JP2012170431A - Combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a combine harvester which secures an elevation position of a reaping device even when the height of the harvester is adjusted to a lower position.SOLUTION: The combine harvester includes: a travelling device 3 which supports the body frame 1a whose height is adjusted by the harvester height adjustment part 11; and a reaping device 4 which reaps grain culms and whose height is adjusted by the reaping device hoisting part 14 of the front part of the body frame 1a. The combine harvester also includes: a harvester height detection part 11s which detects the height adjusted by the harvester height adjustment part 11; a reaping height detection part 14s which detects the height hoisted by the reaping device hoisting part 14; and a controlling part C which controls the operation of the harvester height adjustment part 11 and the reaping device hoisting part 14. If either starting of output of a lowering output signal to the harvester height adjustment part 11 or the downward change of the height by the harvester height detection part 11s is detected, and if the height of the reaping device detected by the reaping height detection part 14s is found lower than the set value, the controlling part C is to give a rising output signal to the reaping device hoisting part 14 until the value detected by the reaping height detection part 14s becomes equal to or more than the set value.

Description

  The present invention relates to a combine.

  As shown in Patent Document 1, a combine is known in which a cutting device is provided at the front end of the machine body so as to be adjustable, and left and right crawlers, which are traveling devices, are provided with a vehicle height adjusting unit. This combine can adjust the holding height of the harvesting device during harvesting, turning and moving the aircraft by the lifting adjustment part of the harvesting device, and the road height adjustment unit is suitable for fields where the roadbed such as wet fields is soft. Therefore, cutting and traveling can be performed stably.

JP 2002-142541 A

  However, in the technique of Patent Document 1, when the height of the aircraft relative to the traveling device is higher than the set height and the height of the cutting device is lower than a predetermined height, the configuration is such that control output is performed to lower the aircraft. However, when the field ground is soft, the traveling device has subsided, so that the cutting device comes into contact with the field scene, causing a problem in the subsequent cutting process.

  The problem to be solved is to provide a combine that can secure the height position of the reaping device even when the vehicle height is adjusted in the direction in which the vehicle height decreases.

According to the first aspect of the present invention, there is provided a traveling device (3) that supports the body frame (1a) via the vehicle height adjustment section (11) so as to be height-adjustable, and a cutting lift unit (14) at the front of the body frame (1a). In a combine equipped with a reaping device (4) supported so as to be able to move up and down via), and a threshing device (5) for threshing the harvested cereal meal supplied from this reaping device (4),
A vehicle height detection unit (11s) for detecting the height of the machine body frame (1a) with respect to the traveling device (3), and a cutting / lifting detection unit (14s) for detecting the height of the cutting device (4) with respect to the machine frame (1a). ) And a control unit (C) for controlling the operation of the vehicle height adjustment unit (11) and the cutting lift unit (14). The control unit (C) is connected to the vehicle height adjustment unit (11). One of the start of the descent output and the change in height of the airframe frame (1a) detected by the vehicle height detection unit (11s) is detected, and the cutting lift detection unit (14s) When the detected height of the harvesting device (4) is less than a preset value, the harvesting lifting unit (14) until the detected value of the harvesting lifting detection unit (14s) is equal to or higher than a set value. Is characterized by a configuration that performs a rising output at the same time. And the.

  Invention of Claim 2 is equipped with the culm sensor (4b) which detects the presence or absence of the culm to be harvested introduced into the reaping device (4) in the control part (C) in Claim 1, and the grain When the culm sensor (4b) detects the presence of the cereal, the machine body frame (1a) is automatically lowered to a height equal to or lower than the set vehicle height, and the culm sensor (4b) detects the presence of the cereal. When not detecting, it was set as the combine characterized by having set it as the structure which raises a body frame (1a) automatically to the position higher than the said setting vehicle height.

  According to a third aspect of the present invention, in the first or second aspect, the control unit (C) includes a vehicle speed detection unit (3b) that detects a traveling speed of the airframe by the traveling device (3), and the vehicle speed detection is performed. When the vehicle speed detected by the part (3b) is equal to or higher than the set vehicle speed, the combine is characterized in that the fuselage frame (1a) is automatically lowered.

  The invention of claim 4 is the combine according to claim 2, further comprising a vehicle height operation member (24) capable of arbitrarily setting the set vehicle height.

