JPH05176617A - Reaping height controlling apparatus for reaper - Google Patents

Abstract

PURPOSE:To prevent the thrust of the tip of a reaping part into the ground by actuating a reaping part lifting means and lifting the reaping part to a prescribed height when the height of the reaping part is lower than a prescribed height even in a reaping height controlling mode in which preference is given to the operation of a machine body lifting means. CONSTITUTION:When a reaping part 3 is lower than a prescribed height, it is lifted to the prescribed height by operating a reaping part lifting means 6. The reaping part is lifted by the reaping part lifting means 6 at a speed higher than the lifting speed of machine body lifting means 5L, 5R.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pair of machine body elevating and lowering driving means for vertically moving the grounding portions of a pair of left and right traveling devices, a mowing section elevating and lowering driving means for vertically moving a mowing section, and the mowing section. Based on the detection information of the cutting height detection means for detecting the ground height at a plurality of positions in the left-right direction, the ground height of the mowing section is the set height, and the mowing section becomes substantially parallel to the ground. As described above, the present invention relates to a cutting height control device for a reaper, which is provided with the machine body elevation drive means and the control means for operating the reaper section elevation drive means.

[0002]

2. Description of the Related Art When harvesting crops such as soybeans that are grained from a portion very close to the ground with a harvester such as a combine harvester, it is necessary to mow the portion as close to the ground as possible so that waste is not left uncut. .. Regarding the height (tilt) control device of the reaper of the reaper that meets such requirements, the present applicant has already applied for the following invention. That is, as a cutting height detecting means for detecting the ground height at a plurality of positions in the left-right direction of the mowing unit, a right and left split type grounding sensor is provided in the mowing unit, and the mowing unit is substantially parallel to the ground based on the detection information. Then, the pair of left and right machine body elevating and lowering drive means and the reaper section elevating and lowering drive means are operated so as to be at a predetermined height from the ground (Japanese Patent Application No. 3-254952).

In the above cutting height control device, the machine body elevating and lowering drive means is preferentially operated, and the mowing section elevating and lowering drive means is auxiliary operated. This is because, especially in a small combine harvester, the lifting and lowering of the machine body causes less vibration than the lifting and lowering of the mowing section, and stable control can be obtained. Therefore, as the machine body elevating drive means reaches the limit of the drive range, control is performed to operate the mowing section elevating drive means by a predetermined amount in a direction to cancel the limit state.

[0004]

However, the above cutting height control device has the following problems. That is, since the raising and lowering speed of the cutting unit by the machine body raising and lowering drive means is slow,
When raising the reaper, there was a case in which the tip of the reaper rushed into the ground in time for the change in the rise of the ground. The present invention has been made in view of the above circumstances, and an object thereof is to avoid the risk that the tip of the reaping section may plunge into the ground while giving priority to the operation of the machine body lifting drive means.

[0005]

A cutting height control device for a reaper according to the present invention comprises a pair of machine body elevating and lowering drive means for vertically moving a grounding portion of a pair of left and right traveling devices, and a vertically moving drive for the reaper. Based on the detection information of the mowing section elevating and lowering driving means and the ground height detecting means for detecting the ground height at a plurality of lateral positions of the mowing section, the ground height of the mowing section is the set height, and A control means for operating the machine body elevating and lowering drive means and the mowing section elevating and lowering drive means are provided so that the mowing section is substantially parallel to the ground, and the characteristic configuration is that the control means is If any of the ground heights at a plurality of positions in the left-right direction of the mowing unit detected by the mowing height detecting unit is lower than the set height, the mowing unit elevating and lowering driving unit is operated until the set height is reached. Operate to raise the reaper, In, in that it is configured such that the fuselage lift driving means and the reaper by operating the controls to be substantially parallel to the ground.

[0006]

According to the above characteristic construction, the control means, if any one of the ground heights at a plurality of left and right positions of the mowing section detected by the mowing height detecting means is lower than the set height, that is, If the ground height of the mowing unit is lower than the set height even at one place, the mowing unit elevating and lowering drive means is operated to raise the mowing unit until the lower position reaches the set height. The reaper driving means for raising and lowering the reaper raises the reaper to a set height at a faster speed than the means for raising and lowering the machine body. After that, the control means
The machine raising / lowering drive means is operated to control the cutting unit to be substantially parallel to the ground.

