JP2955403B2 - Combine lift controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION This invention relates to a lifting control device combine, more particularly, reaper the front end portion of the vertically movable supported cutting conveying device device is provided for the traveling machine body, the cutting conveying device together with an auxiliary cutting device is provided to be freely switchable between the retracted position which is retracted to the working position and the upper side projecting downward of the cutting device <br/> to, the reaper
The present invention relates to a combine lift control device provided with control means for controlling a lift actuator of a transport device and an attitude switching actuator of the auxiliary reaper.

[0002]

2. Description of the Related Art A conventional combine harvester is provided with an auxiliary cutting device in addition to a cutting device at the front end of the fuselage to perform the following operations. That is, in the case where the whole amount of grain stalks cut by the cutting device is thrown into the threshing device and threshing is performed, when the planted grain culm is a long culm, the amount of straw chips is large and the threshing processing efficiency is reduced. Therefore, while excluding unnecessary long culm portions, only the tip portions are cut off by the cutting device and transported to the threshing device, and the long stumps remaining in the field (the remaining planting of the long stumps is the workability at the next tillage. (Hereinafter referred to as "two-stage reaping work") to improve the workability at the next tillage while avoiding a decrease in threshing efficiency. . In such a combine, in a state where the reaping operation is being performed by the reaping device,
The height of the mowing device is detected, and based on the detected information, the lift actuator is automatically controlled so that the mowing device is maintained at a target mowing height. In this state, the height adjustment of the auxiliary cutting device when performing the two-stage cutting operation has been performed manually. Further, in a state in which the harvesting operation by the mowing device is interrupted or terminated and the combine is moved, in order to prevent the mowing device from colliding with a surrounding object, the mowing device is moved to a high position by operating the actuator for raising and lowering. I was trying to raise it. Since the auxiliary mowing device in this state also needs to be protected by avoiding collision with surrounding objects, the auxiliary mowing device has been retracted upward by manual operation. Furthermore, when the planted grain culm is a short culm and a grain culm that is relatively easy to shed,
The cutting device is set to a lowered position to a low position, and the cutting device is used to cut the grain stalks shortly, and the auxiliary cutting device is not used.
Also in this case, in order to protect the auxiliary reaper,
The auxiliary reaper has been retracted upward by manual operation.

[0003]

In the state where the mowing operation is being performed by the mowing device, the height control of the mowing device is automatically performed, and the workability is not particularly problematic. However, since the height adjustment of the auxiliary reaping device when performing the two-stage reaping operation was manually performed, poor operability was a problem. Also,
In a state in which the harvesting operation by the mowing device is interrupted or terminated and the combine is moved, or in a state in which the mowing device is lowered to a low position in order to cut the culm short by the mowing device, the storage of the auxiliary mowing device is performed. Since the switching operation to the posture is performed manually, there is a problem that the switching operation may not be performed due to an operator's mistake or the like, and the auxiliary reaper may not be protected. The present invention has been made in view of such circumstances, and has as its object to provide means capable of solving the above-mentioned problems at once.

[0004]

According to the present invention, there is provided a combine lifting control device comprising: a first height detecting means for detecting a height of the cutting device; and a second height detecting a height of the auxiliary cutting device. Detecting means is provided, and the control means controls the operation of the elevating actuator so as to maintain the mowing device at a set target height based on the detection information of the first height detecting means, and When the height detected by the one height detecting means deviates up and down a set range, the auxiliary reaper is switched to the storage position, and when the height does not deviate, the second height detecting means It is characterized in that it is configured to control the operation of the attitude switching actuator so as to maintain the auxiliary reaper at a set target height based on the detection information.

[0005]

In the apparatus according to the present invention having the above-described structure, the control device maintains the set target height of the mowing device.
And, when the height detected by the first height detecting means does not deviate up and down a set range, the set target height of the auxiliary reaper is automatically maintained. If the upper and lower limits of the range are set to the upper and lower limits of the height of the reaping device corresponding to the conditions under which the two-stage reaping operation is performed, the reaping device is in a state where the two-stage reaping operation is performed. In addition to the height control, the height control of the auxiliary reaper is automatically performed. Further, under the condition that the height detected by the detecting means deviates vertically from the set range, the auxiliary reaper is automatically switched to the storage position by the control means. Therefore, as long as the upper and lower limits of the set range are set to the upper and lower limits of the height of the reaping device corresponding to the conditions under which the two-stage reaping operation is performed, the auxiliary reaping device will The storage posture can be automatically switched to the storage posture under the condition that the cutting operation is not performed, that is, the condition that the auxiliary cutting device is to be protected.

