JPH0525385Y2 - - Google Patents

Description

[Detailed description of the invention] [Field of industrial application] The present invention is equipped with a steering sensor that detects the row of grain culms to be harvested and a cutting height sensor that detects the height of the cutting section, and is equipped with a cutting machine that harvests grain. This invention relates to an automatic cutting height adjustment device for a harvester that runs along grain culm rows and performs cutting operations at a constant cutting height.

[Prior art] As a conventional cutting height control method for a combine harvester equipped with an automatic steering device, when the combine deflects to the left, the cutting height sensor is activated until the combine completes the right turning operation to correct the deflection. The mowing height control is stopped, and even if the right side dividing plate runs into the stubble and the mowing height sensor malfunctions, the mowing section will not rise and the mowing height will be made uniform. Tokko Akira
No. 58-5003. Separately, the combine's steering sensor sends a right turn command signal to align the machine with the row of grain culms, and a sharp right turn just before the machine leans too far to the left and splits occur. A device is known that issues a sharp right turn command signal to prevent high mowing and uncut mowing.

[Problem that the invention attempts to solve]

However, in the former type of conventional harvesting machine, if there is an undulation in the row of grain culms to be harvested, the steering sensor is frequently operated to align the machine body with the undulation. Therefore, each time the steering sensor issues a right turn command signal, the cutting height control of the reaping section by the cutting height sensor is stopped, resulting in frequent high mowing, and the front end of the reaping section is lower than the field surface. There are problems such as getting stuck in. In addition, in the latter case, if the machine body leans too far to the left, the cutting height sensor detects unstubble, determines that the cutting height is low, and raises the cutting unit to cut. There is a problem that the heights are uneven.

[Means for solving problems]

In order to solve the above-mentioned problems, this invention uses a steering sensor to send a right turn command signal to turn the machine to the right in order to align it with the row of grain culms, and a grass dividing board on the mowed side to be planted on the most mowed side. A sharp right turn command signal is issued to make the aircraft make a sharp right turn to avoid splitting the standing grain culms, and during the period when the sharp right turn command signal is issued, the reaping section is raised. By configuring the structure to prohibit this, it is possible to prevent high mowing when the machine makes a right turn to follow the grain culm row, but it also prevents the front end of the reaping section from plunging into the field surface. The object of the present invention is to provide an automatic cutting height adjustment device for a harvester that does not leave any uncut material.

The automatic cutting height adjustment device of the present invention is equipped with a steering sensor that detects the deviation of the machine body with respect to the grain culm row, and a cutting height sensor that detects the cutting height of the reaping section, and has automatic steering and automatic cutting height. The steering sensor also sends a right turn command signal to align the aircraft with the row of grain culms, and to prevent the dividing board on the mowed side from splitting the grain culms on the most mowed side. In a harvester that issues a sharp right turn command signal for turning the machine to the right, the present invention includes means for detecting the sharp right turn command signal, and prohibiting the raising of the reaping part by detecting the sharp right turn command signal. It is characterized by comprising means.

[Action]

If the steering sensor is issuing a right turn command signal to align the aircraft with the row of grain culms to be harvested,
Adjust the cutting height of the cutting section. If a sharp right turn command signal is issued to avoid the splitting board on the already cut side from splitting the grain culms planted on the most cut side, the cutting height adjustment of the cutting section is prohibited. be done. Therefore, high mowing does not occur due to the right-turning motion to align the machine body with the grain culm row, and no unmown remains.

〔Example〕

The present invention will be described below based on drawings showing embodiments thereof. FIG. 1 is a schematic right side view of a harvester equipped with an automatic cutting height adjustment device according to the present invention. In the figure, 1 is a traveling crawler, and a driver's seat 2, a threshing device 3, etc. are mounted on the upper side of the crawler, and a main body section 8 is constituted by these. On the front side of the main body part 8, a reaping part 7 composed of a grass dividing plate 4, a cutting blade 5, a grain culm lifting device 6, etc. is attached so as to be movable up and down by a hydraulic cylinder 9.

A cutting height sensor 10 for detecting the cutting height of the cutting section 7 is provided on a mounting rod 41 to which the grass dividing plate 4 on the right side of the cutting section 7 is attached. In addition, a right steering sensor is located inside the reaping part 7 of the right side grass dividing plate 4 and the left side grass dividing plate 4 (see Fig. 2).
Sr and a left steering sensor Sl (see FIG. 2) are attached to a right-hand mounting rod 61 and a left-hand mounting rod (not shown) of the grain culm lifting device 6, respectively.