[0007]

Therefore, according to the present invention, even in the cutting height control which gives priority to the operation of the machine body ascending / descending driving means, the cutting section ascending / descending driving means is operated when the ground height of the mowing section is lower than the set height. As it is quickly raised to the set height by operating it, it is possible to avoid the risk that the tip of the mowing part will plunge into the ground, making it safer.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment in which the present invention is applied to a normal combine as a reaper will be described below with reference to the drawings. As shown in FIG. 4, the ordinary combine harvester includes a pair of left and right crawler traveling devices 2L and 2R at the bottom of the machine body 1, a cutting unit 3 in front of the machine body 1, and a threshing unit 4 at the top of the machine body 1, respectively. There is.

The ground portion of the left crawler traveling device 2L is driven up and down by a machine body elevating and lowering drive means (hereinafter referred to as a machine body elevating and lowering cylinder) 5L which is provided in the machine body 1 and includes a hydraulic cylinder and the like. Similarly, the right crawler traveling device 2R
The ground contacting part of is driven up and down by the body lifting cylinder 5R. In other words, the ground contact portions of the left and right crawler traveling devices 2L and 2R can be individually moved up and down with respect to the machine body 1.

The mowing section 3 includes a rotary scraping reel 3a for scraping a crop such as soybean, a clipper-type mowing device 3b,
An auger 3 that pulls the cut crops from the left and right to the center
c, a feed conveyor 3d that conveys the crop upward, a rotary beater 3e that discharges the conveyed crop onto the supply conveyor 4a of the threshing unit 4, and the like. The rear part of the reaping unit 3 is pivotally attached to the machine body 1 by a horizontal axis P1, and the front part of the reaping unit 3 is attached so as to be vertically moved by a reaping unit lifting drive means (hereinafter referred to as a reaping unit lifting cylinder) 6.

The threshing unit 4 comprises a supply conveyor 4a, a threshing rotor 4b, a sorting device 4c and the like. The crops supplied from the supply conveyor 4a are shredded by the threshing rotor 4b or the like and sorted by the sorting device 4c. Sorted processed grain (first item)
Is recovered from the first screw auger 4d. The processed product (2nd product) mixed with immature grains and straw wastes is further squeezed by the 2nd processing rotor 4e, sorted and recovered from the 2nd screw auger 4f.

Behind the mowing device 3b of the mowing section 3, a grounding type sensor is provided as a mounding height detecting means for detecting the height of the mowing section 3 at two locations in the left-right direction. Specifically, as shown in FIGS. 3 and 4, a pair of right and left warped plate members 7L and 7R and potentiometers 8L and 8L.
R and the like are provided, and the plate members 7L and 7R swing up and down with their front portions pivotally supported about a horizontal axis P2 and their rear portions in contact with the ground.

The potentiometers 8L and 8R are plate members 7
The rotation angles of the L and 7R about the horizontal axis P2 are converted into resistance values. That is, the ground level of the horizontal axis P2, that is, the ground level of the cutting unit 3 can be detected from the resistance values of the potentiometers 8L and 8R. Moreover, the left and right plate members 7L,
7R swings independently, and the respective rotation angles, that is, the ground heights can be detected separately from the left and right potentiometers 8L and 8R. Therefore, the potentiometers 8L and 8R correspond to cutting height detecting means (hereinafter referred to as cutting height sensor).

As shown in FIG. 1, the voltage signals HSR and HSL corresponding to the resistance values of the cutting height sensors (potentiometers) 8L and 8R are used as control values for the cutting height detection values on the left and right.
Has been entered in. In addition, the left and right body lifting cylinders 5L,
5R is provided with airframe ascending limit switches 10 and 11 that are turned on at the ascending limit of the airframe, and airframe descending limit switches 12 and 13 that are turned on at the ascending limit, and these contact signals SLH, SRH, SLL, and SRL are also provided. Control means 9
Has been entered in.

