JP2823779B2 - Cutting height control device of reaper and harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to raising and lowering drive means for driving a mowing part up and down with respect to a traveling machine body, cutting height detecting means for detecting a height of the mowing part with respect to the ground, and means for detecting the cutting height. And control means for controlling the operation of the elevation drive means so as to maintain the ground height of the reaper at an appropriate height based on the information of the reaper.

[0002]

2. Description of the Related Art In the cutting height control device of the above-mentioned reaper, the working conditions such as the field conditions and the cutting speed are different depending on the crop conditions of rice, wheat and soybeans to be cut. It is necessary to set appropriate control conditions in accordance with the difference in the request content to the cutting height control caused by the difference.
By the way, the difference in the working conditions is, for example, that rice is planted in paddy fields and the field is in good condition, but wheat and soybeans are planted in the fields and the field is in poor condition. The demand for cutting is strong, but the demand for low cutting is low in wheat, and
Wheat and soybeans are cut under high-speed conditions, while rice is cut under medium-speed or lower conditions. Conventionally, in order to set the conditions of the cutting height control, for example, the sampling time (detection time interval) of the cutting height detection information of the cutting height detecting means is set.
Adjustment means such as a plurality of switches for individually changing and adjusting each control condition such as a dead zone width in a detection operation or a lifting / lowering speed of a lifting / lowering driving means (a hydraulic cylinder or the like);
An operator operates these adjusting means to set control conditions.

[0003]

However, in the above prior art, it is necessary to set the control condition of the cutting height control by operating a plurality of adjusting means provided for adjusting each control condition. However, there is a problem that the condition setting operation is troublesome and time-consuming, and that an inappropriate control condition may be set due to an operator error.

The present invention has been made in view of such circumstances, and an object of the present invention is to make it possible to quickly and appropriately set appropriate control conditions in accordance with crop conditions such as rice and wheat. An object of the present invention is to eliminate the disadvantages of the related art.

[0005]

According to a first aspect of the present invention, there is provided a mowing height control device for a mowing and harvesting machine, wherein crop condition selecting means for selectively selecting a plurality of crop conditions is provided. The control means selects a plurality of control conditions preset for each of the plurality of crop conditions based on the information of the crop condition selection means as a combination of the control sensitivity and the dead zone width, and adjusts the height of the reaper. In that the control is performed.

Further, the second characteristic configuration provides a preferable means of the first characteristic configuration, and the control means includes:
The control sensitivity is set by a combination of a detection time interval of the cutting height detection by the cutting height detection means and a lifting speed of the lifting drive means.

[0007]

According to the first characteristic configuration of the present invention, the control means selects the crop condition from the plurality of control conditions preset for each of the plurality of crop conditions as a combination of the control sensitivity and the dead zone width. The control unit selects a control condition corresponding to one crop condition selected from a plurality of crop conditions, and according to the selected control condition, that is, the control sensitivity of the cutting height control and the dead band width of the cutting height detection, the cutting unit. The operation of the lifting / lowering drive means is controlled so as to maintain the ground height at an appropriate height.

According to the second characteristic configuration, the control means controls the control sensitivity set by the combination of the detection time interval of the detection of the cutting height by the cutting height detection means and the elevation speed of the elevation drive means, and the dead zone. From a plurality of control conditions preset for each of a plurality of crop conditions as a combination with the width,
A control condition corresponding to one crop condition selected from a plurality of crop conditions is selected by the crop condition selection means, and the selected control condition, ie, a detection time interval of cutting height detection, a dead zone width, and an elevation of the elevation drive means According to each condition of the speed, the operation of the lifting drive means is controlled so that the ground height of the cutting unit is maintained at an appropriate height.

[0009]

Therefore, according to the first characteristic configuration of the present invention, the crop condition selecting means can select the crop condition to be cut by a simple operation in accordance with the crop condition.
Since appropriate control conditions are set for the control sensitivity and the dead zone, it takes more time and trouble to set the control condition than in the case of operating a plurality of control means for each control condition one by one as in the related art. There is no longer a risk of improper control conditions being set due to a defect or an operator's mistake, thereby providing a cutting height control device for a reaper having excellent operability and reliability.