[0006]

Therefore, according to the present invention, the height control of the auxiliary cutting device is automatically performed in the state where the two-stage cutting operation is being performed, and the auxiliary cutting device, which has conventionally been a problem, has been described. Poor workability of height control of the apparatus is improved. In addition, under the condition that the auxiliary mowing device is to be protected, the auxiliary mowing device is automatically switched to the storage position regardless of the operation of the worker, and thus the auxiliary mowing device is reliably protected.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 3 shows an all-culm input type combine equipped with the device of the present invention. The combine is configured such that a threshing device 3 is mounted on a traveling machine body 2 having a crawler traveling device 1, and a harvesting and conveying device 4 is connected to a front portion of the traveling machine body 2 so as to be able to move up and down. . The threshing apparatus 3 is provided with a handling chamber 6 for handling and processing the input grain stalks with a handling cylinder 5 that is driven and rotated around the longitudinal axis of the machine body, and is processed and processed below the handling chamber 6 below the handling chamber 6. The sorting part 8 which sorts the processed material leaking from the cereal grain is provided.

The cutting and conveying device 4 is provided with a rotating reel 9 for scraping the tip of the planted grain culm, and a clipper is provided at the front end of a cutting frame 10 supported so as to be able to swing up and down with respect to the traveling machine body 2. An auger 1 is provided with a mold reaper 11 for gathering the stalks harvested rearward toward the center.
2 and a conveyor 13 for transporting the collected culms to the rear threshing device 3.

Specifically, the cutting frame 10 is pivotally supported at the front of the threshing device 3 so as to be swingable about a horizontal axis P4. A front end of a hydraulic cylinder 14 as an actuator for raising and lowering the mowing frame 10 is linked to a lower rear end side of the mowing frame 10, and a base end of the hydraulic cylinder 14 is a front end of the traveling machine body 2. Is linked to The mowing frame 10 is raised and lowered based on the drive of the hydraulic cylinder 14, and the height of the mowing device 11 (that is, the mowing height) is changed by the raising and lowering. The drive of the hydraulic cylinder 14 is based on an output signal of a control means 21 shown in FIG. 1 (specifically, a control device 21 using a microcomputer mounted on the traveling machine body 2 together with the threshing device 3 and the like). Is performed.

As shown in FIG. 1, the crawler traveling device 1 is driven by transmitting the output of the engine E to a transmission case M for the traveling device 1 while changing the speed by a traveling transmission 24. It has become.
The shifting of the traveling transmission 24 is also performed by the control means 2.
1 is performed based on the output signal.

The output section of the engine E and the reaper 1
A tension pulley-type cutting clutch 25 is provided in a belt transmission section between the input section 1 and the input section, and the cutting clutch 25 is provided in the boarding operation section 2A on the traveling machine body 2 and is operated by an operator. It is interlocked with the movement of the reaping clutch lever 25A which is manually turned on and off. The reaping clutch lever 25A is provided with a reaping switch SW1 that is turned ON in accordance with the on-coming operation, and information about ON / OFF of the reaping switch SW1 is input to the control means 21. .

An angle sensor 22 for detecting the swing angle of the cutting frame 10 is provided near the horizontal axis P4, which is the center of the swing of the cutting frame 10, for detecting the height of the cutting device 11. It is provided as one height detecting means.
The angle sensor 22 specifically, as shown in FIG.
An input shaft 22a is linked to an arm 10a interlocked with the mowing frame 10 so that the input shaft 22a is set to rotate in accordance with the swing of the mowing frame 10, and the base portion is fixed to the machine body side (fixed). Side). The information on the swing angle detected by the angle sensor 22 is input to the control means 21.

