JP2501795B2 - Combine harvesting automatic lifting control system - Google Patents

Description

Description: [Industrial field of application] The present invention relates to a combine harvesting automatic raising / lowering control device, which can be used as part of automation of raising / lowering of a combine harvesting device.

[Prior art]

Recently, in the market, since the operation of each device in the combine operation is complicated, the automation is gradually progressing. One of the attempts being made as part of this automation is automatic control of the raising and lowering of the mowing device. This automatic control raises the mowing device with the completion of mowing of the grain and culm row in the combine, and normally, it is necessary to perform an operation for turning or turning at the same time as raising the mowing device. Performing the operations at the same time is very busy and annoying for the operator. Therefore, some control has been attempted to automatically raise the mowing device when the mowing of this row is completed.

As a conventional technique of such automatic control, for example, Japanese Patent Application No. 49-32000 (Japanese Utility Model No. 50-120926), microfilm, and Japanese Patent Application No. 53-172075 (Japanese Utility Model Application No. 55-88633) can be used. Some are disclosed in microfilm.

[Problems to be Solved by the Invention]

In the automatic raising and lowering control technology of the reaping device, initially, for example, as disclosed in the microfilm of Japanese Patent Application No. 49-32000 (No. 50-120926), a grain culm guide provided at the front of the reaping device is disclosed. A system has been developed in which the sensor raises the reaper by detecting whether the grain culm is “existing” or the grain culm “absent”. However, with this technique, if the grain culm is cut off even a little, it raises the mowing device, and for example, it may raise the mowing device even though it is still in the stage of alignment at the start of mowing. It was poor.

Then, next, for example, as disclosed in FIG. 3 in the microfilm of the above-mentioned Japanese Utility Model Application No. 53-172075 (No. 55-88633), a plurality of grains arranged at the front and rear of the grain culm conveying path are arranged. An attempt was made to connect the grain culm sensors in series. Thus, it has been attempted that the transfer device for transferring the cut grain culm to the rear is provided with the grain culm transfer sensor, and the grain culm transfer sensor is electrically connected in series with the grain culm guide sensor. This is for the first time when the grain culm guide sensor detects the grain culm “absent” to the grain culm “absent” in the state where the grain culm transport sensor detects the transported grain culm “existence”. I was trying to make it happen. However, in this configuration, since the grain culm transfer sensor and the grain culm guide sensor are merely electrically connected in series, either of the grain culm transfer sensor and the grain culm guide sensor has no grain culm. "Is detected, the detection results at both ends of this series circuit are attributed to the grain culm" absence ". That is, contrary to the above, in the state where the grain culm guide sensor detects the grain culm “existence”, the grain culm transfer sensor changes from the grain culm “presence” to the grain culm “absence”.
Even when it detects "," the reaper is raised.

That is, for example, when mowing one stroke of the mowing row and raising the mowing device to turn the aircraft to the next stroke and stopping the mowing drive, the last grain culm cut immediately before this is the transfer device. May flow to the transfer device section and remain at the transfer device part, at which time the transfer device for transfer of the culm to the culm “exists”.
Will remain detected. Then, after turning, when the reaping work is started again, the grain culm guide sensor detects the grain culm “existence”, and the final grain culm remaining in the transfer device has finished flowing to the threshing device and the grain culm has been removed. The transfer sensor is in a state in which it detects the grain culm “absence” from the grain culm “presence”. As a result, there is a problem that the mowing device is raised even during the mowing work.

On the other hand, the above-mentioned Japanese Utility Model Application No. 53-172075 (No. 55-88633).
4) discloses a microfilm in which a plurality of grain culm sensors arranged in front and rear of the grain culm transport path are connected in parallel as shown in FIG. This is to try to raise the reaping device for the first time when both the grain culm transfer sensor and the grain culm guide sensor detect the grain culm “absence”. However, in this configuration, since the grain culm transfer sensor and the grain culm guide sensor are only electrically connected in parallel, both of the grain culm transfer sensor and the grain culm guide sensor have a grain culm “absent”. If is not detected, the detection results at both ends of this parallel circuit do not result in the grain stem “none”.

