JP2006075113A - Combine harvester - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid the occurrence of a trouble that the tip of a reaping section collides with a ridge. <P>SOLUTION: This combine harvester in which a lifting rotation detection means for detecting the lifting rotation of a reaping section and a grounded reaping height detection means for detecting the reaping height of the reaping section are disposed in the reaping section lifting-rotatably attached to the front portion of a travel machine frame and capable of being lift-rotated with a lifting means, and a control means lifts or lowers the reaping section through the lifting means on the basis of the detection means of both the detection means to control the grain straw-reaping height of the reaping section is characterized by connecting a longitudinal inclination angle detection means for detecting the longitudinal inclination angle of the reaping section or the travel machine frame to a perpendicular line to the input side of the control means, computing a correction value from a detection result obtained from the lifting rotation detection means and a detection result obtained from the longitudinal inclination angle detection means, computing a reaping height on the basis of the correction value, and controlling so that the computed reaping height is approximately the same as a target reaping height preliminarily set with the control means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a combine.

Conventionally, as a form of combine, the base end of the cutting part is attached to the front part of the traveling machine body so that it can be moved up and down, and the cutting part can be moved up and down by the lifting means. While providing an up / down rotation amount detection means for detecting the rotation amount, a grounding type cutting height detection means for detecting the cutting height is provided at the tip of the cutting part, and both detection means are connected to the input side of the control means. In addition, the lifting means can be connected to the output side of the control means, and the cutting part can be moved up and down by the lifting means based on the detection results of both detection means to control the cutting height of the cereal by the cutting part (For example, refer to Patent Document 1).
JP-A-6-30623

  However, when harvesting soybeans and wheat, the combine is run in a direction perpendicular to the extending direction in which the straw is formed, and the harvesting part performs the harvesting work. When the grounding type cutting height detection means is located between the heel and the heel as the aircraft repeats up and down movement (so-called pitching) following the unevenness that is repeatedly formed on the Since the means is not in contact with the field scene (free state), the control means controls the lowering of the cutting part until the detection result of the cutting height detection means is obtained, and the tip of the cutting part collides with the reed There is a case where a malfunction occurs.

  In addition, when the cutting operation is performed when entering the field, the machine body is in a cutting state. Therefore, when the cutting height is detected by the grounding type cutting height detection means, the tip of the cutting unit collides with the cutting. There is a case where a malfunction occurs.

  Therefore, in the present invention, the lifting / lowering rotation amount detecting means for detecting the amount of lifting / lowering rotation of the cutting part is attached to the cutting part which is attached to the front part of the traveling machine body so as to be rotatable and movable by the lifting / lowering means. A grounding-type cutting height detecting means for detecting the cutting height of the cutting section, and the control means raises and lowers the cutting section via the lifting means on the basis of the detection results of both detecting means. In the combine that controls the cutting height of the cereal by the unit, a front / rear inclination angle detecting means for detecting a front / rear inclination angle with respect to the vertical line of the cutting part or the traveling machine body is provided connected to the input side of the control means. The correction value is calculated from the detection result obtained by the up-and-down rotation amount detection means and the detection result obtained by the forward / backward inclination angle detection means, and the cutting height is calculated based on the correction value. Target cutting whose height is preset in the control means There is provided a combine, wherein the controller controls so as substantially equal To be.

  Further, the present invention is characterized in that the cutting height control performed based on the correction value is performed when a predetermined time has elapsed in the grounding type cutting height detection means in a non-grounding state.

  (1) In the first aspect of the present invention, the amount of up-and-down rotation of the cutting unit is detected by the cutting unit which is attached to the front part of the traveling machine body so as to be able to move up and down and can be turned up and down by the lifting means. An up-and-down rotation amount detecting means and a grounding-type cutting height detecting means for detecting the cutting height of the cutting part are provided, and the control means moves the cutting part through the lifting means based on the detection results of both detecting means. In a combine that is moved up and down to control the cutting height of the cereal by the cutting unit, the front / rear inclination angle detecting means for detecting the front / rear inclination angle with respect to the vertical line of the cutting part or the traveling machine body is input to the control means. A correction value is calculated from the detection result obtained by the up-and-down rotation amount detection means and the detection result obtained by the front and rear inclination angle detection means, and the cutting height is calculated based on the correction value. Calculate the cutting height in advance in the control means. And it is controlled to be substantially equal to the target cutting height by.

