. Methods have been developed to detect and automatically control the cutting height.

[0006] When the harvester is not performing the harvesting operation and the combine is running, raise the reaper to the raised position so that the reaper at the tip of the combiner does not hit a convex portion such as a clump of land or a ridge. It is designed to be maintained in a state. Therefore, the operator can steer the combine without worrying that the reaper will hit an obstacle when the reaper is not performing the reaping operation. Then, before the mowing operation is started, the mowing device is manually lowered to the grain stem mowing position.

However, when starting the harvesting work,
The operator does not forget to lower the reaper, but manually lowering the reaper is troublesome.

Conventionally, the control of the cutting height of the grain stalk of the cutting device by the ultrasonic sensor has been performed only during the cutting operation.
In other operations, the ground height of the reaper was not referred to. Therefore, even if the combine has a function of lowering the mowing device in the auto down mode (mode for automatically lowering the mowing device to the grain stalk mowing position), there is a possibility that the mowing device may rush into the raised ground while moving. there were.

Accordingly, an object of the present invention is to provide a combine having a function capable of automatically lowering a mowing device, which has been raised to an elevated position, to a position where a grain stalk can be mowed when a mowing operation can be started. It is to provide.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a combine having a function of eliminating the danger of the reaper entering the raised ground during movement when the reaper is in the lowered position.

[0011]

The above object of the present invention is attained by the following constitution. (1) In a combine equipped with a mowing device, a threshing device, a traveling device having forward, backward, and turning modes, and a lifting device of the mowing device, when the mowing device is at the ascending position, the threshing device starts operating, A combine provided with a control device for automatically lowering the reaper to a predetermined height when the traveling device selects a forward mode and moves forward for a predetermined distance or a predetermined time.

Thus, when the reaper is in the raised position,
Even if the HST is turning, reversing, or neutrally driving when the threshing lever is turned on, if the HST changes to a forward operation and travels a predetermined distance or more, the reaper is set to a predetermined height H so that the reaper can perform reaping work. Automatically lowers to Thus, with the addition of the auto-down function, the combine having the auto-lift function does not forget to lower the reaper even when the combine is moving straight forward.

The above-mentioned HST is a hydrostatic transmission (hydrostatic transmission) in which a variable displacement axial plunger pump and a fixed displacement axial plunger motor capable of continuously changing the speed are combined with a traveling transmission of a combine. It is a device that can facilitate the turning operation and steering operation of the vehicle.

(2) a reaper having cereal stalk detecting means;
In a combine with a threshing device, a traveling device having a forward, reverse, and turning mode, and a lifting device of a reaper,
When the mowing device is at the lowered position, the traveling device selects the forward mode and moves forward by a predetermined distance, and when the cereal stalk detecting means does not detect the cereal stalk, the mowing device is automatically set to a high position at a predetermined height. Combine with various control devices.

[0015] When performing automatic down control of the combine (the mowing device is automatically lowered to the lowering position), if the grain stalk detecting means is off even after the mowing device is moved down for a fixed distance, the auto When the reaper is automatically operated up and down to maintain the set ground height (predetermined value) of the reaper in the down mode, it is possible to eliminate the danger of the reaper rushing into the raised ground while moving.

[0016]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a side view of a combine 1 for harvesting cereals according to an embodiment of the present invention, and FIG. 2 is a schematic side view showing a part of a harvesting device and a threshing device therein.
FIG. 4 is a schematic plan view showing a part of the harvesting device and the threshing device in FIG. 1, and FIG. 4 is a schematic diagram showing an arrangement of sensors and actuators in a side view of the combine 1. FIG. 9 is a block diagram of a control circuit according to the embodiment of the present invention.

The vehicle body frame 2 of the combine 1 shown in FIG.
In the lower part of the figure, a crawler 4 formed into an endless band using a flexible material such as rubber as a material is wound around a drive sprocket 4a and a plurality of idler wheels 4b.
A traveling device 3 having a configuration capable of traveling without sinking even in a wet field is provided. A mowing device 6 is mounted on a front portion of the body frame 2, and a threshing device 15 is mounted on an upper portion of the body frame 2. The threshing apparatus 15 has a feed chain 14, arranges a handling chamber 15a on which an handling cylinder 16 is mounted on an upper side (see FIG. 4), and provides a sorting chamber on a lower side to thresh and sort the supplied harvested grain culm. I do.

