JP2528880Y2 - Combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention provides a cutting unit having a cutting blade at a front part of a traveling body having a threshing unit, a lifting device for controlling the lifting and lowering of the cutting unit, The present invention relates to a combine provided with a horizontal control device for performing horizontal control of the cutting unit.

(Conventional technology) Conventionally, in this type of combine, for example, two cutting height detection sensors that detect the ground height of the cutting unit are provided in the lower part of the cutting unit so as to be deviated in the machine body width direction. A sensor that detects the ground height by a sensor and controls the cutting unit in parallel with the ground by a horizontal control device based on the detection result, so that the cutting height on the slope is constant, A tilt sensor is provided, and the reaping unit is horizontally controlled so as to be parallel to the horizontal plane, so that the reaping unit is configured to be horizontal regardless of the lateral inclination of the traveling machine due to unevenness of the field, Is provided with parallel control means for controlling the traveling body and the reaping unit in a parallel state,
2. Description of the Related Art There is known a configuration in which a traveling body and a reaping unit are maintained in a parallel state when working on a flat ground or the like.

(Problems to be Solved by the Invention) However, the ground level control means, the horizontal control means, and the parallel control means described above are individually provided for each combine. Therefore, the ground level control means and the horizontal control means are provided in one combine. It has not been possible to provide each control means such as a means and a parallel control means, and to perform control corresponding to various field conditions by selecting any one of these means.

An object of the present invention is to make it possible to selectively control the ground parallel control, the horizontal control, and the parallel control, and to set the ground height of the reaper to a higher level than the ground parallel control, the horizontal control, and the parallel control. It is configured to perform safety control to raise the mowing part, the mowing part is preferentially maintained at a set height or higher, and under the state where safety is preferentially secured by preventing the mowing part from rushing into the field, An object of the present invention is to provide a combine which can control a cutting unit according to a state of a field.

(Means for solving the problem) In order to achieve the above object, the present invention provides a threshing unit (5).
A cutting unit (6) having a cutting blade (63), a lifting device (7) for controlling the lifting and lowering of the cutting unit (6), and a cutting unit (6). In a combine provided with a horizontal control device (8) for performing horizontal control of (1), a cutting height detection sensor for detecting a height of at least two cutting units (6) above the ground is provided below the cutting unit (6). A cutting section-side inclination sensor (9) for detecting the inclination of the cutting section (6) with respect to the horizontal plane, and a body-side inclination sensor (for detecting the inclination of the traveling body (1) with respect to the horizontal plane). 10), while the lowest detection value among the detection values of the respective cutting height detection sensors is equal to or smaller than a set value, the cutting unit (6) is moved to the set value via the lifting device (7). Equipped with a controller (11) for raising the safety control mode, A controller (11) for controlling the cutting unit (6) to be parallel to the ground by a horizontal controller (8) based on the detection results of the respective cutting height detection sensors; 9) (10)
Among them, a horizontal control mode in which the cutting unit (6) is controlled to a horizontal position by the horizontal control device (8) based on the detection result of the cutting unit side tilt sensor (9), and the two tilt sensors (9) and (10) Horizontal control device (8) based on the detection result of
And a mode selection switch (12) for selecting a parallel control mode for controlling the traveling body (1) and the reaping unit (6) in a parallel state, and changing the safety control mode to the ground parallel control and the horizontal control. The safety control priority means (13) for giving priority to the parallel control mode is provided.

(Operation) However, when a mowing operation is performed while performing any of the ground parallel control, the horizontal control, and the parallel control mode in accordance with the state of the field, first, the detection value of each cutting height detection sensor is set to a set value. In the following cases, the controller (11) performs safety control to raise the cutting unit (6) to a set value via the lifting device (7) by giving priority to the ground parallel control, the horizontal control, and the parallel control. The section (6) can be maintained at a height equal to or higher than the set height, and while maintaining such a state, any one of the ground parallel control, the horizontal control, and the parallel control can be selectively controlled. It is possible to perform control in an arbitrary mode according to the state of the field in a state in which rush into the ground is prevented and safety is preferentially ensured.

(Embodiment) FIGS. 7 and 8 show the general structure of a general-purpose combine, which is provided with a traveling device (2) on both lower sides of a traveling body (1) and the width of the body (1). On one side, a control section (3) and a Glen tank (4) behind it are provided, and on the other side, a screw-type handling cylinder (51) and a swing sorting device (52) are provided. Threshing unit (5).

A platform (60) provided with a scraping reel (61), a scraping auger (62), a cutting blade (63), and the like, and a platform (6) at one end.
0) A cutting section (6) comprising a feeder house (64) communicating with the rear opening and the other end communicating with the front opening of the threshing section (5).

An elevating hydraulic cylinder (7) is provided between the feeder house (64) and the traveling body (1), and the traveling body (1) of the reaper (6) is provided by expansion and contraction of the cylinder (7). The platform (60) is supported at the front of the feeder house (64) via support pins (65) as shown in FIG. Platform (6
0) and the feeder house (64), a horizontal control hydraulic cylinder (8) for horizontally controlling the platform (60) by swinging it around the support pin (65) is provided,
The reaping unit (6) is configured to be rollable so as to have an arbitrary left and right inclination angle with respect to the traveling machine body (1) by expansion and contraction of the cylinder (8).