That is, when cutting one stroke of the cutting row, the grain culm guide sensor located in the front is in a state of immediately detecting the grain culm “absence”, but the grain culm transfer sensor located in the rear is immediately before this. It does not become a state in which the grain culm “absence” is detected until the final grain culm that has been cut off has run out. Therefore, after cutting one stroke of the mowing row, there is a delay in starting the raising of the mowing device, and therefore, it is not possible to immediately shift to the turning motion of the machine body.

[Means for solving the problem]

The present invention takes the following technical means in order to solve the above problems.

That is, a grain culm guide sensor (3) for detecting the presence or absence of grain culm is provided in the front part of the reaping device (1), and a transfer device (5) portion for transferring the corn grain culm to the rear threshing device (4). Is provided with a grain culm transfer sensor (6) for detecting the presence or absence of transferred grain culm, and in the grain culm detection state by the grain culm guide sensor (3),
When the grain culm transfer sensor (6) is switched from the transfer grain culm detection state to the non-detection state, the harvesting device (1) is not raised, while the grain culm transfer sensor (6) transfers the grain. In the culm detection state, the grain culm guide sensor (3)
Control device (24) for raising the reaping device (1) to a certain height when the rice culm detection state is switched to the non-detection state
This is a combine harvesting automatic raising and lowering control device.

[Operation and effect of the invention]

In the combine operation, first, the harvesting device (1) is lowered to a low position suitable for the harvesting operation, and then the planted grain culms are harvested.

Therefore, in the present invention, a grain culm guide sensor (3) for detecting the presence or absence of grain culm is provided in the front part of the reaping device (1), and the transfer for transferring the reaped grain culm to the rear threshing device (4) is performed. The device (5) is provided with a grain culm transfer sensor (6) for detecting the presence or absence of a transferred grain culm. Then, under the control action of the control device (24), the grain culm transfer sensor (6) detects the transfer grain culm in the grain culm detection state by the grain culm guide sensor (3), that is, in the grain culm “existence” detection state. State or grain culm "Yes"
When the detection state is switched to the non-detection state, that is, the grain culm “absence” detection state, the harvesting device (1) is not raised and the transferred grain culm detection state by the grain culm transfer sensor (6), that is, In the grain culm “existence” detection state, when the grain culm guide sensor (3) switches from the grain culm detection state, that is, the grain culm “presence” detection state to the non-detection state, that is, the grain culm “absence” detection state, the cutting The device (1) is raised to a certain height.

During the cutting operation, both the grain culm guide sensor (3) and the grain culm transfer sensor (6) detect the presence of grain culm, and in this state, the cutting device (1) by the control device (24). ) Is not automatically raised.

Then, for example, when the combine reaches the edge of the cutting row or the like due to cutting traveling, in the state where the grain culm transfer sensor (6) detects the grain culm “existence”, the grain culm guide is provided. The sensor (3) switches from a state where the grain culms are “present” to a state where the grain culms are “absent”. Based on this, the control device (2
By 4), the reaping device (1) is immediately and automatically raised to a certain height.

Thereby, for example, when performing the turning operation for turning the machine body at the edge of the mowing row or the like, at the same time, the mowing device (1)
The operator is not required to perform the ascending operation of the above, and the operator is relieved of the busyness and annoyance.

Then, when, for example, after finishing one stroke of the mowing row and raising the mowing device (1) to turn the aircraft to the next stroke and stopping the mowing drive, the last grain slashed immediately before this is Flowing to the transfer device (5), the transfer device (5)
The grain transfer sensor (6) remains in a state where the grain culm “existence” is detected. After turning, when the reaping work is started again,
While the grain culm guide sensor (3) detects the presence of grain culm, the final grain culm remaining in the transfer device (5) has finished flowing to the threshing device (4) and the grain culm transfer sensor (6) The state in which the grain culm “absence” is detected from the grain culm “existence” is entered. However, in such a case, the control device (24) does not automatically raise the mowing device (1).

As a result, it is possible to prevent the mowing device (1) from unexpectedly rising during the mowing work, and to perform the mowing work smoothly.

