JP3864511B2 - Combine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a combine that is an agricultural machine.
[0002]
[Background Art and Problems to be Solved by the Invention]
Conventionally, when harvesting is performed with a combine, the machine tilts depending on the work speed and the field conditions (such as the degree of soil softness and unevenness). In general, the height of the cutting device is adjusted to the appropriate cutting height position. When adjusting the cutting height, the amount of lifting of the cutting device can be adjusted by adjusting the inclination of the fuselage or the speed of the inclination. In the worst case, there is a problem that the harvesting device is pushed into the soil surface and damaged. It was happening.
[0003]
Therefore, the present invention adjusts and controls the cutting height to an appropriate position when the fuselage is inclined. And the raising / lowering speed of the cutting device at the time of adjusting and controlling the cutting height to an appropriate position is calculated from the degree of inclination of the airframe, and the cutting device is moved up and down quickly.
[0004]
[Means for Solving the Problems]
The present invention includes a front / rear inclination detection means (2) capable of detecting the front / rear inclination state of the airframe (1) relative to the soil surface, and a cutting height detection means (4) capable of detecting the cutting height by the cutting device (3). ) And a controller (5) capable of automatically adjusting and controlling the cutting height by raising and lowering the cutting device (3) according to the detection values of both detection means (2) and (4). When the inclination detecting means (2) detects the front / rear inclination of the airframe (1), the cutting device (3) is moved up and down to a predetermined proper position by the operation of the lifting cylinder (16a) by detection of the cutting height sensor (4). In the adjustment control by raising and lowering the reaping device (3) to a predetermined appropriate position, the reaping device is calculated based on the inclination change rate calculated from the detected value of the longitudinal inclination state of the body (1) by the longitudinal inclination detecting means (2). Calculate the speed to raise and lower (3) Then, the reaping device (3) is adjusted and controlled to an appropriate position at the calculated ascending / descending speed, and the rotator provided on the reaping support shaft (16) that supports the reaping device (3) so as to be movable up and down. The angle sensor (56) detects the rotation angle (θ) of the mowing device (3) relative to the airframe (1), and the amount of subsidence (α) of the airframe (1) is obtained from the detected value of the rotation angle (θ). The soil surface softness degree is calculated from the relationship between the rotation angle (θ) of the reaping device (3) and the subsidence amount (α) of the airframe (1), and the calculated softness degree of the soil surface is determined. The vehicle speed of the combine is controlled so that the vehicle speed of the combine detected by the vehicle speed sensor (28) becomes an appropriate vehicle speed for the degree of softness of the soil surface. The combine structure is adopted.
[0005]
[Action]
With the above configuration, when the harvesting operation is performed by the combine, the amount of forward and backward tilting of the body 1 varies depending on the field conditions such as the traveling speed, the degree of softness of the soil surface, and the degree of unevenness. Thus, when the body 1 tilts back and forth, the reaping device 3 also tilts back and forth together, so that it deviates from the proper cutting height. That is, the positional relationship of the reaping device 3 with respect to the ground is not an appropriate position. Therefore, when the controller 5 detects the forward / backward inclination of the machine body 1, the cutting device 3 is moved up and down by detection of the cutting height sensor 4 to a predetermined proper position by the operation of the lifting cylinder 16 a. In this case, if the front / rear inclination amount of the airframe 1 is detected by, for example, the front / rear inclination detection means 2 that detects the capacitance, etc., the inclination change rate calculated from the detection value of the front / rear inclination detection means 2 (for example, the differential coefficient of the inclination state, etc.) ) Is calculated, and an ascending / descending speed for raising / lowering the reaping device 3 is calculated from the inclination change rate, and the reaping device 3 is quickly adjusted to an appropriate position.
Further, the rotation angle θ of the reaping device 3 with respect to the body 1 is detected, and the settlement amount α of the body 1 is obtained from the detected value of the rotation angle θ. Then, the degree of softness of the soil surface is calculated from the relationship between the rotation angle θ of the cutting device 3 and the amount of settlement α of the airframe 1, and an appropriate vehicle speed for the calculated degree of softness of the soil surface is set in advance. The vehicle speed of the combine is detected so that the vehicle speed of the combine detected by the vehicle speed sensor 28 becomes an appropriate vehicle speed for the degree of softness of the soil surface.