Thus, in the combine configured as above,
A cutting height detection sensor (KL), which is mainly composed of three ultrasonic sensors for detecting the height of the cutting unit (6) above the ground, is provided below the cutting blade (63) in the platform (60).
(KM) and (KR) are provided so as to be deviated on both sides and the center in the width direction of the traveling body, a cutting section side inclination sensor (9) for detecting the inclination of the cutting section (6) with respect to the horizontal plane, and the traveling body ( 1) A body-side tilt sensor (10) for detecting a tilt with respect to a horizontal plane is provided, respectively, and the lowest detector value among the detection values of the cutting height detection sensors (KL) (KM) (KR) is a set value. In the following case, there is provided a controller (11) for setting the cutting section (6) to a safety control mode in which the cutting section (6) is raised to a set value via the hydraulic cylinder (7) for raising and lowering. Detection sensor (KL)
A ground-parallel control mode in which the reaping unit (6) is controlled in parallel to the ground by a horizontal control hydraulic cylinder (8) based on the detection results of (KM) and (KR);
(10) A horizontal control mode in which the cutting section (1) is controlled to a horizontal position by a horizontal control hydraulic cylinder (8) based on the detection result of the cutting section side tilt sensor (9); 9) A mode selection switch (12) for selecting a parallel control mode for controlling the traveling body (1) and the cutting unit (9) in a parallel state by the horizontal control hydraulic cylinder (8) based on the detection result of (10). ) And a safety control priority means (13) for giving priority to the safety control mode over the ground parallel control, the horizontal control, and the parallel control mode.

Specifically, as shown in FIG.
1) Input the cutting height sensor (KL) (KM) (K
R), reaper side tilt sensor (9) and traveling machine (1)
And a mode selection switch (12) for selecting a parallel control mode to the ground, a horizontal control mode, and a parallel control mode, and an output side of the controller (11). Hydraulic cylinder (7) and the hydraulic cylinder (8) for horizontal control are connected respectively.

In FIG. 1, (14) is an automatic switch provided on the entrance side of the controller (11), and (15) is a tilt potentiometer for manual operation for manually operating the tilt angle of the reaper (6). is there.

In the above embodiment, the cutting height detection sensor (KL) (K
M) Although an ultrasonic sensor is used as (KR), for example, a sled-shaped contact sensor or the like may be used.

Next, the control mode of the controller (11) will be described based on the flowcharts shown in FIGS.

First, when the ON signal of the automatic switch (14) is input to the controller (11), the reaper (6) is positioned at the set height by the safety control priority means (13) as shown in FIG. Control.

That is, the control by the safety control priority means (13) is the third control.
As shown in the flowchart of the figure, the detection results of the respective cutting height detection sensors (KL) (KM) (KR) are compared, and among these detection results, the lowest detection value (KMIN) is detected. The detected value (KMIN) is compared with the set value (α), and if the minimum detected value (KMIN) is larger than the set value (α), the mowing unit (6) is lowered by the hydraulic cylinder for lifting (7). If the minimum detection value (KMIN) is not larger than the set value (α), it is checked whether the minimum detection value (KMIN) is smaller than the set value (α). When the detected value (KMIN) is smaller than the set value (α), the cutting unit (6) is controlled by the hydraulic cylinder (7) for raising and lowering to the set value. By such safety control, the mowing part (6) can be controlled so as to be located at the set height position where the rush into the field can be prevented.

Next, after the safety control is given priority as described above,
Any one of the ground parallel control, the horizontal control, and the parallel control selected by the mode selection switch (12) is performed.

That is, when the mode selection switch (12) is in the ground parallel control mode, the detection results of the left and right cutting height sensors (KL) (KR) are compared as shown in the flowchart of FIG. When the height sensor (KL) is smaller than the left cutting height sensor (KR), the cutting unit (6) is controlled to lower left by the horizontal control hydraulic cylinder (8).
In addition, the right cutting height sensor (KL) is replaced by the left cutting height sensor (K
R), the right cutting height sensor (K
L) is larger than the left cutting height sensor (KR), and only when it is larger, the horizontal control hydraulic cylinder (8) controls the cutting unit (6) to lower right. Thereby, when the mowing work is performed on the slope, the mowing part (6)
Is controlled so as to be parallel to the sloped ground, so that the cutting height on the sloped ground can be kept constant.

When the mode selection switch (12) is set to the horizontal control mode, as shown in the flowchart of FIG. The reaping unit (6) is controlled to rise to the right by the cylinder (8). When the reaping unit sensor (9) detects a drop to the left, the reaping unit (6) is controlled by the hydraulic cylinder (8) for horizontal control. ) Is controlled to rise to the right. Thereby, when the harvesting operation is performed in a field having unevenness, the horizontal control can be performed so that the cutting unit (6) is horizontal (parallel to the horizontal plane) regardless of the left-right inclination of the traveling machine body (1) due to the unevenness in the field. It is.