Based on these input information, the control means 9 operates the machine body lifting cylinders 5L, 5R and the reaper section lifting cylinder 6 to maintain the ground level of the reaping section 3 at a predetermined height, and The control (hereinafter, referred to as cutting height control) that causes the mowing unit 3 to be substantially parallel to the ground is executed. The operation of the machine body lifting cylinders 5L and 5R and the mowing section lifting cylinder 6 is performed by a hydraulic pump 14, a machine body lifting / mowing section lifting switching solenoid valve 15, a machine body lifting solenoid valve (left) 16, a machine body lifting solenoid valve (right) 17, This is performed by a hydraulic circuit composed of the cutting section lowering solenoid valve 18. Although the control means 9 also controls traveling control and threshing control, FIG. 1 shows only the cutting height control for simplification.

The control means 9 excites the left body lifting electromagnetic valve 16 to the rising side or the falling side by the left rising output MLUP or the left falling output MLDN to move the left body lifting cylinder 5L to the rising side or the falling side. To operate. Similarly, the right-side machine up-and-down cylinder 5R is operated to the up-side or the down-side by exciting the right-side machine up-and-down solenoid valve 17 to the up-side or the down-side by the right-side up output MRUP or the right-side down output MRDN.

As described above, the left and right body lifting cylinders 5
When raising and lowering L and 5R, the mowing section rise output HUP
Is set to L level and the machine up / down / reaping section rise switching solenoid valve 15
It is necessary to excite the machine on the lifting side of the machine. On the other hand, when the mowing section rising output HUP is set to the H level, the machine body lifting / mowing section rising switching electromagnetic valve 15 is excited to the mowing section rising side, and the mowing section lifting cylinder 6 is operated to the rising side. Further, by exciting the mowing section lowering solenoid valve 18 with the mowing section lowering output HDN, the lowering operation of the mowing section elevating cylinder 6 can be performed independently of the operation of the machine body elevating cylinders 5L, 5R.

The cutting height control will be described below with reference to the flowcharts of FIGS. 2 and 3. First, the left and right cutting height sensors 8
The cutting height detection values HSR and HSL from L and 8R are converted into 8-bit digital values, and cutting height data HSl and HSr are obtained from the average value of five consecutive times (process (a)).

Next, the ground parallelism of the cutting unit 3 is determined based on the difference (HS1-HSr) between the left and right cutting height data HS1 and HSr. If (HSr-HSl) is within the range of -10 to 10 (dead zone), it is determined that the reaping unit 3 is substantially parallel to the ground, and the process proceeds to (B). (HSr
If -HSl) is less than -10, it is determined that the right side is low, and the process proceeds to (c) and subsequent steps. If (HSL-HSR) exceeds 10, it is determined that the left side is low, and the process proceeds to (d) and subsequent steps.

In the process (b), the cutting section elevating cylinder 6 is moved up and down based on the difference (HSr-Ho) between the right cutting height data HSr and the target height Ho. That is, (H
If Sr-Ho) is less than -10, an output process Hup for raising the reaper section lifting cylinder 6 is executed, and if Sr-Ho) exceeds 10, an output process Hdn for lowering the reaper section lifting cylinder 6 is executed. If it is within the range of -10 to 10 (dead zone), the output is turned off because it is almost at the target height.
Note that the target height Ho can be manually set according to the crop to be cut or the like. Also, instead of the cutting height data HSr on the right side, the cutting height data HSl on the left side is used, and the difference (HSl) from the target height Ho is used.
The same control may be performed based on -Ho).

In the processing (c) when it is determined that the right side is low, first, the signal SLL of the left body down limit switch 12 is checked. If the SLL is off, the lower limit of the drive range has not been reached, so the left side of the machine is lowered to move the processing (e) to make the mowing unit 3 parallel to the ground. However, if the difference (HSr-Ho) between the cutting height data HSr on the right side and the target height Ho is -10 or more, the output processing MLdn for lowering the left body lifting cylinder 5L is executed, but less than -10. At this time, the output process Hup for raising the reaper section lifting cylinder 6 is executed.

This means that if the lower cutting height data HSr is lower than the predetermined value (Ho-10), the reaper section raising / lowering cylinder 6 is lifted until it reaches the predetermined value. That is, if the height of the mowing unit 3 to the ground is too low, the tip portion may rush into the ground. Therefore, first, the mowing unit elevating cylinder 6 is lifted to quickly raise the mowing unit 3 to the set height, and then, the left side The machine body elevating cylinder 5L is lowered to control so that the reaper 3 is secured parallel to the ground.

