JPH01137916A - Controller for reaping height of whole culm charging type combine - Google Patents

Abstract

PURPOSE:To enable control of a height of a reaping pretreatment part over a wide range without complicating apparatus construction, by changing over sensors to be used according to a controlled height range and lifting or lowering controlling means corresponding thereto. CONSTITUTION:The first sensor (S1) for sensing the ground height of a reaping pretreatment part relatively to the ground is used to control lifting or lowering within a low level range of the reaping pretreatment part 4. Within a high level range, the second sensor (S2) for sensing a lifting or lowering position around the transverse shaft center (P) of the reaping pretreatment part is used to control elevation. Thereby the sensor construction can be simplified without deteriorating sensing accuracy and the construction of an lifting or lowering controlling means can be obtained according to the sensors used.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention provides a method in which a reaping pretreatment section is provided in a front part of a machine body so as to be able to be raised and lowered around a horizontal axis, and an elevating actuator that raises and lowers the reaping pretreatment section. , a height detection sensor that detects the height of the reaping pre-processing section, and a height of the reaping pre-processing section that is maintained at a target height based on detection information of the height detection sensor. The present invention relates to a cutting height control device for a full-culm input type combine harvester, which is provided with a lifting control means for controlling the lifting actuator.

[Conventional technology]

The above-mentioned cutting height control device for this type of full-culm loading combine harvester is designed to automatically raise and lower the cutting pre-treatment section to maintain the target height. As the sensor, a ground type sensor with a simple configuration has been used (see Japanese Patent Application Laid-open No. 75206/1983).

[Problem that the invention seeks to solve]

In a full-culm loading type combine harvester, the target height is usually set at a low height (several CTI 1) at which the pre-harvesting part does not touch the ground. When harvesting in a field that is in poor condition,
To prevent the pre-harvesting section from digging into the ground,
It is desired to be able to set a high target height (several tens of cm).

However, in the conventional configuration described above, since the sensor that detects the height of the pre-reaping treatment section is a ground type with a simple configuration, there is a disadvantage that the detection height range is limited to a relatively low range, and the target height is I couldn't set it too high.

By the way, it is possible to use a sensor that can detect height over a wide range, such as an ultrasonic sensor, but in that case, in order to accurately detect height over a wide range, it is necessary to The disadvantage is that the device configuration for this is complicated and expensive.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable the height of the reaping pretreatment section to be controlled over a wide range without complicating the device configuration. .

[Failure to solve the problem]

The characteristic configuration of the cutting height control device for a full culm input type combine harvester according to the present invention is as follows.

That is, the height detection sensor includes a first sensor that detects the height of the pre-reaping treatment section relative to the ground;
a second sensor that detects the vertical position of the reaping pre-processing section around the horizontal axis; and a second elevating control means for controlling the elevating actuator based on information detected by the second sensor,
There is provided a switching means for selectively operating the elevation control means and the second elevation control means.

[For production]

In other words, in the range where the height of the pre-reaping treatment section is low, the first sensor that detects the height of the pre-reaping treatment section with respect to the ground is used to control the elevation, and in the range where the height is high, the horizontal height of the pre-reaping treatment section is controlled. In order to control the elevation using the second sensor that detects the elevation position around the axis, the sensor to be used and the elevation control means corresponding thereto are switched depending on the height range to be controlled.

〔Effect of the invention〕

Therefore, each of the height ranges detected by the first sensor and the second sensor can be narrower than in the case where one sensor detects the entire height range, and the detection accuracy is not reduced (the sensor configuration can be changed). It can be simplified.Also, the elevation control means can be configured according to the sensor used.Therefore, the height of the reaping pretreatment section can be controlled over a wide height range without complicating the device configuration. I was able to do it.

(Example〕 Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 6, a reaping pre-processing section (4) is installed at the front of the machine (V) equipped with a crawler traveling device (1), a control section (2), and a threshing device (3). A hydraulic cylinder (5) serving as an actuator is provided so as to be movable up and down around the horizontal axis (P), thereby forming a full-culm input type combine harvester.

The reaping pre-processing section (4) includes a reel (6) for scraping the planted culm toward the rear side of the body (v), a cutting blade (7) for reaping the raked culm, and a reel for receiving the cut culm. The auger (8) that stops the machine, gathers it in the center of the machine in the width direction, and sends it out to the rear of the machine.
, and a conveyor (9) for conveying the harvested husk to the rear of the machine with the tip leading.