[0006]
【The invention's effect】
As described above, in the harvesting operation of the combine, the front / rear inclination amount of the machine body 1 that changes according to the traveling speed and the field conditions is detected, and the reaping device 3 is adjusted to an appropriate cutting height position from this detected value. In this case, the raising / lowering speed of the reaping device 3 is calculated based on the calculated inclination change rate, and the position of the reaping device 3 is controlled to an appropriate position by the calculated raising / lowering speed. For this reason, since the positional relationship of the cutting device 3 with respect to the ground can be quickly corrected even if the cutting device 3 tries to change the positional relationship with respect to the ground together in accordance with the longitudinal inclination of the machine body 1, It will be possible to prevent the work from being hindered. In addition, since the aircraft 1 can be quickly adjusted according to the front / rear tilt state, the height of the front / rear tilt of the airframe 1 or the speed of the inclination of the mowing device is delayed due to the speed of the tilting, etc., and the cutting height is stabilized. This prevents the cutting performance from being damaged and, in the worst case, prevents the cutting device from being damaged by being pushed into the soil surface. It can be adjusted and controlled accurately and quickly.
In addition, the vehicle speed of the combine is controlled so that the vehicle speed is appropriate for the degree of softness of the soil surface, so that it is possible to prevent problems such as roughening the traveling soil surface or stopping the engine due to overload. Become. In addition, efficient work can be continued by stable running.
[0007]
【Example】
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows the overall structure of a combine. A traveling device 8 is provided on a lower side of a traveling frame 6 of the combine. The traveling device 8 has a pair of left and right traveling rollers 7 traveling on the soil surface. The grain tank 10 which threshs the harvested cereal meal which is nipped and conveyed by the feed chain 9 on the top 6 and is supplied, and selectively collects and recovers the threshed grain, and the stored grain to the outside. A threshing device 11 having a threshing auger 10a to be discharged is placed.
[0008]
In front of the threshing device 11, a weeding body 12 for weeding the planted culm from its front end side, a pulling part 13 for causing the weeded culm, and a cutting blade part 14 for cutting the induced culm The reaping device 3 having the culm transporting portion 15 or the like that changes the posture to the side of the feed chain 9 while transporting the harvested culm to the rear side, and the center of rotation about the mowing support shaft 16 is provided. As described above, it is configured so as to be able to move up and down freely with respect to the soil surface by a hydraulic drive lift cylinder 16a.
[0009]
On the rear side of the weed body 12, a cutting height sensor 4 serving as a cutting height detection unit that emits ultrasonic waves and receives the reflected waves to detect the cutting height of the cutting cereal grain is attached to the soil surface. A cutting height control switch 17 that adjusts and controls the cutting height of the cutting device 3 to a predetermined appropriate position based on detection by the cutting height sensor 4 is provided.
An operating device 18 for controlling the operation of the combine and an operating seat 19 for this operation are provided on one side of the mowing device 3, and an engine 20 is mounted on the lower side of the operating seat 19 and on the rear side. The Glen tank 10 is disposed, and a cabin 21 that covers the operation device 18 and the operation seat 19 is provided. The traveling device 8, the threshing device 11, the reaping device 3, the operating device 18, the engine 20, and the like constitute the combine body 1.
[0010]
The left and right vertical frames 22 fixed in the vertical direction at the left and right positions on the center side of the traveling frame 6 and the left and right wheel frames 23 are joined and arranged substantially in parallel below the left and right vertical frames 22. On the upper rear ends of the left and right wheel frames 23, rear wheel supports 24a for pivotally supporting the left and right rear wheel 24 are supported rearwardly so as to be adjustable in the front-rear direction. A plurality of ground rolling wheels 25 are rotatably supported on the lower side of the outer surface of the frame 23 at predetermined intervals.