Further, according to the second characteristic configuration, the control sensitivity is appropriately set by a combination of the detection time interval of the detection of the cutting height by the cutting height detection means and the elevation speed of the elevation drive means. Suitable means for realizing the effect of the first characteristic configuration is obtained.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a conventional combine as a reaper will be described with reference to the drawings.
As shown in FIG. 4, the ordinary type combine has a pair of left and right crawler traveling devices 2L and 2R at a lower portion of the traveling body 1, a cutting unit 3 at a front side, and a threshing unit 4 at an upper portion.

The cutting section 3 includes a rotary scraping reel 3a for scraping crops such as soybeans, a clipper-type cutting blade 3b, an auger 3c for bringing the cut crops to the center from the left and right, and transporting the crops upward. The feed conveyor 3d includes a rotary beater 3e that discharges the conveyed crops onto the supply conveyor 4a of the threshing unit 4, and the like. The reaping unit 3 is rotatably pivoted around the rear part of the traveling body 1 around the horizontal axis P1 and the front part is driven up and down by a reaping part elevating cylinder 6 composed of a hydraulic cylinder or the like. 1 is provided so as to be vertically movable. That is, the mowing unit elevating cylinder 6 constitutes an elevating drive unit that drives the mowing unit 3 up and down with respect to the traveling machine body 1.

The threshing unit 4 includes a supply conveyor 4a, a threshing rotor 4b, a sorting device 4c, and the like. The crop supplied from the supply conveyor 4a is threshed by the threshing rotor 4b and the like, and is sorted by the sorting device 4c. Sorted processed grains (first thing)
Are collected from the screw auger 4d the most. The processed material (No. 2) mixed with immature grains and straw chips is further wrung out by the No. 2 processing rotor 4e, sorted and collected from the No. 2 screw auger 4f.

Behind the cutting blade 3b of the cutting unit 3, a cutting unit 3 is provided.
Is provided with a ground-type sensor for detecting the height above ground. Specifically, as shown in FIGS. 5 and 6, a sled-shaped plate member 7 provided at the center in the lateral direction of the machine body, a cutting height sensor 8 including a potentiometer, and the like are provided. The front portion of the plate member 7 is pivotally supported by the cutting unit 3 so as to be rotatable around the horizontal axis P2, and swings up and down with the rear portion of the plate member 7 in contact with the ground. The rotation angle of the member 7 about the horizontal axis P2 is converted into a resistance value. That is, the rotation angle of the plate member 7, that is, the ground height of the horizontal axis P2 can be detected from the resistance value of the cutting height sensor 8, and the ground height of the horizontal axis P2 can be detected by the cutting section 3. Since the cutting height sensor 8 corresponds to the ground height, the cutting height sensor 8 constitutes a cutting height detecting means for detecting the ground height of the cutting unit 3. In FIG. 5,
Reference numeral 19 denotes a hydraulic cylinder that lifts and holds the plate member 7 when it is not necessary to detect the ground height.

As shown in FIG. 1, a control means 9 using a microcomputer is provided.
A cutting height detection value hs from the cutting height sensor 8 is input. In addition, a threshing switch 20 for detecting an operation state of a threshing lever (not shown) that is manually operated to enter and exit the threshing unit 4 and a mode for automatically controlling the height of the reaping unit 3 are manually moved up and down. And a cutting height automatic / manual switch 13 for switching to a cutting mode, and detecting an operating state of a cutting-elevating lever (not shown) operated to raise or lower the cutting unit 3 in the manual mode to a cutting-part rising side or a descending side. Harvesting unit raising switch 21a and cutting unit lowering switch 21b, a cutting height adjustment volume VR for inputting a cutting height target value H0, and a crop for selectively selecting three crop conditions of rice, wheat, and soybean. A crop changeover switch SW as condition selection means is provided, and signals of these switches are also input to the control means 9.

