JPH0514731Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a pre-processing section elevation control device for a combine harvester, which controls the elevation of the pre-processing section.

[Prior art]

The direction control device for combine harvesters has traditionally been equipped with a direction sensor that outputs signals for turning toward uncut land, going straight, and turning toward mowed land. The direction of flight of the aircraft is automatically controlled by intermittent engagement of the side clutches.

In addition, a non-contact type cutting height sensor that detects the height above the ground by transmitting and receiving ultrasonic waves is installed as a pre-processing part elevation control device of the combine. The height of the pre-processing section above the ground is automatically controlled by expanding and contracting a hydraulic expansion/contraction device provided in the pre-processing section using a sensor.

However, with this non-contact mowing height sensor, when the machine moves around, it detects uncut grain culms above the field, stubble on the mowed field side, etc. Since this signal outputs a ground signal, the cutting height position of the pre-processing section becomes higher.Also, when the machine detects the field scene as the machine advances, it outputs a ground signal with a high distance. There has been a problem in that a so-called hunting phenomenon occurs in which the cutting height position of the pre-processing section becomes lower.

In order to solve the problems caused by this non-contact mowing height sensor, the mowing height sensor is linked to the direction sensor of the direction control device, and the signals emitted and received by the non-contact mowing height sensor are transmitted to the direction sensor. For example, a device that shuts off depending on the sensing state of the
This was proposed in Japanese Patent No. 59-2627, but with this method, the cutting height cannot be controlled by the cutting height sensor while the machine is being controlled by the direction sensor, so it cannot be used in the field. The drawback was that the pretreatment section could not be raised or lowered to cope with the change in height above the ground due to the aircraft sinking or floating due to the hardness or softness of the surface.

[Purpose of invention]

The present invention was devised in order to eliminate the drawbacks of the above-mentioned conventional situation, and it is possible to prevent high mowing by controlling the cutting height of the pre-processing section even when the machine is rotating using a direction sensor. The object of the present invention is to provide a device for controlling the elevation of a pre-processing section of a combine harvester.

[Structure of the idea]

A combine preprocessing section elevation control device according to the present invention that achieves the above object includes a direction sensor that detects the grain culm position with respect to the combine machine body, and a cutting height sensor that detects the height of the combine preprocessing section from the ground. At the same time, when the machine turns, the current cutting height detection value detected by this cutting height sensor is compared with the cutting height detection value immediately before the machine turns, and the current cutting height is calculated. If the cutting height is less than the cutting height immediately before the rotation, the detected value immediately before the rotation is used, and if the current cutting height is higher than the cutting height immediately before the rotation, the current detection value is used. The present invention is characterized by being provided with a control device that controls the elevation of the pre-processing section so that the height above the ground becomes a predetermined height.

〔Example〕

Hereinafter, the drawings shown as an embodiment of the present invention will be described.

As shown in FIG. 1, the combine includes a traveling device 10 consisting of a pair of left and right crawlers 3, 3 that are driven and rotated by the transmission of power from an engine (not shown) through a transmission 1. The left and right side clutches (not shown) provided on the transmission 1 are each connected to a solenoid 2, and are connected or disconnected by driving each solenoid 2.

Further, the pre-processing section is provided with an uncut land side direction sensor 4 and a cut land side direction sensor 5, respectively, and the uncut land side direction sensor 4 has a sensor A4a having a switch A and a switch B. Sensor B4b
The mown field side direction sensor 5 is composed of a sensor C5a having a switch C and a sensor D5b having a switch D. is connected to an input interface 6 connected to a central processing unit (CPU) 8 of a microcomputer unit 9, while the traveling device 10
The solenoid 2 is connected to an output interface 7 connected to a central processing unit 8.
These constitute an automatic direction control device that controls the traveling direction of the aircraft using a direction sensor that detects the grain culm position (erected grain culm position).

Further, the pre-processing section 13 having a combing device, cutting blades, etc. is provided so as to be movable up and down by a power unit 11 such as a hydraulic expansion/contraction mechanism, and this power unit 11 is moved up and down by the operation of a solenoid valve 12. It's becoming like that. The preprocessing section 13 is also provided with a non-contact type cutting height sensor 14 that transmits and receives ultrasonic waves to detect the height above the ground. The cutting height sensor is connected to a solenoid valve 12 via a solenoid valve 9, and the solenoid valve 12 operates a power unit 11 such as a hydraulic expansion/contraction mechanism, thereby forming a cutting height sensor that detects the height of the pretreatment section 13 from the ground relative to the field. Therefore, a pre-processing part elevation control device is configured that controls the cutting height of the pre-processing part 13 to be substantially constant.

The microcomputer unit 9 includes a preprocessing section 13.
a cutting height setting device 16 that can preset the cutting height of the
A preprocessing unit position sensor 15 for detecting the current position of the preprocessing unit 13 is provided in conjunction with the preprocessing unit elevation control device.

An automatic handling depth control device is disposed between the pretreatment section 13 and the threshing device (not shown), and the grain culm conveying section 19 that constitutes this automatic handling depth control device is controlled by the power unit 17. The inclination angle is made variable by forward and reverse rotation of the driven motor 18. The depth setter 21 and the grain culm conveying section 19 are connected to a position sensor 22 that detects the positions thereof.

Further, a split pulley-type continuously variable transmission device 25 that expands and contracts is disposed between the engine (not shown) and the transmission 1, and the split pulley of this continuously variable transmission device 25 is controlled by the power unit 23. The continuously variable transmission 25 is connected to a speed ratio sensor 26 via a microcomputer unit 9.