  According to the first aspect of the present invention, the start of the descending output to the vehicle height adjusting unit (11) and the change in the height of the body frame (1a) to the descending side detected by the vehicle height detecting unit (11s). When any one of them is detected and the height of the cutting device (4) detected by the cutting lift detection unit (14s) is less than a preset value, the cutting lift detection unit (14s) Since the cutting device (4) is raised until the detected value of the frame becomes equal to or higher than the set value, the cutting device (4) does not contact the field scene even if the height of the machine frame (1a) relative to the traveling device decreases. Can improve the efficiency of the cutting operation.

  According to the invention of claim 2, in addition to the effect of the invention of claim 1, when the presence of the cereal in the reaping device (4) is detected, the reaping device (4) is lowered by lowering the body frame (1 a). Is lowered to prevent the height of the culm from being raised, and when the presence of the cereal in the reaping device (4) is not detected, the body frame (1a) is raised to the reaping device (4). Can be prevented from contacting the farmland.

  According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, when the running speed of the fuselage is equal to or higher than the set vehicle speed, the fuselage frame (1a) is lowered, so cutting while running at high speed The efficiency of the cutting operation can be further improved by improving the stability of the machine body in the operation.

  According to the invention of claim 4, in addition to the effect of the invention of claim 2, the height of the body frame (1a) relative to the traveling device (3) can be arbitrarily adjusted.

Combine aircraft side view Top view of the combine of FIG. System configuration block diagram Control flow chart for lowering vehicle height in a wetland field Control flow chart for raising the vehicle height in dry fields Block diagram of cutting height fine adjustment control system Flow chart for fine adjustment control of cutting height Flow chart of malfunction prevention control Control flow chart for lever and switch conflict operation Block diagram of the auger control system Side view of the main part of the camera layout of the control unit Block diagram of safety system Control flowchart (a) on this machine side and control flowchart (b) on the communication equipment side

Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings.
As shown in the plan view (a) and side view (b) of the airframe shown in FIG. 1, the combine 1 as one application example of the present invention is a left and right crawler that is a traveling device that supports the airframe frame 1a so as to be able to travel on the field. 3, 3, a reaping device 4 for harvesting cereals from the field at the front of the machine frame 1 a, a threshing device 5 for threshing the harvested cereals received from the reaping device 4, and a side of the threshing device 5 It comprises a grain storage device 6 that stores threshed grains, and a control device 7 that is arranged in front of the grain storage device 6.

  As shown in the plan view (a) and the side view (b) of FIG. 2, the left and right crawlers 3 and 3 are provided with a vehicle height adjusting portion 11 that supports the body frame 1a so that the height can be adjusted. The vehicle height adjusting unit 11 is configured such that left and right link mechanisms 12 and 12 are provided between the crawler frames 3a and 3a and the body frame 1a, and the support heights can be adjusted by power control of the hydraulic cylinders 13 and 13, respectively. To do.

  The reaping device 4 is supported by the reaping lift 14 so as to be lifted and lowered. The cutting lift 14 supports the cutting device 4 by a lifting arm 14a that is pivotally supported at the front end of the body frame 1a, and the lifting arm 14a can be moved up and down by power control for raising and lowering a hydraulic cylinder (not shown).

  Also, a combine control controller C which is a control unit for controlling each device constituting the combine is provided, and as shown in the block diagram of the system configuration in FIG. 3, logical processing is performed by the control processing unit according to the control input, The device can be controlled by an output means that outputs the device according to the processing result, and the left and right vehicle height adjusting units 11 and 11 and the cutting lift unit 14 can be controlled as control devices. The buzzer 16 serving as a notification unit is configured to be able to control the sound.