As shown in FIG. 3, an auxiliary feed chain 1 is provided on the threshing device 15 along the inside of the feed chain 14.
7, the start end of which is wound around a transmission sprocket 17 a transmitted from the feed chain 14, and the end end of which is a threshing device 1.
5 is provided to extend near the supply port to the handling room, and the grain stalks inherited from the supply adjusting device 30 described later are supplied to the handling room in cooperation with the feed chain 14 or independently.

A control table 20 is provided between the mowing device 6 and the threshing device 15 on the upper side of the body frame 2 (see FIG. 1).

As shown in FIG. 2, the mowing device 6 pivotally connects a rear portion of a mowing support frame 13 extending forward and downward to a mowing support 7 provided at a front portion of the vehicle body frame 2 so as to be freely rotatable up and down. The mowing support frame 13 is equipped with a mowing blade 11 and a grain culm conveying and adjusting device to be described later.

The reaper 6 has a weeding device 8 at the lower front end, a grain stem raising device 9 having an inclined shape behind the device, a cutting blade 11 at the rear bottom, and a cutting blade 11 as shown in FIG. Cutting blade 1
1 and the start ends of the feed chain 14 and the auxiliary feed chain 17 described above, a squeeze transfer device 21, a front transfer device 22, a handling depth adjusting device 26, and a supply adjusting device 30.
Are arranged so as to be able to successively convey and handle the grain depth, and are attached to the above-mentioned cutting support frame 13 so that transmission is possible.

As shown in FIGS. 2 and 3, the scraping transfer device 21 includes a lower scraping wheel 21a and an upper scraping endless belt 21b.
And is provided above the cutting blade 11 for each row of harvested grain culms, and the grain culm is raked and transported rearward.

The front transfer device 22 includes a stock transfer chain 22.
a and a tip transport lug 22b, the starting end of which faces the terminal end of the scraping transfer device 21 so as to be able to be inherited, and the multi-row harvested culm is transported upward and rearward, and the left and right transport grains are transported at the terminal end. The culms are merged. The spike transport lug 22b is provided in such a manner that one side provided inclining from the right side of the front portion toward the starting direction of the feed chain 14 toward the advancing direction in the plan view is extended to the rear portion of the reaper 6 so as to be continuous. The structure is such that the culm ears are transported.

As shown in FIGS. 2 and 3, the scraping transfer device 21 includes a lower scraping wheel 21a and an upper scraping endless belt 21b.
And is provided above the cutting blade 11 for each row of harvested grain culms, and the grain culm is raked and transported rearward.

The front transfer device 22 includes a stock transfer chain 22.
a and a tip transport lug 22b, the starting end of which faces the terminal end of the scraping transfer device 21 so as to be able to be inherited, and the multi-row harvested culm is transported upward and rearward, and the left and right transport grains are transported at the terminal end. The culms are merged.

The handling depth adjusting device 26 is provided with a start end at an end of the stock transfer chain 22a of the front transfer device 22 so as to be able to inherit the stock of the transported grain stalk and extends upward and rearward. The end portion is provided so as to face the start end portion of the supply adjusting device 30 described later. The handling depth adjusting device 26 has a configuration in which the start end is pivotally connected to the reaping support frame 13 and the end side swings up and down along the culm direction of the transported grain culm (see FIG. 2).
As shown in FIG. 3, the handling depth adjusting actuator M1 is provided on the upper side in the vicinity of the handling depth adjusting device 26, and is connected to the handling depth adjusting device 26 via a connecting rod 27 so as to be interlocked therewith. CPU of the control device 100 as shown in FIG.
It is driven based on the operation signal output from the control unit 101 to adjust the handling depth.

As shown in FIGS. 2 and 3, the supply adjusting device 30 is provided so as to pinch and transport the cereal stem by the root chain 31 and the holding rod 32, and is inherited from the terminal end of the handling depth adjusting device 26. The supply of the oat culm is adjusted by transferring it to the start ends of the feed chain 14 and the auxiliary feed chain 17. The supply adjusting device control actuator M2 is connected to the control device 10 via a transmission member (not shown).
It is driven on the basis of an operation signal output from the CPU 101, and controls the handling depth in cooperation with the handling depth adjusting device 26 or by the supply adjusting device 30 alone.