  Thus, the correction value calculated from the detection result obtained by the up-and-down rotation amount detection means and the detection result obtained by the front-rear inclination angle detection means for detecting the front-rear inclination angle with respect to the vertical line of the cutting part or the traveling machine body Is calculated so that the cutting height is approximately equal to the target cutting height set in advance in the control means, so that the cutting height detection means For example, even if the grounding type cutting height detection means is located between the heel and the heel and the cutting height detection means is in a non-grounded state with the field scene, the tip of the cutting part It is possible to avoid the occurrence of a problem that the battery collides with the kite.

  As a result, it is possible to prevent the cutting portion from being damaged and to improve the cutting efficiency.

  (2) In the present invention described in claim 2, the cutting height control performed based on the correction value is performed when a predetermined time has elapsed in the grounding type cutting height detection means in a non-grounding state. ing.

  In this way, when the grounding type cutting height detection means is in a non-grounding state and a certain time has elapsed, the cutting height of the cereal by the cutting unit is controlled based on the correction value. The problem of repeatedly performing cutting height control unnecessarily in a short time can be avoided, and cutting height control can be accurately performed at the target cutting height.

  1 and FIG. 2 is a combine according to the present invention. In FIG. 1 and FIG. 2, 1 is a body frame equipped with a traveling crawler 2 on a traveling frame 3, and 4 is a harvested grain straw. A threshing unit equipped with an axial-flow screw-type barrel 5 for threshing and mounted on the machine frame 1, 6 is a sorting unit for sorting the grains threshed by the threshing unit 4, 7 The grain tank 9 for storing the grains of the threshing part 4 to be taken out through the milling cylinder 8, 9 is a cutting part which is installed in the lower front of the threshing part 4 via the lifting cylinder 10 so as to be lifted and lowered. A driving cabin provided with a driver's seat 12 and a driving operation unit 13 and disposed in front of the grain tank 7, a motor unit 14 provided behind the grain tank 7 and provided with an engine 15, 16 The upper grain carrying out auger for taking out the grains in the grain tank 7.

  As described above, the combine A includes the threshing unit 4, the sorting unit 6, the grain tank 7, the driving cabin 11, the prime mover unit 14, and the upper grain unloading auger 16 on the body frame 1 to configure the traveling body a. The cutting part 9 is attached to the front part of the traveling machine body a.

  The reaping part 9 is constituted by a reaping header 17 for taking in the uncut cereal cocoons, and a feeder house 18 for connecting the reaping cereals to the threshing part 4 by being connected to the rear center of the reaping header 17. The reel 19 for picking the uncut grain pestle, the reciprocating drive type cutting blade 20, and the grain picking auger 21 are provided in the harvesting header 17, and the harvested grain straw taken into the harvesting header 17 is fed to the feeder house 18. It is sent to the threshing section 4 via a supply chain conveyor (not shown) installed in the threshing unit and threshing is performed.

  Further, the cutting unit 9 is configured such that a base end portion (rear end portion) of the feeder house 18 is connected to a pivotal support body 22 provided at the front portion of the traveling machine body a via a rotation support shaft 23 having an axis line in the left-right direction. The cutting header 17 can be pivoted up and down around the pivotal support shaft 23, and the lifting cylinder 10 between the front end portion of the feeder house 18 and the front end portion of the fuselage frame 1 is provided. The mowing header 17 can be moved up and down by extending and retracting the elevating cylinder 10 interposed therebetween.

  Here, as shown in FIG. 1, the cutting header 17 is positioned immediately after the reciprocating drive type cutting blade 20, and a cutting height sensor 24 such as a warp type sensor as a grounding type cutting height detecting means. The cutting height sensor 24 can detect the cutting height of the cutting unit 9, that is, the cutting height H (see FIGS. 4 and 5) of the cereal by the reciprocating drive type cutting blade 20. I have to.

  As shown in FIG. 1, the rotation support shaft 23 serving as a rotation fulcrum of the mowing unit 9 is provided with an up / down rotation amount sensor 25 such as a potentiometer as an up / down rotation amount detection means. The sensor 25 can detect the vertical rotation amount of the cutting unit 9, that is, the vertical rotation angle α (see FIGS. 4 and 5).

  Further, in the middle of the feeder house 18, in the present embodiment, a front / rear inclination angle sensor 26 as front / rear inclination angle detection means on a virtual line K connecting the rotation support shaft 23 and the tip of the reciprocating drive type cutting blade 20 is provided. As shown in FIGS. 4 and 5, the front-rear inclination angle β with respect to the vertical line V of the cutting unit 9 can be detected.