As shown in FIG. 3, a ground-type first sensor (Sl) is provided at the lower part of the pre-reaping treatment section (4) to detect the height of the pre-reaping treatment section (4) with respect to the ground. , a second sensor (S2) is provided to detect the vertical position around the horizontal axis (P).

To explain the first sensor (Sl), a grounding body (10) that comes into contact with the ground is pivotally mounted around a horizontal axis (Q) on the rear side of the cutting blade (7), and The grounding body (10) and the potentiometer (R1) are interlocked and connected by a link mechanism (11).

In other words, when the height of the pre-reaping treatment section (4) relative to the ground changes due to the unevenness of the ground, the grounding body (10) swings up and down according to the unevenness, and the amount of vertical swing is The height of the pre-reaping processing section (4) relative to the ground is detected by the potentiometer (R1).

To explain the second sensor (S2), as shown in FIG. 3 to FIG. 1
2) is provided with a removable handle (J part IJ' (13), which is attached to the member (13) so that a potentiometer (R2) for detecting the elevation position can be rotated around the horizontal axis. The potentiometer (R
2) and the side plate portion of the pre-reaping treatment section (4) are interlocked and connected by a link mechanism (14).

That is, as the reaping pre-processing section (4) is raised and lowered around the horizontal axis (P), the potentiometer (R2) is rotated by the link mechanism (14). , the reaping pre-processing unit (4) for the machine body (V);
) is detected.

Then, as shown in FIG. 1, the first sensor (Sl
) and the detection information of the second sensor (S2), a microcomputer-based control device ( 15) is provided.

However, using the control device (15), the hydraulic cylinder (
5), a first elevation control means (100A) that controls τ1, and a second elevation control means (100B) that controls the hydraulic cylinder (5) based on the detection information of the second sensor (S2).
), and a switching means (101) for selectively operating the first elevation control means (100A) and the second elevation control means (100B).

In the figure, (RO) is a target height setting potentiometer for setting the target height of the reaping pre-processing section (4), and (S
Wo) is an operation mode for switching between performing lifting control based on the detection information from the first sensor (Sl), performing lifting control based on the detection information from the second sensor (S2), or stopping the lifting control. Selection switch, (
! 1J1) is a lowering switch that lowers the pre-reaping treatment section (4), which is at a height higher than the set height when it is in a non-working state, and is also used as a start switch for lift control.

By the way, the reaping pre-processing section (4) is configured to control the control device (
15), it is configured so that it can be manually operated even when the elevation is automatically controlled.

That is, as shown in FIG. 1, the reaping pre-processing section (4)
The hydraulic cylinder (5) that raises and lowers the
A control valve (16) and a second control valve (1) operated by a manually operated lift lever (17) attached to the control section (2).
8), and the first control valve (16) and second control valve (18) are connected in parallel to the hydraulic cylinder (5).

However, the first control valve (16) and the second control valve (18)
Pressure oil is supplied to each of the two hydraulic pores 7' (
19) and (20) are configured to be performed separately. The supply amount per unit time of the hydraulic pump (20) to the second control valve (18) is larger than that of the hydraulic pump (19) to the first control valve (16). In order to sometimes perform accurate positioning, the lifting and lowering speed is suppressed from becoming excessive, while allowing quick lifting and lowering during manual operation.

Further, the first control valve (16) and the hydraulic pressure are adjusted such that, even if either the first control valve (16) or the second control valve (18) is in operation, priority is given to the operation on the upward side. Cylinder (5
) is provided with a throttle valve (21) that restricts the flow rate only for discharge of hydraulic oil to the descending side, and the second control valve (18) includes:
A throttle valve (22) is integrally formed in the flow path toward the descending side to restrict the flow rate only for discharging the hydraulic oil.

That is, while the first control valve (16) is operating in the downward direction, the lift lever (17) is operated to control the second control valve (16).
When the control valve (18) is switched to the ascending side, priority is given to operation to the ascending side, and the hydraulic cylinder (5) is operated to the ascending side, and the second control valve (18) is switched to the ascending side.
Even if the first control valve (16) is switched to the upward side while the first control valve (16) is operated to the downward side, priority is given to operation toward the upward side.