The feed adjusting device 30 will be described more specifically. As shown in FIG. 3, the feed adjusting device 30 is located from the base of the cutting support frame 13 to the feed chain 14 and the auxiliary feed chain 17 side. A drive sprocket 37 mounted on the upper surface of an integral transmission box 36;
The root chain 31 is wound around a rolling wheel 39 which is mounted on a movable chain rail 38 which guides the transport side of the root chain 31 from the inner surface, and a tension roller 40 which is located on the front side thereof and has a tension function. I have.

As described above, the movable chain rail 38 guides the transport side of the root chain 31 from the inner surface. The movable chain rail 38 protrudes obliquely forward from the transmission box 36 and extends forward of the fixed support arm 41. The auxiliary feed chain 17 is configured such that the front end of the wheel 39 can move far and near with respect to the start end of the auxiliary feed chain 17. Further, a tension roller 40 is rotatably attached to the other end of a tension arm 43 having one end pivotally connected to a fixed machine frame 42 fixed to an intermediate portion of the support arm 41, and the tension arm 43 is connected to a tension spring 44. The pressure is applied outward (in the direction in which the root chain 31 is stretched).

Feed control device control actuator M2
Below the root chain 31, one side is fixed to the reaping support frame 13 side, and the other side is the fixing machine frame 4 described above.
2 and mounted on the movable chain rail 38 via a rod 45,
Driven based on an operation signal output from U101,
It is configured to perform supply adjustment control.

As described above, the feed control device control actuator M2 is disposed at a position close to the above-described handling depth control actuator M1, as shown in FIG. The relationship is such that the case of the transport lug 22b is located.

As shown in FIG. 3, the holding rod 32 is provided with two front and rear halves so as to be able to hold the culm in a tensioned state at all times along the culm conveying surface of the root chain 31 where the supply is adjusted. The tension spring 46a and the tension spring 46b are configured to be tensioned. The rear tension spring 46b has a longer tension stroke than the front tension spring 46a so that the adjustment distance of the holding rod 32 can be longer, and the root chain 3
It is configured to be able to sufficiently follow the movement of one rear part.

Next, the control device 100 using each detecting means and the microcomputer CPU 101 will be described.
The description will be made mainly with reference to FIGS. 9 and 4.

First, the position detection sensor S9 is provided at the base of the cutting support frame 13 so that the height position of the cutting device 6 can be measured by detecting the rotation angle of the cutting support frame 13 using a potentiometer. . The front grain culm sensor S1 and the rear grain culm sensor S2 (means for detecting the presence or absence of grain culm)
Provided at a low position on the back side of the cereal stem raising device 9 and at a lower position of the cover of the ear tip transport lug 22b extended to the rear, respectively, and transported at the beginning and end of the transport path of the front transport apparatus 22. It is configured to detect the presence or absence of grain culm. As shown in FIG. 3, the front grain culm sensor S1 includes a pair of left and right sensors S1a and S1b.

The short culm sensor S3 (culm length detecting means) is provided on the back side of the grain culm raising device 9 so as to detect the culm length of the grain culm immediately after mowing.
5 (culm length detecting means) is a connecting machine frame 47 located above the cover of the tip carrying lug 22b extended to the rear.
And is provided to be suspended in a conveying passage of the cereal stem to detect the length of the cereal stem being conveyed. The ultrasonic sensor S10 is attached to the weeding pipe 8a near the center of the weeding tool 8 at the lower front end of the mowing device 6 (FIG. 3), and the absolute height of the mowing device 6 from the field (the cutting height of the culm) ) Is detected.

Next, the control device 100 is a control means utilizing the microcomputer CPU 101,
Basically, each sensor is connected to the input side to input detection information, and based on the information stored and set in advance and the input information from each sensor, each actuator M1, M2 connected to the output side is input. , M3 while controlling the transmission automatic stop control, adjustment of the handling depth, and high cutting control.

That is, the CPU 101 of the control device 100
As shown in FIG. 9, on the input side, a front grain culm sensor S1, a rear grain culm sensor S2, a short culm sensor S3, a head sensor S4,
Stock sensor S5, reaping clutch sensor S6, threshing clutch sensor S7, vehicle speed sensor S8, position detection sensor S9,
The ultrasonic sensor S10 and the like are connected respectively. Further, the CPU 101 of the control device 100 is connected to the handling depth adjustment actuator M1, the supply adjustment device control actuator M2, and the automatic stop actuator M3 (FIG. 9) on the output side.