  The control input of the control unit C is a wetland switch 21 which is a wetland control selection unit that lowers the vehicle height to the vehicle height position for the wetland, and a vehicle height automatic lowering selection unit that automatically lowers the vehicle height corresponding to a predetermined condition. A vehicle height automatic lowering switch 22, a cutting up / down lever sensor 23 for raising and lowering the cutting lifting / lowering unit 14 by an up / down operation of the cutting up / down lever 23a, a vehicle height up / down dial switch 24 for adjusting the vehicle height to a set height position by a dial, The main shift lever sensor 25 that detects the shift operation position by the shift lever 25a, the cutting and detaching clutch switch 4a that detects the operation of the reaping device 4 and the threshing device 5, and the culm to be harvested before being introduced and harvested by the reaping device 4. Cereal sensor 4b for detecting the height, left and right vehicle height position sensors 11s, 11s for detecting the height of the vertical adjustment by the vehicle height adjustment units 11, 11, and the raising / lowering position of the cutting device 4 Harvesting height sensor 14s is the reaper lift detecting unit for detecting a wheel or instrument operation detecting section of the vehicle speed counter 3b such a speed detector which detects the rotation operation of the transmission system provided.

Next, control by the control unit C will be described.
Since the left and right crawlers 3 and 3 enter the soil when working in the wet field, there are many cases where the work is already performed with the reaping device 4 raised, and when the vehicle height is lowered as it is, the reaping device 4 enters the soil. In order to avoid such a situation, the value detected by the cutting lift detection unit (14s) when the wetland switch 21 is turned on (on) and the vehicle height is lowered manually or automatically. Is controlled so as to output the reaping device 4 up to a height at which becomes a set value.

Specifically, as shown in the control flowchart in the case of lowering the vehicle height in the wet field in FIG. 4, the vehicle speed is determined by a first processing step (hereinafter abbreviated as “S1”) for determining whether the vehicle speed is equal to or higher than the set vehicle speed. When the vehicle speed exceeds the set vehicle speed, the grain sensor 4b is turned on (S2), the vehicle height lowering output (S3), the wetland switch 21 is the wetland control selection (S4), and the cutting height is set. By comparing with the value (S5), a predetermined cutting height is ensured by performing a control process that performs the cutting increase output (S6) and the vehicle height falling output stop (S7) when it is equal to or less than the set value. Can do.
In addition, you may comprise the control by a control part (C) so that determination of (S3) may be performed when either processing step of (S1) or (S2) is YES determination.

The vehicle height lowering output (S3) is detected by detecting a lowering control output to the vehicle height adjusting unit 11 or by detecting a change of the vehicle height toward the lowering side by the vehicle height position sensor 11s. Judging that it was made.
Therefore, the vehicle height raising / lowering output can be reliably detected, and the cutting device 4 can be effectively prevented from entering the soil.
Moreover, it is good also as a structure which performs the raise output of the reaping device 4 when there exists a signal of both the downward control output to the vehicle height adjustment part 11 and the change to the downward side of the vehicle height by the vehicle height position sensor 11s. According to this configuration, it is possible to prevent the problem that the mowing device 4 is too high with respect to the field scene to cause high mowing by erroneous detection due to a failure of one of the detecting means.

  In the case of normal dry field work traveling, if the cutting operation is performed while the vehicle height is raised, the cutting will be high, and after cutting will become worse, the mowing switch 21 is not selected, the cutting / clutching clutch 4a is engaged, and the grain While the heel sensor 4b is on, if the vehicle height is greater than or equal to a predetermined value, the buzzer 16 will sound for a certain distance from the entry of the culm sensor 4b. In this way, it is possible to give an advance warning while preventing annoyance by an alarm limited to a certain distance.

Specifically, as shown in the control flowchart in the case of raising the vehicle height in the dry paddy in FIG. 5, if the wetland switch 21 is in the non-selected state and is cutting (S121a to S11d), the vehicle height is detected and exceeds the predetermined value. By performing the determination (S12a, S12b) for the buzzer and, if applicable, the buzzer output (S14) for the end of the predetermined distance (S13a, S13b) by the distance count for buzzer output, an effective warning Is possible.
In this case, the same effect can be obtained by counting time instead of counting distance.

(Mowing height fine adjustment control)
Next, the fine adjustment control of the cutting height will be described.
As shown in the block diagram of FIG. 6, the cutting height fine adjustment control system includes a cutting height fine adjustment raising switch 31 a that operates the cutting device 4 with a short operation output for each switch operation. The adjustment lowering switch 31b is controlled and input, and the alarm horn 16a can be controlled to blow. The controller C lowers the lowering output time at the lower position than the lower limit position of the reaping device 4 which is set separately. By making it shorter than the output time, the descending output near the lower limit position can be suppressed, and the grounding of the reaping device 4 during fine adjustment during work can be avoided.