Therefore, even if the automatic lifting control by the control device (15) and the manual lifting operation by the lifting lever (17) result in lifting operations in opposite directions, it is possible to prevent the reaping pre-processing unit (4) from being erroneously operated. to prevent it from colliding with the ground.
It is configured to operate on the safe side.

Next, the operation of the control device (15) will be explained based on the flowchart shown in FIG.

That is, the control mode is configured to be automatically switched based on the operating state of the operation mode selection switch (SW.).

That is, the operation mode selection switch (st+) is
When in automatic control mode, the first sensor (S
The first control valve (16) is operated so that the height detected by L) is maintained within the set dead zone with respect to the target height determined by the target height setting potentiometer (RO). When the pre-processing section (4) is to be operated up and down and the operation mode selection switch (SW.) is in constant cutting height mode, the second sensor (S2)
The first control valve (16) is operated to perform the pre-reaping treatment so that the vertical position detected by Part (4) will be raised and lowered.

However, if the operation mode selection switch (SW.) is OFF
In the mode, the operation of the first control valve (15) is stopped, and the automatic elevation control is stopped.

That is, the process of controlling the elevation based on the detection information of the first sensor (Sl) corresponds to the first elevation control means (100A), and the process of controlling the elevation based on the detection information of the second sensor (S2) corresponds to the first elevation control means (100A). Corresponding to the second elevation control means (100B), and the operation mode selection switch (or)
The process of switching the control mode based on the operating status of
switching means (101) for selectively operating the first elevation control means (100^) and the second elevation control means (100B);
).

In addition, in the automatic control mode or constant cutting height mode, a second sensor (S2) detects that the cutting pre-processing section (4) has been raised to a preset height or higher for turning or the like. If detected, the elevation control is stopped. Then, the lowering switch (SW,
) is turned ON and the reaping pre-processing section (4) is lowered from the set height, the suspension of the elevation control is released and the elevation control is automatically restarted.

[Another Embodiment] In the above embodiment, each of the first sensor (Sl) and the second sensor (S2) is a potentiometer (Rl).

(R2) has been exemplified in which the height and elevation position are detected, but the specific configuration can be modified in various ways, such as by using a rotary encoder.

Further, in the above embodiment, the hydraulic cylinder (5) is used as the elevating actuator, but the specific structure of the elevating actuator and the specific structure of each part can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the cutting height control device for a full-culm input type combine harvester according to the present invention, FIG. 1 is a block diagram showing the control/control configuration, FIG. 2 is a flowchart of control operation, and FIG. The installation of the second sensor is shown in a schematic side view of the reaping pre-processing section showing the state of the installation, FIG. Figure 6 is an overall side view. (4)... Pre-reaping processing section, (5)...
・Elevating actuator, (P)...Horizontal axis, (S)...Height detection sensor, (S,)
...First sensor, (S2) ...Second
Sensor, (100)... Elevation control means, (1
00A)...First elevation control means, (100B)
...Second elevation control means, (101)...
・Switching means.

Claims (1)

[Claims] A reaping pre-processing section (4) is provided to be movable up and down around the horizontal axis (P) at the front of the machine body, and an elevating actuator (5) for raising and lowering the reaping pre-processing section (4), and the reaping pre-processing section (4
), and the height of the reaping pre-processing section (4) is maintained at the target height based on the detection information of the height detection sensor (S). A cutting height control device for a full culm input type combine harvester, which is provided with a lifting control means (100) for controlling the lifting actuator (5) so that the height detecting sensor (
S) includes a first sensor (S_1) that detects the height of the pre-reaping processing unit (4) relative to the ground, and a vertical position of the pre-reaping processing unit (4) around the horizontal axis (P). The elevation control means (100) includes a second elevation control means (S_2) for controlling the elevation actuator (5) based on the detection information by the first sensor (S_1). 100A), and a second elevation control means (10) that controls the elevation actuator (5) based on information detected by the second sensor (S_2).
0B), and the first elevation control means (100A)
A cutting height control device for a full culm input type combine harvester, which is provided with a switching means (101) for selectively operating the second lifting control means (100B) and the second lifting control means (100B).