The handling depth adjusting actuator M1 is controlled based on the detection information of the short culm sensor S3, the head sensor S4 and the stock sensor S5. A position passing between the sensor S5 and the sensor S5 is determined as an optimum handling depth position as a neutral zone and adjusted.

The supply control device control actuator M2 is
It is controlled based on the detection information of the front culm sensor S1 and the short culm sensor S3, and when the front culm sensor S1 is in the detection state and the short culm sensor S3 is in the non-detection state (short culm detection state). , And the supply adjusting device 30 is adjusted to the deep handling side by controlling.

Of the sensors and actuators shown in FIG. 4, a position detecting sensor S9 (position detecting means, the same applies hereinafter)
Is a cutting support frame 13 using a potentiometer.
It is provided at the base of the cutting support frame 13 so that the height of the cutting device 6 can be measured by detecting the rotation angle of the cutting device 6. The front grain culm sensor S1 and the rear grain culm sensor S2 (means for detecting the presence or absence of grain culm, the same applies hereinafter) are provided at a low position on the back side of the grain culm raising device 9 and under the cover of the ear tip transport lug 22b extended to the rear. It is provided at each of the side positions, and detects the presence or absence of a transported grain culm at a start end portion and an end portion of the transport route.

The control device 100 is a control means using the CPU 101. Basically, each sensor is connected to the input side to input detection information, and information stored in advance and input from each sensor are input. Based on the information, the transmission automatic stop control, the handling depth adjustment, and the high cutting control are performed while controlling the operations of the actuators M1, M2, and M3 connected to the output side.

The operation of the combine 1 according to the present embodiment, including the procedure for adjusting the handling depth of the grain stalk, is performed as follows. First, when the engine (not shown) is started and the combine 1 is operated to move forward while driving the rotating parts of the body by operating a cutting clutch device and a threshing clutch device (not shown), the CPU 101 starts the cutting clutch. Sensor S6,
A work start signal is input from each of the threshing clutch sensor S7 and the vehicle speed sensor S8 to start up and start the control operation (see FIG. 2).

When the combine 1 starts the cutting and threshing operation, the culm in the field is subjected to the weeding action by the weeding tool 8 provided at the lower front end of the cutting device 6 and then by the action of the culm raising device 9. The stalk is raised from the laid state to the upright state, the root of the grain culm reaches the cutting blade 11 and is cut, and is squeezed by the action of the squeezing ring 21a and the endless band 21b of the squeezing transfer device 21. In rare cases, the sheet is transferred to the upper portion of the rear portion in a continuous state by being transferred to the front transfer device 22 (see FIG. 2).

The cereal stem is moved by the left and right front conveying devices 22.
A large number of rows are collected and conveyed, meet at the rear of the front conveying device 22, and move from the handling depth adjusting device 26 to the supply adjusting device 3.
The feed chain is successively transferred to 0 and reaches the starting end of the feed chain 14 and is supplied to the threshing device 15.

In the threshing device 15, the grain culm is conveyed while the stock is held between the feed chains 14.
In the process in which the tip portion is inserted into and passed through the handling cylinder (not shown), threshing is performed by the teeth of the rotating handling cylinder. And
Threshing products reach the lower sorting room and are sorted by the action of the sorting wind and the rocking sorting device. The threshed and sorted grains are temporarily stored in a Glen tank (not shown) to accumulate the stored amount. Then, it is carried out of the combine 1 by the auger 19 (FIG. 1).

When the operating lever 20c (FIG. 4) of the mowing device 6 is turned on, a mowing clutch (not shown) is engaged, and a part of the power of the traveling transmission device 5 is transmitted via a group of pulleys (not shown). The power is transmitted to the reaper 6 from a drive shaft (not shown) provided in the reaper support frame 13. Here, when the power steering lever 20d is pulled forward to push out the cutting elevating cylinder 13a of the cutting device support frame 13 and raise the cutting device 6, the automatic stop actuator M3 shown in FIG. 9 is operated, and the cutting clutch is disengaged. The drive of the reaper 6 is stopped. At this time, the lever 20c remains "ON".

