JP2004016029A - Controller for lifting and lowering of reaping part of combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller for lifting and lowering of a reaping part of a combine harvester carrying out smooth changeover between automatic lifting and lowering and manual lifting and lowering when the manual lifting and lowering can be carried out during the automatic lifting and lowering of the reaping part. <P>SOLUTION: This controller 1 for lifting and lowering of the reaping part of the combine harvester is constituted by installing a manual speed setting means 21, an automatic speed setting means 23 and a speed setting means 25 for outputting a lifting and lowering command for lifting and lowering of the reaping part (a) by the selection thereof. Furthermore, the speed setting means 25 is equipped with a speed comparing means 24 for comparing the manually set speed and the automatically set speed and outputting the higher speed side when the direction is mutually the same by receiving respective signals from the manual speed setting means 21 and the automatic speed setting means 23 and comparing both the signals when the automatic lifting and lowering is selected and manual lifting and lowering operation is performed further. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a harvesting unit elevating control device of a combine for controlling the elevating and lowering of a mowing unit provided in a front part of a machine body, and in particular, when an automatic elevating and lowering of a mowing unit is enabled, manual elevating and manual elevating are possible. The present invention relates to a combine harvester elevating control device which enables smooth switching between the harvesters.
[0002]
[Prior art]
As shown in FIG. 11, the combine operates the working machines such as the cutting unit a, the threshing unit b, the storage unit c, and the unloading unit d, the left and right crawlers e and e for traveling, and the traveling of the working machine and the machine body. And a control unit f for performing the operation. In addition, the vehicle includes a prime mover (not shown) and a control device that controls a working machine that operates by receiving its power.
[0003]
The harvesting unit a of the combine performs the harvesting of the grain stalk while adjusting the cutting height to a predetermined cutting height position and moving the machine forward. For example, when the culm to be harvested runs out and moves to the next cutting line, it is necessary to raise the cutting unit a and lower the cutting unit a again in order to restart cutting after turning the machine.
[0004]
Regarding these operations, the steering unit f shown in FIG. 12 includes a power steering lever g capable of performing a left and right tilt operation for turning the body in addition to a front and rear tilt operation for the raising and lowering operation of the reaping unit a, For this purpose, a forward / reverse continuously variable transmission lever h, a throttle lever i, an auxiliary transmission lever j, a turning mode lever k, etc. are arranged. A dial n, a cutting height switch p, a wetland switch q and the like are arranged.
[0005]
When the power steering lever g is tilted back and forth, the mowing unit elevating control device that controls the mowing unit a up and down receives the tilt signal and adjusts the hydraulic pressure of the elevating cylinder that drives the mowing unit a up and down. In addition, the control device includes a so-called auto-lift mechanism, a one-touch elevating function, etc., for automatically raising and lowering the reaping unit a in order to reduce the burden on the operator regarding the standard lifting operation of the reaping unit a. It is configured. Further, by configuring the reaping unit a so that it can be manually operated while being automatically raised and lowered during the automatic raising and lowering of the mowing unit a, it is possible to provide the convenience of the standard uniform automatic raising and lowering operation and the efficient response by the manual high-speed operation according to the situation. It is possible.
[0006]
[Problems to be solved by the invention]
However, the switching to the manual operation during the automatic elevating operation is performed by tilting the power steering lever g when the mowing unit a is performing the automatic elevating operation. There is a problem that a sudden change in the momentum in the vertical direction of the reaping unit a having a large mass and located at the tip of the fuselage exerts a shocking pitching moment on the fuselage. This problem is the same when the power steering lever g is returned to the neutral position and switched to the original automatic elevating operation, which not only gives an unpleasant feeling to the operator but also improves the effect of affecting the entire aircraft. Was desired.
[0007]
SUMMARY OF THE INVENTION An object of the present invention is to provide a combine harvester lifting control device capable of smoothly switching between automatic lifting and manual lifting when manual lifting is possible during automatic lifting and lowering of the reaper. .