  Specifically, as shown in the flowchart of fine adjustment control of the cutting height in FIG. 7, the lower limit position set by the cutting height dial and the cutting height of the cutting height sensor 14s are read (S21a, S21b) and then lowered. Until the output timer is up (S22), the trimming output and the timer subtraction count (S24a, S24b) are repeated, and when the trimming height at the time of detecting the fine adjustment lowering operation (S23a) is less than the set lower limit value, the lowering output timer Is set for a short time (S23b, S23c), and when not applicable, the output timer is set to the standard time (S23d). In the case of fine adjustment increase, the same timer set is performed for the increase output.

(Malfunction prevention)
Next, the malfunction prevention in the cutting height fine adjustment control will be described. The malfunction prevention control is performed simultaneously with the cutting height fine adjustment raising switch 31a and the cutting height fine adjustment lowering switch 31b (S31a, Malfunctions can be prevented by stopping any output in S32a). The same applies to the raising operation (S31b, S32b). In addition, when the cutting height fine adjustment lowering switch operation continues for a predetermined time (S33a), an alarm operation is output by invalidating the erroneous operation by a control process of controlling and outputting the horn sound (S34a) and stopping any output. be able to. The same applies to the raising operation (S33b, S34bS).

  Next, in the case of the competitive operation of the lever 23a and the switches 31a and 31b, as shown in the flowchart of FIG. 9, by setting the lowering output (S43a) by the lowering operation (S42a) of the cutting up / down lever 23a. In addition, it is possible to improve workability including when avoiding danger by giving priority to the operation of the cutting upper and lower levers over the operation of the upper and lower cutting height fine adjustment switches 31a and 31b. The same applies to the raising operation (S42b, S43b).

  In addition, when turning leftward or rightward with the turning operation tool for operating the traveling direction of the aircraft (S41), a control process that ignores the operation of the cutting height fine adjustment switch is configured so that the cutting operation is performed. Regarding the switches used in the relationship, it is possible to prevent an erroneous operation when the switch is irrelevant to the cutting operation.

(Ogre control)
Next, control of the discharge auger of the grain storage device 6 will be described.
FIG. 10 is a system block diagram of the auger control. The operation panel 41p of the auger 6a is configured to be wirelessly communicable, and an auger controller that controls the auger 6a using the operation signal from the receiving unit 41r that receives the operation signal by bidirectional communication as a control input is configured in the control unit C. The malfunction of the auger 6a during traveling can be eliminated by configuring a control process that invalidates the auger operation signal from the receiver 41r when the main shift lever sensor 25 detects a forward or reverse operation exceeding a predetermined value. Can do.
In this case, even when the vehicle speed detection sensor 3b detects a traveling speed of a predetermined value or more, it can be handled in the same manner as the main shift lever position.

  In addition, when the operation signal is transmitted from the operation panel 41p side, the release signal stored in advance on the operation panel 41p side is transmitted at the same time, and the release signal is also stored in the receiver 41r side, so that both release signals coincide with each other. Only when the operation signal is validated and the auger control is performed, the malfunction of the auger due to the wiring trouble between the wireless operation tool 41p and the control controller C can be avoided.

Also, in the above configuration, a trouble is provided in the receiver 41r and the operation status by providing a lamp on the operation panel 41p side and configuring the control process so that this lamp is turned on or off according to a signal from the receiver 41r side. Can be visually determined on the operation panel 41p side.
Further, the same handling as described above can be performed by configuring the control process so that the lamp is turned on when the transmission signal from the receiver 41r side is not transmitted for a predetermined time or longer.

  Further, when the combine vehicle speed detection sensor 3b detects a traveling speed higher than a predetermined value or when an operation of the main shift lever 25a is detected, the transmission from the receiver 41r to the panel 41p is stopped, whereby the auger radio panel 41p It can be visually judged on the panel 41p side that it is in an unusable state.

  Next, the determination method of the disconnection of the receiver 41r will be described. A constant pulse output is transmitted from the receiver 41r, and this signal is input to the combine control controller C. By configuring the control process to invalidate the auger radio operation signal by determining a connection failure when the count cannot be performed, it is possible to avoid an auger malfunction due to a wiring trouble between the radio operation tool 41p and the controller C. .