The cutting frame 10 is provided with a support arm 15 at a position rearward of a position where the cutting device 11 is provided.
The auxiliary reaping device 16 is attached so as to be freely switchable between an operating posture projecting downward from the reaping frame 10 and a retracted posture retracted upward. The auxiliary mowing device 16 sets the posture of the mowing device 11 to a high mowing posture in which only the tip of the planted grain culm is cut and thrown into the threshing device 3 in order to improve the threshing processing efficiency in the threshing device 3. In this case, the working posture is set. Then, by the auxiliary cutting device 16 in the working posture, the long stock remaining in the field after cutting only the tip is cut short.

The mounting structure of the auxiliary cutting device 16 to the cutting frame 10 will be described in more detail. FIG.
As shown in FIG. 1, a bracket 17 is attached to a bottom plate of the transport conveyor 13 which forms a part of the mowing frame 10, and a cylindrical support frame 18 is rotatably supported via the bracket 17. . The cylindrical support frame 18 has a pair of left and right first support arms 15 that constitute a part of the support arm 15 that supports the auxiliary mowing device 16.
a are integrally connected, and the pair of left and right first support arms 15a can rotate around the axis P1 of the cylindrical support frame 18. Further, a part of the pair of first support arms 15a on the left and right sides is linked to a tip of a rod 20A that reciprocates by the driving force of a motor 20 attached to the mowing frame 10 through gear transmission. ing. Also, the first support arm 15
a, a pipe frame 19 spanning the entire cutting width is erected and connected to each of the distal ends, and second support arms 15b constituting a part of the support arm 15 are connected to left and right ends of the pipe frame 19, respectively. Further, an auxiliary reaper 16 is provided over the distal end of each of the second support arms 15b. The auxiliary reaping device 16 attached to the reaping frame 10 in such a structure allows the tubular support frame 1 to be driven based on the driving force of the motor 20.
8 is driven to swing around the axis P1 of the cutting frame 1
The axis P1 is moved up and down with the axis P1 as the fulcrum of swinging up and down, and the up and down movement switches between the storage position and the operation position. That is, the motor 20 functions as a posture switching actuator that switches the posture of the auxiliary reaper 16.

When the auxiliary reaper 16 is in the storage position, the auxiliary reaper 16 is
A link mechanism R for changing the mounting structure in the forward and backward tilt postures so as to be effectively stored in the empty space on the lower rear side of the vehicle.
Is provided. The link mechanism R is specifically configured as described below. First, as shown in FIG. 2, the left and right support portions 34 of the auxiliary reaper 16 are pivotally supported by the second support arms 15b so as to be rotatable around a horizontal axis P2. Between the connecting portion 35 fixed to the bracket 17 and the arm 37 fixed to a rotating rod 36 which is rotatably mounted and supported over the first support arm 15a and the second support arm 15b on one side. And a push-pull rod 38 for pivotal connection. An arm 39 that rotates integrally with the rotating rod 36 on the lateral side of the second support arm 15b and a portion behind the fulcrum of the left and right support portion 34 of the auxiliary reaper 16 are interlockingly connected via an interlocking member 40. Have been. Then, the left and right support portions 34 of the auxiliary reaper 16, the interlocking member 40, the rotating rod 3
The link mechanism R is constituted by 6, and each of the arms 37 and 39. According to such a link mechanism R, the relative movement of the auxiliary reaping device 16 causes the biasing of the vertically oscillating fulcrum P1 and the base pivot point P3 of the link mechanism R, and thus the front and rear of the auxiliary reaping device 16 The inclined posture is relatively lowered, and the auxiliary reaping device 16 is effectively stored in an empty space behind and below the auger 12,
It can be stored without protruding below the cutting frame 10.

An angle sensor 23 for detecting the swing angle of the first support arm 15a swinging around the fulcrum P1 is provided near the elevation swing fulcrum P1.
Is provided as a second height detecting means for detecting the height of the object. As shown in FIG. 2, the angle sensor 23 includes an input shaft 23a linked to the first support arm 15a so as to interlock with the first support arm 15a. Is constituted by a potentiometer with a base attached thereto. Then, information detected by the angle sensor 23 is input to the control means 21 as shown in FIG.