[0008]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 relates to a raising / lowering control of a mowing unit, a manual speed setting means for determining a direction and a speed of the lifting / lowering operation based on a manual operation input tool, and a separately determined lifting / lowering operation. Combine harvesting comprising: automatic speed setting means for determining the direction and speed of the operation according to the conditions in light of the above, and speed setting means for outputting an elevating command for raising and lowering the cutting unit according to the direction and speed set by the selection. In the vertical lifting / lowering control device, the speed setting means receives respective signals from the manual speed setting means and the automatic speed setting means when the automatic lifting / lowering operation is performed and the manual lifting / lowering operation is performed again. A speed comparison means is provided for outputting the higher of the manually set speed and the automatically set speed when the directions are the same by comparing the signals.
[0009]
The above-described mowing unit elevating control device controls the mowing unit based on one of a manual setting operation by a manual speed setting unit corresponding to a manual operation input tool and an automatic setting operation by an automatic speed setting unit corresponding to a predetermined condition. In the selection, since a predetermined speed comparing means is provided, the manual setting operation is selected when the manual setting operation reaches a range in which the mowing unit moves faster than the automatic setting operation during the automatic raising and lowering operation of the mowing unit. Therefore, it is possible to smoothly switch from automatic lifting to manual lifting. Also, during the manual lifting operation of the mowing unit, when the manual setting speed becomes lower than the automatic setting speed, the speed comparing means selects the automatic setting operation, so that the switching from the manual lifting to the automatic lifting is smoothly performed as described above. Can be
[0010]
According to a second aspect of the present invention, the speed comparison means receives a cutting section height position signal from a cutting position sensor, and when the height position falls within a predetermined lower range based on the cutting section height position signal, the speed comparison means is manually operated. The present invention is characterized in that both the set speed signal and the automatically set speed signal are compared, and if both signals are in the descending direction, the lower one of the manually set speed and the automatically set speed is output.
[0011]
The reaping unit elevating control device allows the manual lowering operation at a lower speed only by the automatic lowering operation at the predetermined low position by the speed comparing means. The mowing unit can be lowered at a low speed.
[0012]
【The invention's effect】
ADVANTAGE OF THE INVENTION The combine harvester raising / lowering control apparatus of this invention has the following effects.
The reaping unit elevating control device of the combine having the above-described configuration includes a predetermined speed comparing means, thereby enabling manual high-speed elevating and lowering during automatic elevating of the reaping unit and smoothing between the automatic elevating and the manual elevating and lowering. Switching is possible.
[0013]
Therefore, the harvesting unit elevating control device of the combine harvester, while ensuring convenience by automatic elevating and lowering, allows for efficient elevating operation by manual high-speed elevating operation according to the situation, and a sudden change in the elevating operation of the mowing unit. Accordingly, it is possible to prevent a large impact received on the aircraft. This effect is the same when the power steering lever is returned to the neutral position to switch to the original automatic elevating operation. As a result, in the efficient lifting operation by the manual high-speed lifting operation, the shock applied to the aircraft is suppressed and the integrity of the whole combine can be secured, and the burden on the operator is reduced, improving the working environment. Can be planned.
[0014]
Further, when the reaping unit is automatically lowered to near the ground, the reaping unit can be controlled at a low speed by a manual operation when the reaping unit is automatically lowered to a position close to the ground. It can be adjusted to an appropriate height position by preventing it from being sunk.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment specifically configured based on the above technical idea will be described below with reference to the drawings. FIG. 1 shows an input / output configuration of the harvesting unit elevating control device of the combine harvester of the present invention, and FIG. 2 shows a functional configuration diagram of a control unit of the harvesting unit elevating control device.
[0016]
In FIG. 1, a mowing unit elevating control device 1 connects a microcomputer constituting a control unit 2 to switches and the like via an input interface 3 and a control target device via an output interface 4. The switches include a cutting position sensor 11, a cutting lever position sensor 12, a cutting height switch 13, a threshing clutch switch 14, a vehicle speed sensor 15, and the like. The controlled devices are a cutting-up proportional solenoid 16 and a cutting-down proportional solenoid. Seventeen. The reaping lever position sensor 12 outputs a signal of the direction and speed of the ascending and descending according to the tilting angle by the tilting operation from the neutral position of the reaping raising and lowering lever, which is an input device for manual operation called a power steering lever.
