JPH0367515A - Reaping height controller of combine - Google Patents

Abstract

PURPOSE:To prevent maloperation in starting reaping height control and simultaneously facilitate setting of the control target value by sensing a point where operating conditions are complete with an ultrasonic sensor and lifting or lowering a reaper while carrying out control using the sensed value as the control target value. CONSTITUTION:Operation is started when operating conditions of a reaping height automatic switch ON, a gain clum sensor ON and a connected transmission clutch for a thresher are complete. Sensing of ground height of a reaper 1 is started with an ultrasonic sensor 2 from a point where the aforementioned operating conditions are complete. Data of the ground height sensed with the ultrasonic sensor 2 are memorized as the control target value and the reaper 1 is subsequently lifted or lowered relatively to a car body 3 so as to maintain the ground height at the target value while comparing the ground height sensed by the ultrasonic sensor 2 with the control target value. Thereby, the reaping height control is performed with a reaping height controller 4.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a cutting height control device for a combine harvester.

Conventional technology A position sensor is provided to detect the height position of the reaping device relative to the vehicle body, and the height of the reaping device detected by this position sensor is set in several levels, and the cutting height setting dial is adjusted to the target cutting height. When the reaping device is set to the lower position and lowered, it will be set to the height position set by this setting dial. When cutting height control is started, the height of the reaping device above the ground over a certain distance is detected by the ultrasonic sensor, and the average value of this height above the ground is stored as the control target height. The cutting height is controlled by raising and lowering the reaping device so that the height above the ground approaches the control target height.

Problems to be Solved by the Invention As described above, in the configuration in which the control target height of the reaping device is set using the cutting height setting dial, it is possible to manually set the reaping device to the desired cutting height position during the reaping operation. When cutting height control is started, if the cutting height setting dial is at an arbitrary position and deviates from this desired cutting height position, the reaping device is suddenly raised or lowered to the setting position of this cutting height setting dial. Therefore, the cutting height position of the reaping device had to be set again using the cutting height setting dial.

Therefore, the present invention aims to prevent malfunctions at the start of cutting height control and to facilitate setting of control target values.

Means for Solving the Problems This invention provides an ultrasonic sensor (2) that detects the height of the reaping device (1) above the ground by emitting ultrasonic waves to the surface of the reaped soil. In the cutting height control device (4) that maintains and controls the height above the ground by raising and lowering the height relative to the ultrasonic sensor ( The combine harvester is characterized in that the height above the ground is detected by 2) and this detected value is used as a control target value.

Effects of the Invention When the reaping device (1) is set at a desired reaping height position and the reaping operation is started, the grain culm is reaped by the reaping device (1). The cutting height control starts when the operating conditions of the automatic cutting height switch ON, the culm sensor that detects the presence of a culm in the reaping device (1), and the engagement of the clutch for transmission to the threshing device are met. From the point where these operating conditions are met, the ultrasonic sensor (2) starts detecting the height of the reaping device (1) above the ground.

The data of the height above the ground detected by the ultrasonic sensor (2) is stored as a control target value, and from now on, the height above the ground detected by the ultrasonic sensor (2) is compared with the control target value. The cutting height control device (4) performs cutting height control by raising and lowering the cutting device (1) relative to the vehicle body (3) so as to maintain the height above the ground at the control target value.

Effects of the Invention As described above, since the control target value is determined directly by the ultrasonic sensor (2) at the start of cutting height control, there is no need to operate the cutting height setting dial as in the prior art.
Since the control target value for the height above the ground can be easily set, cutting height control can be started smoothly.

Example In addition, in turning, the combine harvester uses the left and right traveling device (5)
A threshing device (6) is mounted on a car body (3) having a car body (3), and a reaping device (1) is provided at the front of the car body (3).

A left/right traveling device (5) and a reaping device (
A transmission case (7) containing a transmission mechanism for transmitting the reaper (1) is provided, and on the transmission case (7), the upper rear end of the reaper frame (8), which forms the main body of the reaper (1), is connected to the horizontal axis ( 9) Attach the reaper frame (8) so that it can rotate freely around the vehicle body (3).
The horizontal shaft (9) is supported by an elevating cylinder (10) between the
) It is configured so that it can be rotated up and down.

The reaping device (1) extends from the front side of the reaping machine frame (8) to the rear.
A split car body (11), a culm pulling device (12), a culm raking device (13), a cutting blade device (14), a collecting device (15) for collecting and transporting the cut culm, and this collecting culm. This structure includes a grain transfer device (16) that transfers the grain to the rear threshing device (6).