[0011]
The left and right rear wheels 24 and the plurality of ground wheels 25 and the left and right traveling wheels are connected to the driving wheels 27 that transmit power from the traveling mission case 26 mounted on the front end of the traveling frame 6. Each of the crawlers 7 is wound and stretched. Reference numeral 25a denotes an auxiliary wheel.
A forward / backward inclination sensor 2 as an inclination detecting means of an electrostatic capacity type for detecting the forward / backward inclination state of the airframe 1 is disposed at an appropriate position of the traveling frame 6 and a vehicle speed sensor 28 for detecting a vehicle speed is provided in the transmission case. It arrange | positions in 26 transmission paths.
[0012]
As shown in FIG. 2, a CPU 5 is used as a main body to control the automatic circuit, and a controller 5 is provided for calculating the adjustment contents of the cutting height of the cutting device 3 based on the detected value of the inclination state of the machine body 1. The forward / backward tilt sensor 2, the vehicle speed sensor 28, the cutting height sensor 4, and the cutting height control switch 17 are connected to the input side, and the cutting lift electromagnetic valve 29 for operating the lifting cylinder 16 is connected to the output side. Connect and configure.
[0013]
At the time of harvesting in the combine, the degree of inclination in the front-rear direction of the airframe 1 varies depending on the degree of softness or unevenness of the soil surface due to differences in the field or the location in the field, and further by shifting the traveling speed, etc. Therefore, when the cutting height control switch 17 is turned on in such a state and the cutting operation is performed, as shown in the flowchart of FIG. Based on the amount of rear inclination, a differential coefficient as an inclination change rate is obtained as shown in the diagram of FIG.
[0014]
From this differential coefficient, ascending / descending amount or ascending / descending speed of the reaping device 3 is calculated as shown in the diagram of FIG. 5, and when the rate of change in inclination is in a neutral state, the process is returned. Therefore, when the rate of change is on the (−) side, the machine body 1 is lifted up by raising the reaping device 3 to a predetermined appropriate position by the operation of the lifting cylinder 16a. Since it is tilted rearward, the mowing device 3 is lowered according to the above processing.
[0015]
As described above, when the machine body 1 tilts in the front-rear direction in the cutting operation, the inclination change rate obtained from the detected value of the front-back tilt sensor 2 and the detected value of the cutting height by the cutting height sensor 4 are used as a controller. 5 is used to perform arithmetic control, and by this process, the lifting amount or lifting speed for raising and lowering the reaping device 3 can be quickly adjusted according to the inclination state, so that the cutting height can be adjusted to a predetermined appropriate position. It is possible to adjust and control automatically and accurately without bothering.
[0016]
Further, as an embodiment different from the above, the traveling device 8 in the combine as shown in FIG. 1 is changed to a configuration that enables rolling control and pitching control, and the configuration content will be described below. (Those with the same action are given the same reference.)
As shown in FIGS. 6 and 7, a rolling metal 31 is fixed to a support frame 30 provided at the lower part of the front end of the left and right vertical frames 22 of the traveling frame 6. An upper arm 33a and a lower arm 33b are pivotally fixed to the supported front rolling shaft 32 in a side view to form a front rolling arm 33. The lower arms 33b of the left and right front rolling arms 33 are formed. The lower end portion position of the right and left vertical frames 22 and the front portion side position of the left and right wheel frame 23 located respectively below the left and right vertical frames 22 are connected by a pin 34 so as to be rotatable.
[0017]
Pitching shafts 36 are pivotally supported on pitching metals 35 fixed to the lower rear portions of the left and right vertical frames 22, and one end portions of left and right pitching arms 37 are respectively attached to the left and right sides of the pitching shafts 36. The shaft is fixed, and the other end portion and the left and right end portions of the connecting arm 38 having an H shape in plan view are connected by a pin 39 so as to be rotatable.