When a normal harvesting and threshing operation is performed in a flat field, the mowing device 6 is held at the height of the normal working position, and the position of the mowing device support frame 13 is determined by the position detecting sensor S9 and the position detecting sensor S9. Ultrasonic sensors S10 to C
PU101, the front grain culm sensor S1 and the rear grain culm sensor S2 are respectively detected and input for the transported grain culm, and the short culm sensor S3 detects and inputs the grain culm length, The handling depth adjusting device 26 (FIG. 2)
4 and the detection output from the stock sensor S5 are input to the CPU 101, based on which the operation signal output from the CPU 101 controls the handling depth adjustment actuator M1 to be automatically controlled via the connecting rod 27 (FIG. 2). The handling depth has been adjusted. In this case, the control device 100 determines that the position at which the tip position of the transported grain culm passes between the tip sensor S4 and the stock sensor M5 is the position of the most suitable handling depth, and sets the handling depth adjustment device at that position. Control is performed to adjust the 26 adjustment positions.

Next, when the combine 1 reaches the ridge of the field and moves to cutting of the headland, the cutting and lifting cylinder 13a is moved in order to prevent the tip of the weeding tool 8 from colliding with the ridge rising at the end of the field. (FIGS. 1 and 2) is extended, and the mowing apparatus 6 is raised to move to a high cutting operation of the grain stalk.

That is, in the high cutting work on the ridge, when the cutting device 6 is raised by a predetermined amount to start cutting the culm of the headland, the CPU 101 sends the position information of the cutting device 6 from the position detection sensor S9 to the CPU 101. The detection information that the cereal stem is being sent from the front cereal sensor S1 is input.

Here, the control device 100 includes the short culm sensor S
When the grain culm detection information from the culm 3 is inputted, the grain culm length is determined to be longer than the reference value, and only the handling depth adjusting device 26 is controlled, and the grain culm detection information from the short culm sensor S3 is inputted. When it is not performed (non-detection information), it is determined that the grain stalk length is shorter than the reference value, and the control by both the handling depth adjusting device 26 and the supply adjusting device 30 is performed at the same time, and the position is adjusted to the deepest handling position. A very short culm can be supplied to the threshing apparatus 15. In this case, since the very short cereal culm cannot be sandwiched by the feed chain 14, the culm is transported by the auxiliary feed chain 17, and the entire culm is put into the handling room 15a as it is, and threshing is selected.

When the harvesting and threshing operation is continuously performed by the combine 1 in the normal flat field as described above, the cutting device 6 is held at the height of the normal operation position, and the position is set to the normal operation position. The signals are input to the control device 100 from the position detection sensor S9 and the ultrasonic sensor S10. Then, the transported grain culm is detected and input from the front grain culm sensor S1 and the rear grain culm sensor S2, respectively.
No. 3 detects and inputs a grain culm whose grain stalk length is equal to or greater than a specified value.

The handling depth adjusting device 26 receives the detection information from the tip sensor S4 and the stock sensor S5 into the control device 100 and, based on the information, outputs an operating signal from the control device 100 to operate the handling depth adjusting actuator M1. Is controlled and the handling depth is automatically adjusted via the connecting rod 27. In this case, the CPU 101 determines that the position where the tip position of the transported grain culm passes between the tip sensor S4 and the stock sensor M5 is the position of the most suitable handling depth, and the handling depth adjusting device 26 Adjustment control is performed so that the adjustment position is adjusted. Usually, adjustment of the handling depth is performed only by the handling depth adjustment device 26, and adjustment by the supply adjustment device 30 is not required.

Next, when the combine 1 reaches the ridge of the field and moves to the cutting of the headland, the operator is shown in order to prevent the tip of the weeding tool 8 from colliding with the ridge rising at the edge of the field. When the ridge control switch is not turned on, the mowing elevating cylinder 13a is manually extended to extend the mowing device 6 (FIG. 8).
From position a to position c) as shown in (1), while moving to a high cutting operation for the grain stalk while rising.

When the ridge control switch is turned ON, the control device 100 stops controlling the adjustment of the handling depth based on the detection information from the head sensor S4 and the stock sensor S5.
Based on the detection information from the front grain culm sensor S1 and the short culm sensor S3, the handling depth adjusting device 26 and the supply adjusting device 3
0 is adjusted and controlled.