A culm sensor (17) for detecting the presence or absence of a culm is provided behind the culm pulling device (12). Said transmission case (7)
is provided with a travel distance sensor (18) that detects the number of revolutions from a part of the transmission mechanism that transmits the left and right travel device (5) and detects the travel distance of the left and right travel device (5).

The control platform of the vehicle body (3) is provided with an operating lever (19) that can be tilted forward and backward. When the operating lever (19) is tilted back and forth, the reaping device (1) is moved to the lifting cylinder (
Hydraulic lifting cylinder (lO) has an interlocking configuration that can be lowered or raised by expanding and contracting lO
), the hydraulic circuit is switched between an upward side and a downward side with respect to the vertical cylinder (10) by an upward solenoid valve (20) or a downward solenoid valve (21) which are opened and closed by pulse oscillation in this hydraulic circuit. It will be done. (22) is an unload valve, and (23) is a hydraulic pump.

The ultrasonic sensor (2) is installed in the reaper frame (8) and emits ultrasonic waves toward the soil surface, receives the reflected waves from the soil surface, and calculates the time from the transmission to the reception. is detected to measure the height position of the cutting blade device (14) relative to the soil surface.

FIG. 2 is a block circuit diagram showing operation information for the operating lever (19), automatic cutting height switch (24), and cutting height control device (4) that includes a CPU, memory, and input/output circuit. Sonic sensor (2), culm sensor (17)
, the travel distance sensor (18), and the threshing clutch switch (25) that detects the cut-off of the threshing clutch that is transmitted to the threshing device (6). The control device (4) is configured to output a control signal to each solenoid of an ascending solenoid valve (20), a descending solenoid valve (21), and an unloading valve (22).

The ultrasonic sensor (2) emits ultrasonic waves in synchronization with the oscillation pulses from the pulse oscillator, integrates the received data over a certain distance detected by the mileage sensor (18), calculates the average value, and calculates the average value. demand.

The reaping device (1) is set at a desired cutting height position by operating the operating lever (19). When the threshing clutch is engaged and power is transmitted to the threshing device (6>), the threshing clutch switch (2) is activated.
5) is turned ON and the reaping operation starts, the culm sensor (17) detects the culm.

When the automatic cutting height switch (24) is turned on, the operation levers (19) set the reaping device (1) to the desired cutting height position, the threshing clutch switch (25) is turned on, and the culm sensor (17) is turned on. Measurement of the height above the ground by the ultrasonic sensor (2) is started from the point where the operating conditions for shell culm detection are met.

The ultrasonic sensor (2) measures the ground height over a certain distance, and when this measurement data is input to the cutting height control device (4), it is averaged and this average value is used as the ground height control target. The value will be stored as a value, and from then on, a new ultrasonic sensor (2
) is compared with this control target value, and when the cutting height is high and the detected value exceeds the control target value, the cutting height control device (4) A lowering signal is outputted from to retract the lifting cylinder (10) and lower the reaping device (1) into the region of the control target value. Conversely, when the cutting height is low and below the control target value, a rise signal is output to extend the lifting cylinder (lO) and adjust the cutting height to raise the reaping device (1) to within the control target value range. Control takes place.

In combine harvester operation, cutting height control starts when the automatic cutting height switch (24) is turned on, the culm sensor (17) is turned on, and the threshing clutch switch (25) is turned on. The height above the ground between is measured by the ultrasonic sensor (2), averaged and stored as a control target value for the height above the ground, and the reaping device (1> is maintained at the height above the ground corresponding to this control target value). Cutting height control device (
4> cutting height control is performed.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, in which Fig. 1 is a block circuit diagram, Fig. 2 is a hydraulic circuit diagram, and Fig. 3 is a side view of the front part of the combine. In the figure, code (1) is a reaping device, (2) is an ultrasonic sensor,
(3) shows the vehicle body, and (4) shows the automatic cutting height control device.

Claims (1)

[Claims] The ultrasonic sensor (2) detects the height of the reaping device (1) above the ground by emitting ultrasonic waves to the surface of the reaped soil. The cutting height control device (4) that maintains and controls the height of the ground at a constant level is characterized in that the ultrasonic sensor (2) detects the height above the ground at the start of control when the operating conditions are met, and this detected value is used as the control target value. A combine harvester.