The upper arm 41a and the lower arm 41b are respectively pivotally fixed to the left and right rear rolling shafts 40 in a side view to form the rear rolling arm 41, and the upper and lower arms 41a and lower portions of the left and right rear rolling shafts 40 are formed. The other end portions on the left and right sides of the connecting arm 38 are pivotally supported so as to be sandwiched between the arms 41b. The lower end position of the lower arm 41b of the left and right rear rolling arm 41 and the rear side position of the left and right wheel frame 23 are connected by a pin 42 so as to be rotatable.
[0018]
The other end side of the right pitching arm 37 is extended upward, and the upper end of the right pitching arm 37 is pin-connected to the tip of the movable piston 43a of the pitching cylinder 43 that expands and contracts by hydraulic pressure or the like. Is fixed to the upper projection of the right vertical frame 22 so as to be pivotable. The upper end portion of the upper arm 33a of the left and right front rolling arms 33 and the middle portion of the upper arm 41a of the left and right rear rolling arms 41 are respectively rotated by left and right connecting rods 44 so as to form a four-point parallel link. It is configured by connecting pins as possible.
The upper arms 41a of the left and right rear rolling arms 41 are extended further upward than the connecting position of the connecting rod 44, and the upper ends thereof and the tips of the movable side pistons 45a of the left and right rolling cylinders 45 that extend and contract by hydraulic pressure or the like. In the state where the fixed side of the left and right rolling cylinders 45 and the protrusions protruding from the other ends of the left and right pitching arms 37 are pinched from both sides by the belt-shaped holding plates 46, respectively. The pins are pivotably connected, and the connecting portions are connected to the left and right vertical frames 22 so as to be swingable via links 46a.
[0019]
A front / rear stroke sensor 47 for detecting the expansion / contraction stroke of the pitching cylinder 43 is provided adjacent to the cylinder 43, and the working arm of the sensor 47 and the vicinity of the upper end of the pitching arm 37 are connected by a lot 47a. A left / right stroke sensor 48 for detecting an expansion / contraction stroke of the rolling cylinder 45 is provided on the left and right cylinders 45, and an operating arm of the sensor 48 and an upper end connecting portion of the rear rolling arm 41 are connected by a lot 48a.
[0020]
As described above, the left and right front and rear rolling arms 33 and 41, the left and right horizontal mechanisms for performing the rolling control for moving the body 1 up and down or left and right by the actions of the left and right rolling cylinders 45, and the pitching arm 37. By the action of the pitching cylinder 43 and the like, a front-rear horizontal mechanism that performs pitching control for tilting the body 1 forward and backward is configured.
[0021]
On the upper rear side of the left and right wheel frames 23, rear wheel bearings 24a for pivotally supporting the left and right rear wheel 24 are supported rearwardly so that they can be adjusted in the front-rear direction. A plurality of grounded wheels 25 are pivotally supported on the lower side of the outer surface of the wheel frame 23 at predetermined intervals. The left and right rear wheels 24 and a plurality of ground wheels 25 and the left and right traveling wheels are connected to the driving wheels 27 that transmit power from the traveling mission case 26 mounted on the front end of the traveling frame 6. Each of the crawlers 7 is wound and stretched. Reference numeral 25a denotes an auxiliary wheel.
[0022]
The front / rear inclination sensor 2 for detecting the front / rear inclination of the airframe 1 and the left / right inclination sensor 49 for detecting the right / left inclination are arranged at appropriate positions on the traveling frame 6, and the state of inclination by the front / rear and left / right inclination sensors 2, 49 is set. A front / rear control switch 50 and a left / right control switch 51 for automatically performing front / rear horizontal control and left / right horizontal control of the body 1 by detection are arranged.
[0023]
A controller 52 for controlling the operation of the automatic circuit by providing a CPU is provided. As shown in FIG. 8, the front / rear tilt sensor 2, cutting height sensor 4, vehicle speed sensor 28, cutting height are connected to the input side of the controller 52. The control switch 17 is connected to the left / right tilt sensor 49, the front / rear stroke sensor 47, both the left / right stroke sensors 48, the front / rear control switch 50, the left / right control switch 51, and the like. A pitching electromagnetic valve 53 for operating the pitching cylinder 43, left and right rolling electromagnetic valves 54 for operating the left and right rolling cylinders 45, an unloading valve 55, and the like are connected to each other.