The operation of the embodiment of the present invention will be described below. When the harvesting operation in the combine 1 is stopped or interrupted, an auto switch (not shown) in the cockpit 20 is turned on, and the harvesting device 6 is turned on unless the grain culm sensors S1 and S2 detect grain culm. There is a mechanism provided with a mechanism having a function of automatically raising the pressure (this may be referred to as an auto-lift).

The combine 1 having this auto-lift mechanism is used when the harvesting operation is to be resumed next time.
Conventionally, the operator operates the power steering lever 20d (FIG. 4) to manually lower the mowing device 6 to an appropriate height visually, check the detection value of the ultrasonic sensor S10, and manually adjust the mowing device 6 When the cutting height became close to an appropriate value, the cutting height automatic adjustment switch (not shown) was turned on to set the cutting device 6 to an appropriate value.

However, with the mowing device 6 raised by the auto-lift mechanism, the threshing lever 20b is turned on.
It is only conceivable that the combine 1 does not perform a mowing operation, but is turning, retreating, or stopped. However, if the HST is set to drive the combine 1 forward, the cutting device 6 is in the raised position, so that the cutting operation cannot be performed even if the upright grain culm to be cut is in front of the combine 1.

In such a case, with the conventional combine 1, the mowing device 6 can only be lowered manually, so that the cutting device 6 must be lowered or the grain stalks must be depressed while the mowing device 6 is raised. Was.

Therefore, in this embodiment, if the threshing lever is turned on while the harvesting device 6 is raised by the auto-lift mechanism, and the combine 1 has been advanced for a predetermined time or a predetermined distance, the harvesting device 6 is turned on. Is automatically lowered (this may be referred to as "auto-down") so that upright grain stalks can be cut.

Further, in the present invention, in the automatic down control of the combine 1, when the culm sensors S1 and S2 are off even after the reaper 6 is lowered and the stalk sensor S2 is turned off, the automatic down mode is set. The reaper 6 can be automatically operated up and down so as to maintain the set ground height (predetermined value H) of the reaper 6.

Conventionally, the control of the cutting height h of the culm of the cutting device 6 by the ultrasonic sensor S10 has been performed only during the cutting operation, but in other operations, the ground height h of the cutting device 6 should be referred to. Had not gone. Therefore, the reaper 6
Is lowered in the auto-down mode, there is a concern that the reaper 6 may rush into the raised ground during the movement. However, according to the flow shown in FIG. Such danger can be avoided by automatically operating the reaper 6 up and down to hold

As described above, the control for automatically operating the reaper 6 up and down when the combine 1 is traveling straight ahead is controlled by the ACH (Auto
Control Height) is called control. This ACH control is activated when an ACH switch (not shown) in the cockpit 20 is turned on.

FIG. 6 shows a flow of the control. First, with the reaper 6 lifted by the auto-lift mechanism,
When the threshing lever is in the "on" position, the grain culm sensors S1 and S2 do not detect the grain culm, and when the traveling direction of the combine 1 is changed from the turning, reverse or neutral mode to the forward mode, the automatic down is performed. In order to set the mode, an auto-down monitoring flag is set, and a setting is made so that the auto-down mode is set when the traveling distance reaches 1 meter.

If the HST has not changed the traveling direction of the combine 1 from the "turn / reverse / neutral" mode to the "forward" mode (step 3), it is determined whether or not the auto-down monitoring flag is set. (Step 5),
If the auto-down monitoring flag is being set and the auto-down monitoring distance needs to be changed from the one meter, the auto-down monitoring flag is reset and a new "forward" distance for auto-down monitoring is set (step 7).

If the automatic down monitoring flag has not been set in step 5, it is checked in step 8 whether or not the automatic down mode has already been entered. The reaper 6 is lowered in steps 9 and 10 so as to reach the value H.

Thus, in the combine 1 having the ultrasonic sensor S10 and capable of measuring the ground height from the tip of the weeding implement 8 to the ground, even if the mowing device 6 is in the up state, the thrusting lever is not turned on. ], The HST is turning, reversing or neutrally driving, but instead of the forward operation, if the vehicle travels a predetermined distance or more, the reaper 6 is moved to the reaper 6 so that the reaper 6 can perform the reaping without any previous operation. The ground height is automatically lowered to the default value H.

With the addition of the auto-down function, the combine 1 having the auto-lift function can be used without forgetting to lower the reaper 6 even when the combine 1 is moving straight forward.