Further, when the mode selection switch (12) is in the parallel control mode, as shown in the flow chart of FIG. 6, the inclination detection values of the cutting unit side inclination sensor (9) and the machine side inclination sensor (10) are used. The cutting unit (6) is compared with the body (1) to determine whether the cutting unit (6) is right-down or left-down. If the cutting unit (6) is down-right, the cutting unit (6) is moved by the horizontal control hydraulic cylinder (8). ) Is controlled to rise to the right, and in the case of falling to the left, the reaping unit (6) is controlled to be raised to the left by the hydraulic cylinder for horizontal control (8) so that the traveling body (1) and the reaping unit (6) are kept parallel. You can do it. Thus, when performing a mowing operation on a flat ground or the like, the mowing operation can be performed while maintaining the traveling body (1) and the mowing unit (6) in a parallel state.

(Effects of the Invention) As described above, the present invention displaces a cutting height detection sensor for detecting the height of at least two cutting units (6) above the ground below the cutting unit (6) in the machine width direction. Along with
The cutting unit side inclination sensor (9) for detecting the inclination of the cutting unit (6) with respect to the horizontal plane, and the body side inclination sensor (10) for detecting the inclination of the traveling body (1) with respect to the horizontal plane are provided, respectively. When the lowest detection value among the detection values of the height detection sensor is equal to or smaller than the set value, the controller (11) is set to a safety control mode in which the cut value is raised to the set value via the lifting device (7) of the reaper (6). )
The controller (11) is provided with a ground parallel control mode in which the cutting unit (6) is controlled in parallel with the ground by a horizontal control device (8) based on the detection results of the respective cutting height detection sensors, and the inclination sensor ( 9) Among (10), a horizontal control mode in which the cutting unit (6) is controlled to a horizontal position by the horizontal control device (8) based on the detection result of the cutting unit side tilt sensor (9); 9) The traveling body (1) by the horizontal control device (8) based on the detection result of (10).
And a mode control switch (12) for selecting a parallel control mode for controlling the cutting unit (6) in a parallel state, and
Safety control priority means (1) for giving priority to the safety control mode over the ground parallel control, the horizontal control, and the parallel control mode.
Since the controller (11) is provided, the controller (11) performs safety control to raise the ground height of the reaper (6) to the set height in preference to the ground parallel control, the horizontal control, and the parallel control, and performs the reaper (6). ) Is preferentially maintained at a set height or higher, and any one of the ground parallel control, the horizontal control, and the parallel control can be selectively controlled, and the reaper (6)
Thus, control of an arbitrary mode according to the state of the field can be performed in a state in which the rush into the field is prevented, and safety is preferentially ensured.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating control by the controller of the combine according to the present invention, FIG. 2 is a flowchart of the same, FIG. 3 is a flowchart of safety control, FIG. FIG. 5 is a flowchart of the horizontal control, FIG. 6 is a flowchart of the parallel control, FIG. 7 is a side view of the combine according to the present invention, FIG. 8 is a simplified plan view thereof, and FIG. It is explanatory drawing which shows a state. (1) ... traveling machine body (5) ... threshing section (6) ... cutting section (7) ... elevating hydraulic cylinder (elevating device) (8) ... hydraulic cylinder for horizontal control (horizontal control device) (9) ) Cutting side tilt sensor (10) Machine side tilt sensor (11) Controller (12) Mode selection switch (13) Safety control device (63) Cutting blade (KL) ( KM) (KR) ... Cutting height sensor

Claims (1)

(57) [Scope of request for utility model registration] 1. A cutting unit (6) having a cutting blade (63) at a front portion of a traveling body (1) having a threshing unit (5), and a lifting device for controlling the lifting and lowering of the cutting unit (6). (7) In a combine equipped with a horizontal control device (8) for performing horizontal control of the cutting unit (6), a height of at least two cutting units (6) above the ground below the cutting unit (6). A cutting height detecting sensor for detecting the inclination of the cutting unit (6) with respect to the horizontal plane, a cutting unit side inclination sensor (9) for detecting the inclination of the cutting unit (6) with respect to the horizontal plane, and a horizontal plane of the traveling body (1). The machine-side inclination sensor (10) for detecting the inclination with respect to the cutting height is provided, and when the lowest detection value among the detection values of the respective cutting height detection sensors is equal to or less than a set value, the cutting unit (6) is moved up and down. Set the safety control mode to increase to the set value via the device (7) Equipped with a controller (11),
The controller (11) is provided with a ground parallel control mode in which the cutting unit (6) is controlled in parallel with the ground by a horizontal control device (8) based on the detection results of the respective cutting height detection sensors, and the inclination sensor ( 9) Among (10), a horizontal control mode in which the cutting unit (6) is controlled to a horizontal position by the horizontal control device (8) based on the detection result of the cutting unit side tilt sensor (9); 9) The traveling body (1) by the horizontal control device (8) based on the detection result of (10).
And a mode control switch (12) for selecting a parallel control mode for controlling the cutting unit (6) in a parallel state, and
Safety control priority means (1) for giving priority to the safety control mode over the ground parallel control, the horizontal control, and the parallel control mode.
Combines characterized by having 3).