〔Example〕

In the illustrated example, a long threshing device (4) is provided on the left side of the rear part of the combine fuselage (7) in plan view before and after threshing the cut culm, and on the right side adjacent to the threshing device (4). From the front end side of the machine body (7), a control platform (8) for controlling the machine body (7) and a rear seat (9) are provided. Further, a prime mover (10) for supplying power to each device of the machine body (7) is provided on the lower side of the cockpit (9),
Further, the threshing device (4) is provided at the rear of the cockpit (9).
Glen tank for storing grains threshed by (11)
To provide. Further, a traveling device (13) for traveling on the mowing soil surface by disposing a pair of front and rear long endless belts (12) on the left and right sides is provided on the lower side of each of these devices. Further, a cutting device (1) for cutting the planted grain culm and transporting it to the threshing device (4) is connected to the front end of the threshing device (4). The cutting device (1) is provided with a weeding rod (14) for weeding the planted grain culm from the front end side at each of left and right positions in plan view, and the weeding rod (14) is provided.
A raising device (15) for raising the culm sown from the rear part is tilted backward and extended upward by an arbitrary length. Further, a scraping device (16) for scraping the raised grain culm is provided on the rear side of the raising device (15), and a cutting blade device for cutting the grain culm is provided below the scraping device (16). (2) is provided. The terminal end of the transfer device (5) that transfers the cut grain culm from the scraping device (16) to the grain culm supply device (17) inlet side of the threshing device (4) is connected to the grain culm. The supply device (17) is provided facing the entrance side. Then, at a position near the end of the transfer device (5),
A lifting fulcrum (18) for raising and lowering the harvesting device (1) is provided so as to extend from and support the machine body (7) side. Further, the telescopic cylinder (19) for raising and lowering the reaping device (1) about the fulcrum portion (18) to support a position near the rear side of the scraping device (16) is provided with the telescopic cylinder (19). It is provided by extending from the side.

Further, on the rear side of the branch rod (14), a direction sensor for automatically controlling the left and right steering so that the machine body (7) can be cut and traveled along the rows of the planted culms. (2
0) is provided. Further, the cutting device (2) and a grain culm guide sensor (3) for detecting the presence or absence of grain culms to be guided to the scraping device (16) are provided on the front end side of the scraping device (16). On the other hand, a grain culm transfer sensor (6) for detecting the presence or absence of a transferred grain culm is provided at an arbitrary portion of the transfer device (5). Then, on the rear side of the cutting blade device (2), an ultrasonic wave transmitter and a receiving device, which is a cutting height sensor (21) for detecting the ground height between the cutting blade device (2) and the soil surface. The containers (22) are provided by arranging them in the front and rear. On the other hand, a position sensor (23) is provided which is located at the rotation fulcrum (18) of the mowing device (1) and performs detection for controlling the vertical rotation angle of the mowing device (1). In addition, the control console (8) has a control device (2) for controlling each device according to detection values of these sensors.
4) will be installed internally. Then, on the upper surface of the control base (8), a direction detection switch (25) for operating the direction sensor (20) and a cutting height detection switch for operating the cutting height sensor (21) and the position sensor (23). (26) and automatic reaping switch (27) are provided. Each sensor and each switch are electrically connected to the input side of the control device (24), and the telescopic cylinder (19) and other controls for raising and lowering the reaping device (1) are connected to the output side. Electrically connect the equipment.

When the prime mover (10) is started, power is transmitted to the mowing device (1), the threshing device (4), and the traveling device (13), respectively, and the forward movement of the traveling device (13) causes the shunt rod (14) to move. The weeded grain culm is raised by the raising device (15), and the raised grain culm is scraped by the scraping device (16) and simultaneously cut by the cutting blade device (2). Then, the cut grain culm is taken over from the scraping device (16) to the transfer device (5), and the threshing device (4) is passed from the end portion of the transfer device (5).
Hand over to the entrance side of the grain culm feeder (17). Further, the grain culm supply device (17) supplies the grain culm to the threshing device (4) to thresh, and the grain obtained by this threshing is stored in the grain tank (11).