In the automatic down mode, the reaper 6
When the height h is smaller than the predetermined value H (step 11), the mowing device 6 is raised (step 12), and the mowing device 6 is automatically raised to the ground height h to the predetermined value H.

When the reaper 6 is automatically moved up and down so as to maintain the set ground height (predetermined value H) at the time of the automatic down by the ACH control, the reaper is lowered in the auto down mode. The danger of the device 6 rushing into the raised ground during movement can be avoided.

When the harvesting operation is started, the combine 1 normally turns on the threshing (clutch) lever 20b by turning on the cutting device operating lever 20c to turn on the thruster (clutch) lever 20b. When the mowing operation needs to be stopped (interrupted), a predetermined switch is turned on, the mowing device 6 is raised to a predetermined height, and the driving of the mowing device 6 is stopped. To stop driving. Since the height of the mowing device 6 at this time is smaller than the height of the auto-lift, even when the driving of the mowing device 6 and the feed chain 14 is stopped, when the mowing device 6 that has been auto-lifted automatically downs, The mowing device 6 and the feed chain 14 can be driven again.

In the ACH control of the combine 1, when the culm sensors S1 and S2 are off, the vehicle speed is detected, and when it is determined that the speed is equal to or higher than a predetermined speed, the ground height h of the reaper 6 is reduced. It is desirable to set a predetermined value (H + α) of the ground height determined at a high speed in order to raise the height.

If the forward traveling speed of the combine 1 is increased, there is a possibility that the combine 1 may rush into the front swelling part in the field before the ACH control can be completed. Therefore, as shown in FIG. 7, when the traveling speed of the combine 1 becomes equal to or more than the predetermined value, the control of the ground height of the reaper is performed at a height (H + α) higher than the predetermined value H of the reaper 6 determined by the ACH control. The safety of the combine 1 during traveling is further ensured.

In the flow shown in FIG. 7, steps 1 to 8 are the same as the control shown in FIG. If the auto-down monitoring flag has not been set in step 5, it is checked in step 8 if the auto-down mode has already been entered. If the auto-down mode has been set, the reaper 6 during high-speed running will be described with reference to FIG. New ACH control different from that performed is performed.

That is, when it is found in step 20 that the vehicle speed of the combine 1 is higher than the predetermined high speed value, the height h of the reaper 6 is set to a value higher than the predetermined value H by + α (H
+ Α) is automatically controlled based on the vertical position.

In step 21, it is checked whether or not the height h of the reaper 6 is the predetermined value H + α. If the height h of the reaper 6 is higher than the predetermined value H + α, the reaper 6 is raised to a predetermined height (H + α).
α) (step 22). If the height h of the mowing device 6 is lower than the predetermined value H + α, the mowing device 6 is raised to a predetermined height (predetermined value H + α) (step 2).
3, 24).

If the vehicle speed of the combine 1 is lower than the predetermined high speed value, it is checked in step 25 whether the height h of the reaper 6 is the predetermined value H, and the height h of the reaper 6 is set to the predetermined value H. If it is higher, the reaper 6 is raised to a predetermined height (default value H).
(Step 26). Thereafter, although not shown in FIG. 7, the control of steps 11 and 12 in FIG. 6 may be performed.

The automatic lift control mechanism (cereal stalk sensor S
1, when the S2 is switched from on to off or when the reverse of the combine 1 is detected, the harvester 6 is automatically raised to the storage position of the control device 100). A method of adjusting the storage position of the height will be described.

A sensor check switch (not shown) that is always in the “OFF” state (a switch rarely touched,
Auto-lift position adjustment mode is established when the switch that checks whether or not various sensors operate normally changes from the “off” state to the “on” state and the auto-lift switch is turned on within one second. And

That is, when the sensor check switch and the auto lift switch are both set to "ON", it is determined that the automatic lift position adjustment mode has been entered, and thereafter, the reaper 6 is moved up and down to an arbitrary position, and the reaper 6 is turned on. Is stopped at an arbitrary set position, and when the auto-lift switch is turned from “on” to “off”, and then from “off” to “on” within one second, the height position of the auto-lift of the reaper 6 is changed. The new set value of the position sensor is written and stored in the built-in nonvolatile memory (EEPROM) of the control device 100. Finally, the automatic lift switch and the sensor check switch are turned off.

The reason why the adjustment method is set to “within 1 second” is that the adjustment method is executed within a time period in which switches other than the auto-lift switch and the sensor check switch are not expected to be turned on. It is.