[0017]
In FIG. 2, the control unit 2 of the mowing unit elevating control device 1 includes an automatic speed setting unit 21 that receives an operation signal from a mowing lever position sensor 12 of a manual operation input tool g, and an automatic control condition determining unit 22. A speed setting means 23 is provided. In addition, a speed comparing means 24 for receiving set speed signals from the two speed setting means 21 and 23 and a speed setting means 25 are provided so as to be connected to the cutting cylinder 26.
[0018]
The manual speed setting means 21 receives an angle signal from the reaping lever position sensor 12 of the manual operation input tool, converts the angle signal into an ascending / descending speed corresponding to the tilt angle, and outputs a signal. The automatic control condition judging means 22 judges the condition of the automatic elevating and lowering based on an automatic switch m for selecting the automatic elevating and lowering of the mowing part a, various switches such as a threshing lever, and sensor signals of the vehicle speed sensor 15 and the like. The automatic speed setting means 23, when receiving the automatic elevating / lowering determination signal from the automatic control condition determining means 22, outputs a signal of the elevating / lowering speed corresponding to the condition in light of the preset automatic elevating operation.
[0019]
The speed comparing means 24 receives the respective signals from the manual speed setting means 21 and the automatic speed setting means 23 when the manual elevating operation is performed again after the automatic elevating and lowering is selected, and compares these two signals. If the manual setting speed is higher than the automatic setting speed in the same direction as each other, the manual setting speed is output; otherwise, the automatic setting speed is output. The speed setting means 25 outputs an elevating command for raising and lowering the reaping unit according to the direction and the speed determined by the speed comparing means, and controls the operating oil by a proportional flow valve operated by the elevating command to extend and contract the reaping cylinder 26. The mowing part a is moved up and down by operating.
[0020]
As shown in the control operation example (1) of the mowing unit elevating control device in FIG. 3, the mowing unit elevating control device 1 having the above configuration has a manual descent speed v _M of the chart C3 corresponding to the timing of the manual descent operation of the chart C2. but at a low speed, when the auto down velocity v _a of the chart C4 is a high-speed relationship, portion cutting by high-speed operation signal performs control so as to operate lowered. As a result, reaper a is, as shown in height h by cutting position sensor chart C1, descends automatically lowering speed v _A over time.
[0021]
Further, as shown in the control operation example (2) by the reaping unit elevating control device of FIG. 4, the automatic setting operation of the chart C4 is maintained even during the manual operation, and the speed is reduced by the end of the manual elevating operation of the reaping unit of the chart C3. By selecting the automatic setting operation on the high-speed side by the comparing means 24, it is possible to smoothly switch from manual lifting to automatic lifting.
[0022]
Next, the lowering control of the cutting unit a at the low position will be described. In the following, description of the same members will be omitted by giving the same reference numerals. Regarding the automatic lowering operation of the reaping unit a within the predetermined range of the low position, as shown in a control operation example (3) by the reaping unit elevating control device of FIG. by configuring it to command output lowering speed of the manual lowering speed v _M of the chart C3 in the ground downward movement near the reaper a chart C1 is adjustable by a slow manual operation.
[0023]
Next, the lowering control of the cutting unit a in the wetland will be described.
As shown in the input / output configuration diagram of the mowing unit elevating control device 31 in FIG. 6, a wetland switch q is added to the input side, and the upper limit of the automatic deceleration range is set higher in accordance with the selection input signal of the wetland switch q. shift. In this case, as shown in a control operation example (4) by the mowing unit elevating control device in FIG. 7, the speed is reduced from the higher-ordered height position h1 of the chart C1, and at an earlier timing t1 corresponding to the height position h1. Since the automatic lowering of the chart C4 is slowed down, even if the airframe is sinking in the wetland, the operator can respond with sufficient time before the reaping unit squeezes into the ground.