(Safety system)
Next, the agricultural machine work safety system will be described.
As shown in the block configuration diagram of FIG. 12, in the mobile farm machine including the camera 51 having the angle of view A for inputting the operator's image, as shown in the side view of the main part of the camera arrangement of the control unit in FIG. The image processing unit G is provided with a function for determining the expression or motion of the worker P, and the contact information set in advance in cooperation with the communication device 53 such as a buzzer, a lamp or the like by a buzzer or a lamp according to an emergency determination. A safety system for notifying personal information such as the current position and name is constructed.

  Specifically, as shown in the flowchart (a) of transmission control of the controller C on the main unit and the flowchart (b) of reception control on the communication device side in FIG. The communication device 53 is connected to the communication device 53 (S52a, S52b) only when it is determined that there is an emergency by processing (S51a, S51b) such as image movement and image blurring. Only in the case of emergency connection from C (S53a, S53b), it is configured to contact the preset contact information individually via the communication device (S54, S55) to a plurality of preset contacts. To do. The contact information and contact information are, for example, as the first contact information and contact information, for 119, the current location, name, and address, and as the second contact information and contact information, the current location and name of the contact information for Mr. A. Set as follows.

  By configuring a safety system in this way, it becomes possible to respond immediately to the occurrence of an accident, so even if there is an accident in a mobile farm machine that is a single operation in a place where there are no visible people, it will be too late The situation can be avoided.

1a Airframe frame 3 Crawler (traveling device)
3b Vehicle speed counter (vehicle speed detection sensor)
4 reaping device 4b grain sensor 11 vehicle height adjustment unit 11s vehicle height position sensor 14 mowing lifting unit 14s mowing height sensor (reaching hoisting detection unit)
16 Buzzer (notification part)
16a Horn (notification part)
21 Wet field switch (wet field control selection part)
22 Vehicle height automatic lowering switch (Automatic vehicle height lowering selector)
23a Mowing up / down lever 23 Mowing up / down lever sensor 24 Vehicle height up / down dial switch 25a Main transmission lever 25 Main transmission lever sensor C Combine control controller (control unit)

Claims (4)

Traveling device (3) that supports the vehicle body frame (1a) through the vehicle height adjustment unit (11) so that the height can be adjusted, and lift adjustment through the cutting lift unit (14) at the front of the vehicle body frame (1a) In a combine comprising a reaping device (4) supported in a possible manner and a threshing device (5) for threshing the harvested cereal meal supplied from the reaping device (4),
A vehicle height detection unit (11s) for detecting the height of the machine body frame (1a) with respect to the traveling device (3), and a cutting / lifting detection unit (14s) for detecting the height of the cutting device (4) with respect to the machine frame (1a). ) And a control unit (C) for controlling the operation of the vehicle height adjustment unit (11) and the cutting lift unit (14). The control unit (C) is connected to the vehicle height adjustment unit (11). One of the start of the descent output and the change in height of the airframe frame (1a) detected by the vehicle height detection unit (11s) is detected, and the cutting lift detection unit (14s) When the detected height of the harvesting device (4) is less than a preset value, the harvesting lifting unit (14) until the detected value of the harvesting lifting detection unit (14s) is equal to or higher than a set value. Is characterized by a configuration that performs a rising output at the same time. .   The control unit (C) includes a culm sensor (4b) that detects the presence or absence of a culm to be harvested introduced into the reaping device (4), and the culm sensor (4b) detects the presence of the culm. If the machine frame (1a) is automatically lowered to a height equal to or lower than the set vehicle height and the grain sensor (4b) does not detect the presence of the grain basket, the machine frame (1a) The combine according to claim 1, wherein the combine is automatically raised to a position higher than the set vehicle height.   The control unit (C) includes a vehicle speed detection unit (3b) that detects the traveling speed of the airframe by the traveling device (3), and the vehicle speed detected by the vehicle speed detection unit (3b) is equal to or higher than the set vehicle speed. The combine according to claim 1 or 2, wherein the fuselage frame (1a) is automatically lowered in some cases.   The combine according to claim 2, further comprising a vehicle height operating member (24) capable of arbitrarily setting the set vehicle height.

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