[0024]
In the pitching control by the controller 52, the pitching cylinder 43 is operated, the pitching arm 37 is turned up and down, and the right rear rolling arm 41 is moved up and down via the connecting arm 38, so that the rear parts of the left and right wheel frames 23 are moved. The side is moved up and down with the front rolling shaft 32 as a fulcrum to relatively adjust the airframe 1 to a horizontal state, and in the rolling control by the controller 52, the left or right rolling cylinder 45 is operated to move the front and rear parts By the action of the rolling arms 33 and 41 and the connecting rod 44, the left or right wheel frame 23 can be moved up and down to relatively adjust the body 1 to a horizontal state.
[0025]
As shown in the flowchart of FIG. 9, when the aircraft 1 is tilted back and forth or left and right, the pitching control is performed by detecting the tilt of the front and rear tilt sensor 2 and the left and right tilt sensor 49 when the front and rear control switch 50 and the left and right control switch 51 are turned on. The horizontal control of the machine body 1 is performed by rolling control, and the cutting height sensor 4 is detected when the cutting height control switch 17 is turned on, and the cutting device 3 is moved up and down to adjust the cutting height to a predetermined appropriate position.
[0026]
The rotational angle θ of the reaping device 3 with respect to the body 1 is determined by the rotational angle sensor 56 using a potentiometer or the like provided on the reaping support shaft 16 from the amount of rise of the reaping device 3 due to the sinking of the body 1 during the adjustment control of the cutting height. Then, as shown in FIG. 10, the subsidence amount α of the airframe 1 is obtained from the difference in the rotation angle θ (no subsidence: θ1, at the time of subsidence: θ2).
From the relationship between the rotation angle θ and the subsidence amount α, as shown in the diagram of FIG. 11, by calculating the degree of softness of the soil surface, as shown in the diagram of FIG. The maximum vehicle speed is calculated based on the relationship between the degree of softness and the vehicle speed, and the vehicle speed is detected by the vehicle speed sensor 28. When the detected vehicle speed is appropriate, the vehicle is returned. When the vehicle speed is too high, deceleration control is performed. Let the speed control. Note that only notification may be performed without necessarily controlling the vehicle speed.
[0027]
As described above, in the case of performing the horizontal control of the machine body 1, there is a certain relationship between the rotation angle θ of the cutting support shaft 16 and the sinking amount α of the machine body 1. When the height control is performed, the degree of soil surface softness is calculated from the subsidence amount α of the airframe 1 and shift control is performed to an appropriate vehicle speed, so that the traveling soil surface is roughened or the engine 20 is stopped due to overload. There is no such trouble, and efficient work can be continued by stable running.
[0028]
In addition, since the control itself is basically the same as the conventional one, simple control can be performed at low cost, and in the case of performing load control, the reference engine speed is changed and controlled according to the sinking amount α of the fuselage 1. Alternatively, the sensitivity of the load control may be changed according to the sinking amount α of the body 1.
Further, as shown in the flowchart of FIG. 13, in the case where the horizontal control of the machine body 1 and the cutting height control of the cutting device 3 are performed, the sinking of the machine body 1 is detected by detecting the rotation angle θ of the cutting support shaft 16 as described above. The procedure up to the step of obtaining the amount α and calculating the degree of soil surface softness from the subsidence amount α of the airframe 1 is the same as the procedure shown in the flowchart of FIG. 9. The left and right traveling crawlers 7 that enable optimum turning according to the degree of softness of the soil surface when the turning of the airframe 1 is confirmed by determining whether or not the turning is based on the length of the operation time 57. Is calculated, and the rotational speeds of the left and right traveling crawlers 7 are adjusted and controlled so as to be the rotational difference.