  Here, as shown in FIG. 1, a control means 27 such as a controller is disposed in the operation cabin 11, and the control means 27 has a cutting height on the input side as shown in FIG. Connects the height sensor 24, the up-and-down rotation amount sensor 25, the forward / backward tilt angle sensor 26, the cutting height setting volume switch 28, the automatic cutting height control switch 29, the chopping cutting control switch 30, the manual cutting and lifting switch 31 and the vehicle speed sensor 32. On the other hand, the lifting cylinder 10, the automatic cutting height control lamp 33, and the alarm buzzer 34 are connected to the output side.

  The switches 28, 29, 30, 31 and the automatic cutting height control lamp 33 and the alarm buzzer 34 are provided on a side column 35 (see FIGS. 1 and 2) provided in the driving cabin 11, and the vehicle speed. The sensor 32 detects the number of rotations of the drive wheel support shaft 36 supported by the traveling frame 3.

  Further, as shown in FIG. 1, the side column 35 is provided with a speed change lever 37, and the manual cutting lift switch 31 is provided on the gripping portion 37a of the speed change lever 37 so that the gripping portion 37a is held. By operating the manual cutting / lifting switch 31 with an index finger or the like, the cutting unit 9 can be appropriately lifted / lowered via the lifting / lowering cylinder 10.

  In this way, in the present embodiment, any one of [Pitching control], [Automatic cutting height control], [Wedge cutting control] and [Manual cutting / lifting mode] can be performed. The control and the like will be described with reference to FIGS.

  That is, as shown in FIG. 4, first, the automatic cutting height control switch 29 is turned ON (S1 YES), the target cutting height Ho is set by the cutting height setting volume switch 28 (S2 YES), and When the mowing control switch 30 is not turned on (S3 NO) and a certain time t (for example, 1 second) has elapsed since the cutting height sensor 24 is in a non-grounding state (free state or non-detecting state) ( (S4 YES), [Pitching control] is started (S5).

  When the cutting height sensor 24 is in a grounding state after a certain time t has not passed since the cutting ground sensor 24 is in a non-grounding state (free state or non-detection state) (S4 NO), [automatic cutting height control] Is made (S6).

  In addition, when the hull cutting control switch 30 is turned on (S3 YES), [wheat cutting control] is performed (S7).

  When the automatic cutting height control switch 29 is not turned on (S1NO) and the manual cutting / lifting switch 31 is turned on (S8 YES), the [Manual cutting / lifting mode] is set (S9). At this time, the automatic cutting height control lamp 33 is turned off.

[Pitching control]
In the pitching control, the control means 27 calculates a correction value, that is, a correction angle γ from the detection result obtained by the up / down rotation amount sensor 25 and the detection result obtained by the front / rear tilt angle sensor 26, and the correction angle γ The cutting height H is calculated based on the relative relationship between the cutting height and the cutting height which is the ground height of the reciprocating cutting blade 20, and the cutting height H is preset in the control means 27 by the cutting height setting volume switch 28. In this control, the cutting portion 9 is appropriately moved up and down to change the up-and-down rotation angle α so as to be substantially equal to the target cutting height Ho.

For example, as shown in FIG. 5, when the traveling machine body a is tilted forward by a forward / backward inclination angle β (= θ1),
Correction angle γ1 = Up-and-down rotation angle α−coefficient p × front and rear inclination angle β
The correction angle γ1 is calculated from the above formula, the cutting height H is calculated based on the correction angle γ1, and the cutting height H is controlled to be approximately equal to the preset target cutting height Ho. . That is, the cutting unit 9 is appropriately raised and lowered to change the raising / lowering rotation angle α, and the correction angle γ1 and the cutting height H are controlled. G is a farm scene and U is a cocoon.

  The coefficient p is an arbitrary numerical value set in advance assuming that the traveling machine body a is inclined forward.

Further, as shown in FIG. 6, when the traveling machine body a is inclined backward and forward by an inclination angle β (= θ2),
Correction angle γ2 = up-and-down rotation angle α + coefficient q × front-rear tilt angle β
The correction angle γ2 is calculated from the equation (2), the cutting height H is calculated based on the correction angle γ2, and the cutting height H is controlled to be approximately equal to the preset target cutting height Ho. . That is, the cutting unit 9 is appropriately raised and lowered to change the raising / lowering rotation angle α, and the correction angle γ2 and the cutting height H are controlled.

  The coefficient q is an arbitrary numerical value set in advance assuming that the traveling machine body a tilts backward.

  Therefore, even when the cutting height sensor 24 is located between the ridge U and the ridge U, and the cutting height sensor 24 is not in contact with the field G, the tip of the cutting header 17 remains 畝 U. It is possible to avoid the occurrence of a problem of collision.