The boarding operation section 2A on the traveling body 2 includes:
Also provided are an auto switch 26 for the operator to manually switch ON / OFF of the automatic operation state, and a manual elevating switch 27 for the operator to manually switch the raising and lowering instructions of the reaper 11. Has been
Information about the result of the switching operation of the auto switch 26 and information about the result of the switching operation of the manual elevating switch 27 are also input to the control device 21. In the boarding operation section 2A, a second height setting device (not shown) for setting a target value of the cutting height by the auxiliary cutting device 16 and the second height setting device are set. There is also provided a first height setting device (not shown) for adding the additional set value to the target value and setting the target value of the cutting height by the reaper 11. Is to be entered. In the control device 21, the upper and lower limits of the setting range used when the posture of the auxiliary cutting device 16 is switched are determined by the two-stage cutting operation (only the tip portion is cut off by the cutting device 11, and the remaining in the field). The operation of cutting the long stump by the auxiliary cutting device 16 (short cutting operation) is set in advance to the upper and lower limits of the height of the cutting device 11 corresponding to the conditions for performing the cutting.

As shown in FIG. 4, the control device 21
The following procedure is controlled based on the input information and the setting information described above. First, it is determined whether or not the reaping switch SW1 is ON. If it is OFF, since the reaping operation by the auxiliary reaping device 16 is not performed, the motor 20 is driven to drive the auxiliary reaping device. If the cutting switch SW1 is ON while the cutting blade 16 is in the storage position, it is determined whether the cutting height is within the set range (specifically, the swing of the cutting frame 10). The height of the reaper 11 is determined based on information detected by the angle sensor 22 provided near the center, and it is determined whether the height of the reaper 11 is within the set range). If the height is not within the set range, the two-stage mowing operation is not performed, so that the motor 20 is driven and the auxiliary mowing device 16 is set to the storage posture (at the time of the control). In the above, whether or not the auxiliary reaper 16 is in the retracted position is determined by an angle sensor 23 provided near a vertical fulcrum of the auxiliary reaper 16.
Determined based on the detection information) on the other hand, if the height is within the set range, it is judged whether the or the auto switch 26 is is ON. When the auto switch 26 is ON, the reaper 11
And automatically controlling the height of the auxiliary cutting device 16 based on the setting information of the first height setting device and the second height setting device, and when the auto switch 26 is OFF, the cutting switch The determination as to whether or not SW1 is ON is performed again. The manual lifting switch 2
7, the mowing device 11 can be raised and lowered manually.

Next, another embodiment will be described. In the above-described embodiment, the means for detecting the reaping device 11 detects the vertical swinging amount of the reaping frame 10 with respect to the traveling machine body 2, but the detecting means is detected from the ground of the reaping device 11. May be configured by a sensor that detects the height of the object.

In the claims, reference numerals are provided for facilitating 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 showing a configuration of a control unit.

FIG. 2 is a side view showing a main part of a pre-cutting unit.

FIG. 3 is a side view showing the overall configuration of the combine.

FIG. 4 is a flowchart showing a control procedure.

[Explanation of symbols]

Reference Signs List 2 traveling body 4 reaping transport device 11 reaping device 14 elevating actuator 16 auxiliary reaping device 20 attitude switching actuator 21 control means 22 first height detecting means 23 second height detecting means

Claims (1)

(57) [Claims] 1. A mowing device (11) is provided at a front end of a mowing transport device (4) supported on a traveling body (2) so as to be movable up and down.
And an auxiliary cutting device (16) is provided in the cutting and conveying device (4) so as to be freely switchable between an operating position protruding below the cutting device (11) and a storage position retracted upward. And the raising and lowering actuator (14) of the reaper transport device (4 ) and the auxiliary reaper (1).
6) A combine elevation control device provided with a control means (21) for controlling the attitude switching actuator (20) of (6), wherein the first height detection means (11) detects the height of the reaper (11). 22) and a second height detecting means (23) for detecting the height of the auxiliary reaper (16), and the control means (21) transmits the detected information of the first height detecting means (22) to the second height detecting means (23). The operation of the elevation actuator (14) is controlled so that the mowing device (11) is maintained at the set target height based on the height, and the height detected by the first height detection means (22) is controlled. When the setting range is deviated up and down, the auxiliary reaper (16) is switched to the storage position, and when not deviated, the auxiliary reaping device (16) is switched based on the detection information of the second height detecting means (23). Reaper (1
6) A combine lift control device configured to control the operation of the attitude switching actuator (20) so as to maintain 6) at a set target height.