[0029]
As described above, since there is a certain relationship between the rotation angle θ of the cutting support shaft 16 and the sinking amount α of the airframe 1, when performing horizontal control and cutting height control of the airframe 1. By calculating the degree of softness of the soil surface from the sinking amount α of the airframe 1 and adjusting and controlling the number of rotations of the left and right traveling crawlers 7 at the time of turning, it is possible to always make a turn suitable for the degree of softness of the soil surface. In addition, it is possible to prevent a decrease in work efficiency due to roughening of the traveling soil surface.
[Brief description of the drawings]
FIG. 1 is a side view showing the overall configuration of a combine.
FIG. 2 is a block diagram showing an automatic circuit for cutting height control according to the longitudinal tilt of the machine body.
FIG. 3 is a flowchart showing a procedure for cutting height control according to the longitudinal tilt of the machine body.
FIG. 4 is a diagram showing an inclination change rate (differential coefficient and the like) in a state where the aircraft is inclined forward and backward.
FIG. 5 is a diagram showing a lifting amount or a lifting speed of a reaping device according to an inclination change rate.
FIG. 6 is a plan view showing an elevating mechanism of a traveling crawler in horizontal control of the aircraft.
FIG. 7 is a side view showing an elevating mechanism of a traveling crawler in horizontal control of the aircraft.
FIG. 8 is a block diagram showing an automatic circuit for cutting height control during horizontal control of the aircraft.
FIG. 9 is a flowchart showing a procedure for shifting the vehicle speed by detecting the degree of softness of the soil surface during horizontal control and cutting height control of the aircraft.
FIG. 10 is a side action diagram showing the relationship between the rotation angle of the reaping device and the amount of settlement of the airframe.
FIG. 11 is a diagram showing the state of softness of the soil surface from the relationship shown in FIG.
FIG. 12 is a diagram showing the relationship between the soil surface softness and the vehicle speed.
FIG. 13 is a flowchart showing a procedure for adjusting and controlling the number of rotations of the left and right crawlers by detecting the degree of softness of the soil surface during horizontal control and cutting height control of the aircraft.
[Explanation of symbols]
1. Aircraft 2. 2. Front / back inclination detection means 3. Mowing device Cutting height detection means 5. Controller 16a. Elevating cylinder 28. Vehicle speed sensor 56. Rotation angle sensor θ. Rotation angle α. Settlement

Claims (1)

A front / rear inclination detecting means (2) capable of detecting the front / rear inclination state of the airframe (1) with respect to the soil surface, a cutting height detecting means (4) capable of detecting a cutting height by the cutting device (3), and In the combine having the controller (5) capable of automatically adjusting and controlling the cutting height by raising and lowering the cutting device (3) according to the detection values of both detection means (2) and (4), the forward / backward inclination detecting means ( When 2) detects the forward / backward inclination of the airframe (1), the reaping device (3) is moved up and down by the operation of the elevating cylinder (16a) to the predetermined appropriate position by detection of the cutting height sensor (4). In adjusting and controlling 3) by raising and lowering to a predetermined appropriate position, the reaping device (3) is controlled by the inclination change rate calculated from the detected value of the front and rear inclination state of the airframe (1) by the front and rear inclination detection means (2). Calculate the lifting speed and calculate The reaping device (3) is adjusted and controlled to an appropriate position at an ascending / descending speed, and a rotation angle sensor (56) provided on a reaping support shaft (16) that supports the reaping device (3) so as to be movable up and down. ) To detect the rotation angle (θ) of the cutting device (3) relative to the machine body (1), and obtain the subsidence amount (α) of the machine body (1) from the detected value of the rotation angle (θ). The configuration is such that the degree of softness of the soil surface is calculated from the relationship between the rotation angle (θ) of (3) and the amount of settlement (α) of the airframe (1), and the appropriate vehicle speed for the calculated degree of softness of the soil surface is set in advance. The combine is configured to perform the vehicle speed control of the combine so that the vehicle speed of the combine detected by the vehicle speed sensor (28) becomes an appropriate vehicle speed for the degree of softness of the soil surface.

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