On the other hand, the control means 9 outputs a signal HUP for raising the mowing section 3 to the mowing section raising solenoid valve 15, whereby oil from the hydraulic pump 14 is sent to the mowing section elevating cylinder 6. It is supplied and driven upward, and similarly, a signal H for lowering the reaper 3 is provided.
The DN is output to the mowing unit lowering solenoid valve 18, whereby the oil from the mowing unit elevating cylinder 6 flows to the hydraulic pump 14 and is driven downward. The control means 9 outputs a signal HUP or a signal HDN and raises or lowers the reaping unit 3 when a manual operation of the reaping raising / lowering lever is detected by the reaping unit raising switch 21a or the reaping unit lowering switch 21b. Let it.

With the input / output configuration as described above, the control means 9 adjusts the ground height of the cutting unit 3 to an appropriate level in the automatic mode based on the information of the cutting height sensor 8 (cutting height detection value hs). The operation of the mowing unit elevating cylinder 6 is controlled so as to maintain the height (specifically, the target value H0). Further, the control means 9 includes a control sensitivity (that is, a control sensitivity when the cutting section elevating cylinder 6 is operated based on the information of the cutting height detection value hs of the cutting height sensor 8),
As a combination with the dead zone width (that is, the dead zone width in the cutting height detection operation by the cutting height sensor 8), the above-mentioned three of rice, wheat, and soybeans are used.
A plurality of control conditions preset for each of the three crop conditions are selected based on the information of the crop changeover switch SW, and the height control of the cutting unit 3 is executed. The control means 9 is configured to set the control sensitivity based on a combination of a detection time interval of the detection of the cutting height by the cutting height sensor 8 and a lifting speed of the cutting unit lifting cylinder 6.

The control means 9 will be described in more detail. As shown in FIG. 2, the sampling time corresponding to the detection time interval of the detection of the cutting height of the cutting height sensor 8 and the lifting speed of the cutting unit lifting cylinder 6 And the combination of the numerical values of the three control parameters of the dead zone width in the detection operation of the cutting height sensor 8,
It is set as a control condition for each crop condition of rice, wheat, and soybeans. And about sampling time,
The sensor data hs is fetched every 80 ms or 40 ms, and 16 or 8 times of the fetched data is averaged to obtain a cutting height detection value HS. That is, 1280 for rice
One cutting height detection value is obtained every ms (80 ms × 16 times), one cutting height detection value is obtained every 640 ms (40 ms × 16) in wheat, and 320 ms (40 ms × 8) in soybean.
One cutting height detection value is obtained each time. Therefore, rice,
In the order of wheat and soybeans, the detection time interval of the cutting height detection is shortened, the cutting height detection speed is increased, and the control sensitivity of the cutting height control based on this cutting height detection information is increased.

As regards the elevating speed, the ON or OFF time of the ascending or descending electromagnetic valves 15 and 18 for driving the mowing unit elevating cylinder 6 up or down and the OFF of the electromagnetic valves 15 and 18 to stop the driving. The ratio to the OFF time, in other words, the total time of the ON time and the OFF time 2
The lifting speed is changed by changing the ratio of the ON time to 00 ms (that is, the duty ratio). That is, in rice, the ON time is 100 ms and the duty ratio is 50% (100 ms / 2).
On the other hand, in wheat and soybeans, the ON time is 120 ms and the duty ratio is 60% (120 ms / 20 ms).
0 ms), the speed of ascent and descent is higher than that of rice. Therefore, the control sensitivity when controlling the cutting height is higher for wheat and soybeans than for rice.

The width of the dead zone is ± 10% for rice and soybean.
It is as narrow as 7 mm and as wide as ± 10 mm in wheat, so that it can meet the demand for low cutting, in which the cutting height is adjusted lower when cutting rice and soybeans than wheat.

As described above, in the order of rice, wheat, and soybeans,
Alternatively, the reason why the control sensitivity of wheat and soybeans is higher than that of rice is that the leveling condition of the field is poorer for wheat and soybeans than for rice, and the harvesting speed is higher for wheat and soybeans than for rice. Since the work is performed, the cutting height is quickly corrected so as to appropriately cope with the difference in the condition.

Referring to the flowchart shown in FIG. 3, the automatic cutting height control of the control means 9 will be described. The state of the threshing switch 13 is checked, and if it is OFF, no control is performed. If the threshing switch 13 is ON, the crop condition selected by the crop changeover switch SW is input, and a preset combination of control parameters (FIG. 2)
Select the control parameter corresponding to the input crop condition from (see). Then, a cutting height detection value HS is obtained from the detection data hs of the cutting height sensor 8 in accordance with the conditions of the control parameters.