This adjusting method is shown in the flow chart of FIG.
Conventionally, there has been no adjustment method other than adjusting the height position of the automatic lift of the reaper 6 using a dedicated external communication device (microcomputer checker). However, the user can directly and easily use the above method without using a microcontroller checker. It became so.

In the control of the auto-down portion of the combine 1 shown in FIG. 6, the culm sensor does not detect the cereal culm when the reaping device 6 is lowered to the predetermined ground height H, and the combine 1 is removed. An operation method for improving the safety of the reaper 6 when the vehicle is turning left / right will be described with reference to the flowchart of FIG.

The reaper 6 has a predetermined ground height (default value H).
When the grain stem sensors S1 and S2 are off, the grain stem sensors S1 and S2 do not detect grain stems, and are turned off by the power steering lever 20d.
When the operation for the right turning travel is detected, the mowing device 6 is raised to the conventional auto-lift position (stored value).

Then, when the operation of the power steering lever 20d is completed, that is, when the turning traveling of the combine 1 is completed and the vehicle moves straight ahead, even if the vehicle travels for a certain distance, the left / right turning operation of the power stay 20d is performed again. If not, the mowing device 6 is lowered again to the predetermined ground height H. Thus, even if the turning travel is performed while the reaper 6 is lowered,
Safety can be improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a side view of a combine for performing a cereal harvesting operation according to an embodiment of the present invention.

FIG. 2 is a schematic side view showing a part of a harvesting device and a threshing device inside the combine shown in FIG. 1;

FIG. 3 is a schematic plan view showing a part of a harvesting device and a threshing device inside the combine shown in FIG. 1;

FIG. 4 is a schematic view showing the arrangement of sensors and actuators in the side view of the combine shown in FIG. 1;

FIG. 5 is a block diagram of a circuit of the control device according to the embodiment of the present invention.

FIG. 6 is a diagram showing a control flow according to the embodiment of the present invention.

FIG. 7 is a diagram showing a control flow according to the embodiment of the present invention.

FIG. 8 is a diagram showing a control flow according to the embodiment of the present invention.

FIG. 9 is a diagram showing a control flow according to the embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Combine 2 Body frame 3 Traveling device 4 Crawler 5 Traveling transmission device 6 Cutting device 7 Cutting support stand 8 Weeding tool 9 Grain stem raising device 11 Cutting blade 13 Cutting support frame 13a Cutting vertical cylinder 14 Feed chain 15 Threshing device 15a Handling Room 16 Handling cylinder 17 Auxiliary feed chain 18 Glen tank 19 Auger 20 Pilot seat 20c Harvester operating lever 20d Power steering lever 20b Threshing lever 21 Scraping transfer device 21a Scraping wheel 21b Scraping endless belt 22 Front transfer device 22a Transport chain 22b Ear transport lug 26 Handling depth adjusting device 30 Supply adjusting device 31 Root chain 32 Nipping rod 36 Transmission box 37 Drive sprocket 38 Movable chain rail 39 Roller wheel 40 Tension curler 41 Support arm 42 Fixed frame 43 Ten Extension arm 44 Tension arm spring 45 Rod 46a, b Tension spring 47 Connecting frame 100 Control device CPU101 S1 Front grain culm sensor S2 Rear grain culm sensor S3 Short culm sensor S4 Head sensor S5 Stock sensor S6 Cutting clutch sensor S7 Threshing clutch Sensor S8 Vehicle speed sensor S9 Position detection sensor S10 Ultrasonic sensor M1, M2, M3 Actuator

Claims (2)

[Claims] 1. A harvesting device, a threshing device, forward, reverse,
In a combine equipped with a traveling device having a turning mode and a raising and lowering device of a mowing device, when the mowing device is at the ascending position, the threshing device starts to operate, the traveling device selects the forward mode and moves forward by a predetermined distance or a predetermined time. Then, the combine is provided with a control device for automatically lowering the reaper to a predetermined height. 2. A harvesting device having a stalk detecting means, a threshing device, a traveling device having a forward, reverse, and turning mode,
In a combine equipped with a raising and lowering device of the mowing device, when the mowing device is at the lowered position, the traveling device selects the forward mode and moves forward for a predetermined distance. A combine comprising: a control device for providing a predetermined height.