[0024]
Next, the lowering lock system of the reaper will be described. As shown in the input / output configuration diagram of the mowing unit elevating control device of FIG. 8 and the functional configuration diagram of the control unit of the mowing unit elevating control device of FIG. The lock switch 42, the power steering position sensor (up and down) 12, the cutting height setting dial n, the cutting position sensor 11 and the like are connected, and the cutting upper valve 16, the cutting lower valve 17, the monitor 43 and the like are connected as the output side. Further, the control unit of the reaping unit elevating and lowering control device 41 receives the power steering operation detecting means 46, the undercutting restraint releasing means 47, the undercutting restraint means 48, the reaping up valve driving means 16a, and the reaping down valve driving means 17a. Be composed.
[0025]
The power steering operation detecting means 46 detects the direction of change and the amount of displacement of the power steering position sensor 12. When the change direction and the displacement amount are detected, a drive command is given to the cutting valve driving means 16a and the cutting valve drive means 17a according to the change direction and the displacement amount. Conversely, when a neutral or upward operation is detected, a release command is given to the undercutting restraint release means 47.
[0026]
The undercutting restraint means 48 detects the operation of the undercutting lock switch 42 and gives a command to prohibit the undercutting valve driving means 17a from lowering. However, when the undercutting restraint means 48 operates, the undercutting restraint state is maintained until the release command is issued by the undercutting restraint releasing means 47. The undercutting restraint release means 47 receives the restraint release command from the power steering operation detecting means 46 and releases the undercutting state of the undercutting restraint means 48.
[0027]
The harvesting valve driving means 16a drives the harvesting valve 16 in response to a harvesting command from the power steering operation detecting means 46. The cut-off valve driving means 17a receives the cut-off command from the power steering operation detecting means 46 and drives the cut-off valve 17. However, when a lowering prohibition command is received from the reaping lowering restraint means 48, it is not driven.
[0028]
The mowing unit elevating control device 41 having the above configuration does not operate even if the mowing lock device is released when the mowing lock device is in operation and the mowing operation is performed. Or, it is operated by performing the lowering operation again without performing the mowing lowering operation until it is once released by operating in the opposite direction.
[0029]
Conventionally, when the undercutting lock switch is in the operating state and the undercutting operation by the power steering is performed in parallel, the mowing portion is lowered by releasing the undercutting lock switch. When the harvesting up / down operation input device due to power steering breaks down, the lowering of the reaping part was inevitable with the release of the reaping lock, but according to the above configuration, in order to release the reaping lock device, the lock must be released. Since the condition for lowering the switch 42 and the power steering g is set as a condition, the mowing part a can be lowered under control of the operator, so that safety can be ensured.
[0030]
Next, an operation of raising and lowering the cutting unit by the cutting height setting dial will be described. As shown in the functional block diagram of the control unit of the mowing unit elevating control device in FIG. 10, the control unit of the mowing unit elevating control device 51 includes a power steering failure diagnosing unit 52 that receives a signal from the power steering operation detecting unit 46, a cutting height setting dial. dial operation detecting means 53 for receiving the signal of n, dial / sensor comparing means 54 for receiving the signals of the dial operation detecting means 53 and the cutting position sensor 11, and the drive selecting means 55 and the cutting valve driving means 56. Be composed.
[0031]
The power steering operation detecting means 46 detects the direction of change and the amount of displacement of the power steering position sensor 12 and gives a drive command to the drive selecting means 55. At the same time, a diagnosis command is given to the power steering failure diagnosis means 52. The power steering failure diagnosing means 52 diagnoses a failure of the sensor based on a command from the power steering operation detecting means 46, and gives an instruction to invalidate the power steering g to the drive selecting means 55. The dial operation detecting means 53 detects the direction of change and the amount of displacement of the cutting height setting dial n and gives a drive command to the drive selecting means 55. The dial / sensor comparison unit 54 compares the cutting height setting dial n with the detection value of the cutting position sensor 11 and gives a switching start command to the drive selection unit 55.