The mounting rod 41 of the grass divider board 4 on the right side of the reaping section 7 has a
Cutting height sensor 1 for detecting the cutting height of the cutting section
0 is set. This cutting height sensor 10 is connected to a mounting plate 31 which is installed upright in front of the cutting blade 5 of a mounting rod 41.
An ultrasonic transmitter 11 and an ultrasonic receiver 12 are arranged in parallel in the longitudinal direction of the aircraft. Then, the ultrasonic transmitting surface of the ultrasonic transmitter 11 and the ultrasonic receiving surface of the ultrasonic receiver 12 are directed downward, and the ultrasonic waves emitted from the ultrasonic transmitter 11 are reflected on the field surface and sent to the ultrasonic receiver. 12.

The left and right steering sensors Sl and Sr detect the deviation of the aircraft when performing row mowing, middle cutting, horizontal mowing, etc., using the left and right side grass dividers as standards, respectively. The explanation will be based on the direction sensor Sr. If the aircraft is now biased to the left with respect to the row of grain culms, a right turn command signal is issued, and the aircraft is made to turn to the right based on this right turn command signal. In addition, if the machine body is biased more to the left and the right side dividing plate 4 is in a state where it is ready to split the grain culm to be reaped on the most harvested side, the machine should be turned sharply to the right to split the grain. It is designed to issue a sharp right turn command signal to prevent this.

FIG. 2 is a circuit diagram showing the configuration of the electric circuit and hydraulic circuit of the automatic cutting height adjustment device according to the present invention.
In the figure, 60 is a control unit using a microcomputer, and the output of the output port b ₁ is given to the drive circuit 13 that operates the ultrasonic transmitter 11 of the cutting height sensor 10. The output of the drive circuit 13 is also transmitted to the ultrasonic transmitter 11 of the cutting height sensor 10.
The ultrasonic transmitters 11 each emit ultrasonic waves of a predetermined frequency toward the field surface. The ultrasonic receiver 12 is configured to receive ultrasonic waves emitted from the ultrasonic transmitter 11 and reflected on the field surface.
The output of the ultrasonic receiver 12 is given to the input port a ₁ of the control section 60. The input port _A2 receives a signal from a threshing clutch switch 50, which is turned on when the threshing clutch is engaged, and the input port _A3 receives a signal from an automatic switch 51, which is turned on when the raising and lowering of the reaping section 7 is switched to automatic adjustment. A signal from the reaping switch 52, which is turned on when the reaping clutch is engaged, is applied to the input port _a4 . input port
Signals for a lifting switch 70 for raising the reaping section 7 and a lowering switch 71 for lowering it by manual operation are given to _a5 and _a6 .

A detection signal from the left steering sensor Sl is given to the input port _a7 . A right turn command signal from the right steering sensor Sr is given to input port _a8 .
A sharp right turn command signal from the right steering sensor Sr is given to the input port _a9 .

The output of the control unit 60 is transmitted to the drive circuits 15 and 16 so that the output of the output port b ₂ excites the solenoids Su and Sd of the electromagnetic switching valve 28 provided in the hydraulic circuit of the hydraulic cylinder 9 that drives the reaping unit 7 up and down. The output from output port _b3 is applied to solenoid Sd. Then, the reaping section 7 rises due to the excitation of the solenoid Su, and the solenoid
The reaping section 7 is lowered by the excitation of Sd. Further, the output of the output port _b4 is given via the drive circuit 17 to the solenoid Br of the electromagnetic switching valve 29 that controls the brake 50r for stopping the drive of the right crawler 2, and operates the brake 50r. This caused the aircraft to make a sharp turn to the right.

The operation of the harvester configured as described above and the operation of the control section 60 will be explained based on the flowchart of FIG. 3. First, check the input ports a ₅ and a ₆ connected to the ascending switch 70 and descending switch 71.
(1) If manual operation is not performed, check whether the threshing switch 50 is on (2). If the threshing switch 50 is on, it is then checked whether the automatic switch 51 is on (3), and it is further checked whether the reaping switch 52 is on (4). If either the automatic switch 51 or the reaping switch 52 is off, the automatic flag is set to 1 (5). And these switches 50, 51,
Automatic adjustment of the cutting height occurs when all 52 are turned on.

The reason why the mowing height is automatically adjusted by turning one of the switches 51 and 52 from off to on as described above is to avoid the mowing section from performing unnecessary lifting and lowering operations at the same time as the engine is started.