In such a series of combine operations, when the mowing device (1) mows, the mowing height detection switch (2
6) is set to "ON", and the cutting device (1) is lowered to the setting reference position of the cutting height by the control by the angle detection value of the position sensor (23). After that, the cutting height sensor (21) controls the height of the ground by ultrasonic control to keep a constant cutting height.

Then, during the work by turning on the automatic cutting and raising / lowering switch (27), the transfer device (5) transfers the grain culm due to the fact that the row end of the cutting row is reached, that is, the grain culm transfer sensor. While (6) is in the state of detecting the grain culm “existence”, the grain culm guided to the scraping device (16) is interrupted, that is, the grain culm guide sensor (3) is the grain culm “presence”. , ”May switch to the detection state of grain culm“ absence ”. In this case, the telescopic cylinder (16) is operated via the control device (24) to raise the mowing device (1) to a constant height.

Further, when the direction detection switch (25) is set to “ON” and the grain culm guide sensor (3) detects the presence of grain culm, the direction sensor (20) contacts the grain culm row. By doing so, the cutting forward is performed while controlling the machine body (7) in the left-right direction along the grain culm row.

Then, when the grain culm guide sensor (3) is switched from the grain culm “existence” to the grain culm “absence”, if the raising control of the reaper (1) is performed at the moment of switching, the reaping continues. Even if the grain culm in the grain culm row is missing and the interval is wide for some reason, the grain culm guide sensor (3) detects the grain culm “absence” and the rising control is performed. In order to prevent such a problem, the rising control may be performed with a delay of a certain time from the moment the grain culm guide sensor (3) is switched.

When this delay time is used for the direction control of the machine body (7) and the raising control of the reaper (1) as well, an output signal is output by the detection of the direction sensor (20) for direction control. During this period, the drive circuit for hydraulic pressure or the like is given priority in view of the degree of importance, and it may be difficult to perform the rising control even if the output signal for the rising control is output. For this reason,
In order to prevent such a problem, the holding of the delay time may be shorter in the direction control than in the rising control.

In addition, for example, when the mowing device (1) is lifted and the mowing drive is stopped in order to turn the machine to the next stroke after cutting one stroke of the mowing row, the last grain slashed immediately before this is cut. It may flow to the transfer device (5) and remain in the transfer device (5) part. At this time, the grain culm transfer sensor (6) remains in a state in which the grain culm “existence” is detected.
Then, when the cutting work is started again after turning, the grain culm guide sensor (3) detects the presence of grain culm and the final grain culm remaining in the transfer device (5) is the threshing device (4). ), The grain culm transfer sensor (6) is in a state of detecting the grain culm “existence” from the grain culm “presence”. However, in such a case, the control device (24) does not automatically raise the mowing device (1).

During the cutting operation, the grain culm guide sensor (3) and the grain culm transfer sensor (6) both detect the presence of grain culm, and in this state, the control device (24) controls the reaping device ( There is no automatic ascent in 1).

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view,
FIG. 2 is a block diagram of an electric circuit. In the figure, reference numeral (1) is a reaping device, (3) is a grain culm guide sensor, (4) is a threshing device, (5) is a transfer device, (6) is a grain stalk transfer sensor, and (24) is a control device. Show.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) Bibliographic references Sho 50-120926 (JP, U) Actual 55-88633 (JP, U)

Claims (1)

(57) [Claims] 1. A transfer device (5) for transferring a harvested grain culm to a rear threshing device (4) while providing a grain culm guide sensor (3) for detecting the presence or absence of grain culm in the front part of the reaping device (1). ) Part is provided with a grain culm transfer sensor (6) for detecting the presence or absence of transferred grain culm, and the grain culm transfer sensor (6) detects the transfer grain culm in the grain culm detection state by the grain culm guide sensor (3). When the state is switched to the non-detection state, the harvesting device (1) is not raised, while the grain-culm transfer sensor (6) is used.
A transfer device (24) for raising the reaper (1) to a certain height when the grain culm guide sensor (3) switches from the grain culm detection state to the non-detection state in the transfer grain culm detection state by The automatic harvesting lifting control device for combine harvesters.