[0032]
The drive selecting means 55 gives a drive command to the reaping valve drive means 56 by the power steering operation detecting means 46 when the power steering failure diagnosing means 52 determines the normality. When the power steering failure diagnostic means 52 determines a failure, the dial operation detecting means 53 gives a drive command to the mowing valve driving means 56. However, the switching to the driving by the dial is in accordance with the start command from the dial / sensor comparison means 54. The reaping valve driving means 56 drives the reaping upper valve 16 and the reaping lower valve 17 in response to the reaping vertical command from the drive selecting means 55.
[0033]
The mowing unit elevating control device 51 having the above configuration is configured to start the elevating operation after detecting at least one dial operation when the mowing unit a is moved up and down to the dial set height by the sensor abnormality determination of the elevating input device. Shift to first aid mode. Conventionally, when the control automatically moves to the elevating position control by the cutting height setting dial n due to the failure of the elevating input device g, if the actual dial setting value and the height position of the reaping part a are largely apart, the reaping is performed. Although the part a suddenly caused a large operation, the configuration described above requires a dial operation when shifting to the first aid mode, so that the reaper can be prevented from suddenly moving up and down. Safety of the first aid mode can be ensured.
[Brief description of the drawings]
1 is an input / output configuration diagram of a combiner raising / lowering control device of a combine according to the present invention; FIG. 2 is a functional configuration diagram of a control unit of the harvester raising / lowering control device of FIG. 1; Of control operation by using (1)
FIG. 4 is a control operation example (2) of the mowing unit elevation control device of FIG. 1;
FIG. 5 is a control operation example (3) of the mowing unit elevating control device.
FIG. 6 shows a control operation example (4) performed by the mowing unit elevating control device.
FIG. 7 is an example (5) of a control operation performed by the mowing unit elevating control device.
FIG. 8 is an input / output configuration diagram of a reaping unit elevating control device with a strengthened lowering lock. FIG. 9 is a functional configuration diagram of a control unit of the reaping unit elevating control device of FIG. 8; FIG. 11 is a functional configuration diagram of a control unit of the elevation control device. FIG. 11 is a side view of an overall configuration of a combine having a mowing unit elevation control device. FIG. 12 is a plan view of device arrangement of a control unit of the combine in FIG.
REFERENCE SIGNS LIST 1 reaper raising and lowering control device 2 controller 11 reaping position sensor 12 power steering position sensor 13 reaping height switch 16 reaping valve 16a reaping valve drive means 17 reaping valve 17a reaping valve driving means 21 manual speed setting means 22 automatic control Condition judging means 23 Automatic speed setting means 24 Speed comparing means 25 Speed setting means 26 Cutting cylinder 31 Cutting section elevating control device 41 Cutting section elevating control device 42 Lock switch 46 Power steering operation detecting means 47 Cutting under restraining release means 48 Cutting under restraining means 51 Cutting unit elevation control device 52 Power steering failure diagnosis unit 53 Dial operation detection unit 54 Dial sensor comparison unit 55 Drive selection unit 56 Cutting valve driving unit a Cutting unit f Operating unit g Power steering lever (input tool for manual operation)
m Auto-lift (auto switch)
n Cutting height setting dial p Cutting height switch q Wetland switch

Claims (2)

A manual speed setting means for determining the direction and speed of the lifting operation based on the input device for manual operation,
Automatic speed setting means for determining the direction and speed of the operation according to the conditions in light of the separately determined lifting operation,
A speed setting means for outputting a raising / lowering command for raising / lowering the reaping unit according to the direction and speed set by these selections;
The speed setting means receives respective signals from the manual speed setting means and the automatic speed setting means when the automatic elevating operation is selected and the manual elevating operation is performed again, and compares these two signals to determine the direction. And a speed comparison means for outputting the higher of the manually set speed and the automatically set speed when the two are the same. The speed comparing means receives a cutting section height position signal from the cutting position sensor, and when the cutting section height position signal indicates that the height position is within a predetermined lower range, both the manually set speed and the automatically set speed are used. 2. A combine harvester lifting and lowering control device according to claim 1, wherein the signals are compared, and if any of the signals is in the descending direction, the lower one of the manually set speed and the automatically set speed is output.

Images