The unmowed ground side direction sensor 4 and the mown ground side direction sensor 5 are connected via a microcomputer unit 9 to the non-contact mowing height sensor which detects ground height, so that when the unmown ground side direction sensor 4 and the mown ground side direction sensor 5 (the unmown ground side direction sensor 4 or the mown ground side direction sensor 5) issue a machine movement signal, the current (present) mowing height signal (detection value) detected by the mowing height sensor 14 while the machine is moving is compared with the mowing height signal (detection value) by the mowing height sensor 14 immediately before turning when the machine was moving straight, and if the mowing height detection value when moving straight is greater than or equal to the current mowing height detection value, the pre-processing unit 13 is raised and lowered while the machine is moving according to the signal (detection value) when moving straight, and if the mowing height detection value when moving straight is less than the current mowing height detection value, according to the current signal (detection value).

In other words, as shown in the float chart of FIG. 3, normal cutting height control is performed during the period during which the ultrasonic waves emitted by the cutting height sensor 14 collide with the field and are received by the cutting height sensor 14 again. The height (distance) of the preprocessing section 13 above the ground is detected depending on the time, and this distance is compared with the height set in advance by the cutting height setting device 16, and this set height and the cutting height sensor 14 are compared. In comparison with the cutting height according to The preprocessing unit 13 is controlled to descend until the height = detection distance, and furthermore, when the set height = detection distance, the preprocessing unit 13 is controlled to remain at that height and not be controlled to move up or down. Each is now automatically controlled.

The unmowed land side direction sensor 4 and the cut land side direction sensor 5 are configured to output respective signals for going around to the unmown land side, going straight, and going around to the mowed land side, respectively. , when the direction sensor 4 or 5 detects a grain culm and issues a turning signal while the aircraft is moving straight, the direction sensor 4 on the unmoved land side or the mowed land side as shown in the float chart of FIG. The detected value of the cutting height when the machine was in the straight-ahead state immediately before the direction sensor 5 issues the turning signal is retrieved from the memory, and the detected value of the cutting height just before the machine was turning and the current value while the machine was turning are retrieved from the memory. The detected value by the cutting height sensor 14 is compared, and if the detected value of cutting height when going straight is greater than or equal to the current detected value of cutting height, the detection value of cutting height when going straight is determined. If the value is less than the current detected cutting height, the preprocessing section 13 is controlled to move up and down while the machine is rotating, based on the current detected value.

In other words, when the machine in the rounding state moves toward the unmowed field side or the mowed field side, the cutting height sensor 14 senses grain culms on the unmown field side or stumps on the mowed field side. Or, if the machine detects a lower height above the ground due to the hardness or softness of the field, such as when the machine sinks deeper, the machine detects a lower height from the ground, and if "detected cutting height when going straight ≧ current detected cutting height", Since it is controlled based on the detected value when the vehicle is moving straight, it is possible to prevent the pre-processing section 13 from lowering and the cutting blade from plunging into the mud.

In addition, in the case of ``detected cutting height when going straight < detected value of current cutting height'', when the height above the ground is detected as the combine machine rises and becomes higher due to the hardness and softness of the field, the current Since it is controlled by the detected value during rotation, the pre-processing section 13 is lowered as the height above the ground becomes higher, and this lowered pre-processing section 13 can prevent the reaped grain culm from being cut too high.

[Effect of idea]

In short, the combine preprocessing section elevation control device according to the present invention is provided with a direction sensor that detects the position of the grain culm relative to the combine body, and a cutting height sensor that detects the height of the combine preprocessing section above the ground. At the same time, when the machine turns around, the current cutting height detection value detected by this cutting height sensor is compared with the cutting height detection value immediately before the machine turns, and the current cutting height is calculated. If the height is less than the cutting height immediately before turning, the detected value immediately before turning is used, and if the current cutting height is higher than the cutting height immediately before turning, the current detected value is used for the pre-processing. Since the machine is equipped with a control device that controls the elevation of the machine so that the height above the ground is at a predetermined height, it is difficult to prevent the machine from moving toward unmoved land or mowed land. The mowing height sensor detects grain culms on the unmowed field side, stumps on the mown field side, etc., or the machine body sinks deeply due to the hardness and softness of the field, and the height above the ground is lowered. "Detected mowing height when going straight ≧ Current detected mowing height"
In this case, since it is controlled by the detected value when going straight, it is possible to prevent the pre-treatment part from descending and the cutting blade from plunging into the mud. If the height above the ground is detected as the height decreases and the height of the aircraft rises, the height will be controlled by the detected value during the current round trip. Therefore, the pretreatment section is lowered as the height from the ground increases, and this lowered pretreatment section can prevent the harvested grain culm from being cut too high.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention,
FIG. 1 is a block diagram of the combine harvester, FIG. 2 is a flowchart of the direction sensor, and FIG. 3 is a flowchart of the cutting height sensor. 4...Unmoved land side direction sensor, 5...Mowed land side direction sensor, 8...Central processing unit, 9...Microcomputer unit, 13...Preprocessing section, 14...Mowing height sensor.

Claims (1)

[Scope of utility model registration request] In addition to providing a direction sensor that detects the position of the grain culm relative to the combine harvester body, and a cutting height sensor that detects the height of the pre-processing section of the combine from the ground,
When the machine turns, the current cutting height detection value detected by this cutting height sensor is compared with the cutting height detection value immediately before the machine turns, and the current cutting height is determined. If the cutting height is less than the cutting height immediately before turning, the detection value immediately before turning is used, and if the current cutting height is higher than the cutting height immediately before turning, the current detected value is used. 1. A control device for controlling the elevation of a pre-processing section of a combine harvester, comprising: a control device for controlling the elevation so that the height above the ground is a predetermined height.