If the SLL is turned on in the process (c), it can be seen that the left body lifting cylinder 5L has reached the lower limit of the drive range, but in the process (f), the signal from the right body lift limit switch 11 on the right side. Check SRH. If SRH is also on, the right body lifting cylinder 5R has reached the upper limit of the drive range.
The state in which the right side of the lower side is low cannot be corrected any more, and as shown in the processing (g) and subsequent steps, simply the reaper section lifting cylinder 6
Will be operated up and down.

That is, if the difference (HSr-Ho) between the cutting height data HSr on the right side and the target height Ho is less than -10, the output processing Hup for raising the reaper section lifting cylinder 6 is executed and exceeds 10. Output process Hdn
To execute. If (HSr-Ho) is within the range of -10 to 10 (dead zone), the ground height of the mowing unit 3 itself is
Since it is almost at the target height, the output is turned off.

If SRH is turned off in the process (f), the right-side body lifting cylinder 5R has not reached the upper limit of the driving range, so the right side of the body should be raised to make the mowing section 3 parallel to the ground. Move to processing (h). However, due to the same reason as the processing (e), when the difference (HSr-Ho) between the cutting height data HSr on the right side and the target height Ho is less than -10, the output processing Hu for raising the cutting unit lifting cylinder 6 is performed.
execute p. When (HSr-Ho) is -10 or more, the output process MRup for raising the right machine body lifting cylinder 5R and the output process Hdn for lowering the reaper section lifting cylinder 6 are simultaneously executed.

As described above, since this employs the hydraulic circuit configuration of FIG. 1, the machine body lifting cylinder 5L,
This is because the reaper section lifting / lowering cylinder 6 cannot be operated to the ascending side while operating the 5R, but it can be operated to the descending side. By simultaneously performing the raising operation of the machine body elevating cylinder and the lowering operation of the mowing section elevating cylinder 6, the mowing section 3 is quickly parallel to the ground and reaches the target height.

If the above processes after (c) are reversed, the processes after (d) when the left is determined to be low are performed. In FIG. 2, when each output process ends, the cutting height control subroutine ends, and the process returns to the main routine.

Another embodiment will be described below. In the above embodiment, a pair of left and right grounding type sensors as cutting height detection means are provided, but the present invention is not limited to this, and in short, by detecting the ground height of the mowing section at a plurality of left and right directions, the ground of the mowing section is detected. It is only necessary to be able to judge the parallelism. The cutting height detecting means is not limited to the grounding type sensor as in the embodiment, but a non-grounding type sensor such as an ultrasonic sensor may be used.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a block diagram of a combine cutting height control device according to an embodiment of the present invention.

[Fig. 2] Flow chart of cutting height control

[Fig. 3] Flow chart of cutting height control

FIG. 4 is a side view (partial perspective view) of the combine according to the embodiment.

FIG. 5 is a schematic configuration diagram (side view) of cutting height detection means.

FIG. 6 is a schematic configuration diagram (plane) of cutting height detection means.

[Explanation of symbols]

 2L, 2R Traveling device 3 Mowing section 5L, 5R Airframe raising / lowering drive means 6 Mowing section raising / lowering drive means 8L, 8R Cutting height detection means 9 Control means

Claims (1)

[Claims] 1. A pair of machine body elevating / lowering drive means (5L, 5R) for vertically elevating and lowering a grounding portion of a pair of left and right traveling devices (2L, 2R), and a mowing section elevating / lowering drive for a mowing section (3). Drive means (6) and cutting height detection means (8L, 8) for detecting ground heights at a plurality of left and right positions of the cutting section (3).
Based on the detection information of (R), the height of the airframe driving unit (3) is set such that the ground height of the mowing unit (3) is a set height and the mowing unit (3) is substantially parallel to the ground. 5L,
5R) and a control means (9) for operating the reaper driving means (6) for raising and lowering the cutting portion, the cutting height control device for the reaper, wherein the control means (9) is the cutting height detection means. If any of the ground heights at a plurality of left and right positions of the mowing unit (3) detected at (8L, 8R) is lower than the set height, the raising and lowering drive of the mowing unit is performed until the set height is reached. The cutting unit (3) is raised by operating the means (6), and then the machine body lifting drive means (5L, 5R) is operated so that the cutting unit (3) becomes substantially parallel to the ground. Height control device of a reaper configured to be controlled to.