In this state, the harvesting work is performed by moving the machine along the row of grain culms to be harvested, but the control unit 60 always determines whether the cutting height of the harvesting unit 7 is high or low. . If the mowing is at a high level, that is, if the height requires the lowering of the reaping section, the solenoid Sd is energized (6) to lower the reaping section 7.
If the cutting is low and the height requires the raising of the reaping section, the solenoid Su is energized (7) to raise the reaping section. When the right steering sensor Sr is emitting a sharp right turn command signal because the steering wheel is biased too far to the left, the solenoid Su is demagnetized (8) and the upward movement of the reaping section 7 is prohibited. Also output port
The solenoid Br is excited via the drive circuit 17 by the output of _b4 , and the electromagnetic switching valve 29 is switched.
The brake cylinder 50r is activated and the aircraft makes a sharp right turn. Therefore, when the machine body makes a sharp turn to the right, the reaping section does not rise and high mowing is prevented.

Further, when the height does not require raising or lowering the cutting section 7, that is, the dead zone of the cutting height sensor 10, both the solenoids Su and Sd are demagnetized (8).
The reaping section 7 does not move up and down.

In addition, when raising the reaping part 7 by manual operation before automatically adjusting the cutting height of the reaping part 7 mentioned above, for example, the raising switch 70 is turned on.

The control unit 60 checks the input ports a ₅ and a ₆ (1) and determines whether it is rising or falling (9), and the solenoid Su is energized.
(10) Then, the reaping section 7 rises. This raising of the reaping section 7 continues while the raising switch 70 is on. On the other hand, when lowering the threshing switch 5
0, when the automatic switch 51 and the reaping switch 52 are not all turned on (11), the solenoid Sd is energized (12) and the reaping section 7 is lowered. However, the threshing switch 50, automatic switch 51, and reaping switch 52 are all on, and it is determined whether or not the height requires lowering of the reaping section 7, and if the height is high, the solenoid Sd is energized. (12) and lower the reaping section 7. However, if the cutting height is appropriate, the solenoid Sd is demagnetized (13) and the cutting section 7 does not descend. Then, the reaping section 7 reaches the appropriate cutting height, that is, becomes ready for reaping operation, and the automatic flag becomes set to 1 (14), so that the reaping height of the reaping section 7 is automatically adjusted and the reaping operation can be performed. can.

〔effect〕

According to the present invention, when the cutting height sensor that detects the cutting height of the cutting section detects that the cutting height of the cutting section is outside the appropriate cutting height, the cutting section is driven up and down. However, during the period when the steering sensor is issuing a sharp right turn command signal that should cause the aircraft to make a sharp right turn,
Since the raising drive of the reaping section is prohibited, high mowing does not occur due to a right turn or a sharp right turn of the machine body. The detection signal for making a sharp right turn is issued much less often than a normal right turn, and the duration is also short, so the mowing section is raised by automatic adjustment of the cutting height. The period during which this is prohibited is extremely short, and no occurrence of high mowing due to sharp turns of the aircraft has been observed. Therefore, it is possible to provide an excellent harvesting machine that does not cause high cutting even if there are undulations in the grain culm rows, and there is no risk of the front end of the cutting section protruding into the field.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention; Fig. 1 is a schematic right side view of the harvester, Fig. 2 is a circuit diagram showing the configuration of the electric circuit and hydraulic circuit of the automatic cutting height adjustment device, and Fig. 3 is a schematic right side view of the harvester.
The figure is a flowchart explaining the operation of the control section. 7...Reaping section, 9...Hydraulic cylinder, 10...
Mowing height sensor, 11... Ultrasonic transmitter, 12...
Ultrasonic receiver, Sr... Steering sensor (right side), Su,
Sd, Br... Solenoid.

Claims (1)

[Scope of utility model registration request] It is equipped with a steering sensor that detects the bias of the machine with respect to the grain culm row, and a cutting height sensor that detects the cutting height of the cutting section, and performs automatic steering and automatic cutting height adjustment, and the steering sensor A right turn command signal to align the machine with the grain culm row, and a right turn command signal to make the machine turn to the right to avoid the cutting board on the mowed side splitting the grain culm on the most mowed side. A harvesting machine that emits a sharp right turn command signal, comprising means for detecting the sharp right turn command signal, and means for prohibiting the raising of the reaping section by detecting the sharp right turn command signal. Automatic cutting height adjustment device for the machine.