Next, the detected cutting height HS and the target value H0 are compared with each other, and the absolute value of the difference (HS-H0) between the detected cutting height HS and the target value H0 is sufficiently small. If it is within the dead zone, it is determined that the ground height of the reaping unit 3 is almost an appropriate height, and the process returns to the main routine without driving the cylinder. Difference between the detected cutting height HS and the target value H0 (HS-H0)
If the absolute value of the cutting height HS is not sufficiently small, the cutting height elevator cylinder 6 is driven upward if the cutting height detection value HS is smaller than the target value H0 because the ground height of the cutting portion 3 is lower than the appropriate height. If the detected value HS is larger than the target value H0, the ground height of the reaping unit 3 is higher than the appropriate height, so that the reaping unit elevating cylinder 6 is driven to descend.

Hereinafter, another embodiment will be described. In the above embodiment, the elevating drive means (the mowing unit elevating cylinder 6) is constituted by a hydraulic cylinder, but may be constituted by another electric motor, for example.

In the above embodiment, the cutting height detecting means (cutting height sensor 8) is provided at the center in the machine body width direction. However, for example, a pair of left and right (two places) in the machine body width direction is provided. It may be provided.

Also, the cutting height detecting means (cutting height sensor 8)
Is not limited to a grounded sensor as in the embodiment, but a non-grounded sensor such as an ultrasonic sensor may be used.

In the above-described embodiment, the crop condition selecting means SW is configured to select three conditions of rice, wheat, and soybeans as a plurality of crop conditions. The present invention is not limited to this, and can be changed as needed. The specific means may be a plurality of push button switches corresponding to the number of crop conditions, for example, in addition to the rotary switches.

In the above embodiment, the detection time interval (sampling time of the sensor) of the detection of the cutting height by the cutting height detecting means (cutting height sensor 8), and the elevating speed of the raising / lowering driving means (the cutting unit raising / lowering cylinder 6). Although the control sensitivity is set by the combination with the above, the setting of the control sensitivity is not limited to this. For example, the control sensitivity may be set by changing only one of the detection time interval or the elevating speed, or the control sensitivity may be set by combining the detection time interval or the elevating speed with another control parameter. You may do so.

In the above-described embodiment, an example in which the present invention is applied to a normal combine as a reaper and harvester is illustrated. However, the present invention is not limited to this, and it is needless to say that the present invention can be applied to other combines and other reapers and harvesters.

In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a block diagram of a combine cutting height control device.

FIG. 2 is an explanatory diagram of cutting height control conditions for each crop condition.

FIG. 3 is a flowchart of a control operation.

FIG. 4 is a side view of the combine (partial perspective view).

FIG. 5 is a schematic side view of a cutting height detecting means.

FIG. 6 is a schematic plan view of a cutting height detecting unit.

[Explanation of symbols]

 Reference Signs List 3 cutting unit 1 traveling machine body 6 elevating drive means 8 cutting height detecting means 9 control means SW crop condition selecting means

Claims (2)

(57) [Claims] An up-and-down drive means (6) for driving the mowing part (3) up and down with respect to the traveling machine body (1); and the mowing part (3).
Cutting height detecting means (8) for detecting the ground height of the ground, and based on the information of the cutting height detecting means (8), the ground height of the cutting unit (3) is maintained at an appropriate height. And a control means (9) for controlling the operation of said elevating drive means (6). A crop height control device for a reaper, comprising: a crop condition selection device for selectively selecting a plurality of crop conditions. Means (SW), wherein the control means (9) stores a plurality of control conditions preset for each of the plurality of crop conditions as a combination of control sensitivity and a dead zone width. A) a cutting height control device for a reaper that is configured to execute the height control of the reaping unit (3) by selecting based on the information of (3). 2. The control means (9) controls the control sensitivity in accordance with a combination of a detection time interval of the cutting height detection by the cutting height detection means (8) and a lifting speed of the lifting drive means (6). The cutting height control device for a reaper according to claim 1, wherein the cutting height is set.