  As a result, it is possible to prevent damage to the tip of the cutting header 17 and improve cutting efficiency.

  At this time, since the pitching control is performed when the cutting height sensor 24 is in a non-grounded state and the predetermined time t has elapsed, the problem that the cutting height control is repeatedly performed in an unnecessarily short time. Thus, the pitching control can be accurately performed at the target cutting height.

  The fixed time t is counted by a timer (not shown) built in the control means 27.

  Further, in the present embodiment, the vehicle speed sensor 32 is connected to the control means 27, and the distance traveled by the cutting height sensor 24 in a non-grounded state is calculated based on the detection result of the vehicle speed sensor 32. Therefore, instead of the predetermined time t, it can be set so that the pitching control is started when the cutting height sensor 24 moves in a non-grounded state by a predetermined distance (for example, 5 cm) or more.

(Automatic cutting height control)
In the automatic cutting height control, the control means 27 makes the cutting height H detected by the cutting height sensor 24 substantially equal to the target cutting height Ho set in advance by the cutting height setting volume switch 28. This is control for changing the raising / lowering rotation angle α by appropriately raising and lowering the cutting unit 9.

  At this time, the automatic cutting height control lamp 33 is turned on, and the operator can easily visually recognize the control state.

[Cutting control]
The reaping control is started when the operator turns on the reaping control switch 30, stops the automatic control based on the sensor, and the operator operates the manual reaping / lowering switch 31 provided in the operation unit 13. Thus, the cutting unit 9 is appropriately lifted and lowered so that the cutting height H becomes substantially equal to the target cutting height Ho.

  At this time, the automatic cutting height control lamp 33 is turned off, and the operator can easily recognize that the automatic control is stopped.

  When the automatic cutting height control switch 29 is ON, the automatic cutting height control lamp 33 flashes and the alarm buzzer 34 sounds to alert the operator.

[Manual cutting lift mode]
In the manual mowing raising / lowering mode, the operator operates the manual mowing raising / lowering switch 31 provided in the driving operation unit 13 to appropriately raise / lower the mowing unit 9 so that the cutting height H becomes substantially equal to the target cutting height Ho. It is a mode to operate as follows.

  Such an operation by the manual cutting lift switch 31 has priority over automatic control.

  At this time, the automatic cutting height control lamp 33 is turned off, and the operator can easily recognize that the automatic control is stopped.

  FIGS. 7 and 8 show another embodiment in which the traveling machine body a is provided with the front / rear inclination angle sensor 26, as in the embodiment in which the feeder house 18 is provided with the front / rear inclination angle sensor 26. ], [Automatic cutting height control], [Wedge cutting control], and [Manual cutting / lifting mode].

The side view of the combine which concerns on this invention. The top view of the combine. Control block diagram. The flowchart of control. Side surface explanatory drawing (forward inclination pattern) of pitching control. Side surface explanatory drawing (backward inclination pattern) of pitching control. Side surface explanatory drawing (forward inclination pattern) of the pitching control of other embodiment. Side surface explanatory drawing (backward inclination pattern) of the pitching control of other embodiment.

Explanation of symbols

24 Cutting height sensor
25 Up / down rotation sensor
26 Longitudinal tilt angle sensor
27 Control means
28 Cutting height setting volume switch
29 Automatic cutting height control switch
30 Harvesting control switch
31 Manual cutting lift switch

Claims (2)

The cutting part attached to the front part of the traveling machine body so as to be able to be turned up and down freely, and to the cutting part which can be turned up and down by the lifting means, the lifting and turning amount detecting means for detecting the turning and turning amount of the cutting part, and the cutting part of the cutting part Grounding type cutting height detection means for detecting the height, and based on the detection results of both detection means, the control means raises and lowers the cutting part via the lifting means, and cuts the cereal by the cutting part In a combine that controls the height,
A front and rear inclination angle detecting means for detecting a front and rear inclination angle with respect to the vertical line of the cutting part or the traveling machine body is provided connected to the input side of the control means,
A correction value is calculated from the detection result obtained by the ascending / descending rotation amount detection means and the detection result obtained by the forward / backward inclination angle detection means, and the cutting height is calculated based on the correction value, and the cutting height is calculated. The combine is controlled so as to be substantially equal to the target cutting height set in advance in the control means.   2. The combine according to claim 1, wherein the cutting height control based on the correction value is performed when a fixed time has elapsed in a grounding type cutting height detection means in a non-grounding state.

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