JPH05268818A - Control device for operating harvester - Google Patents

Abstract

PURPOSE:To improve comfortableness of operation while enabling a reaping part to accurately reap and travel along crops to be cut without frequently regulating handling of the whole machine by direction control of a crawler type traveling device. CONSTITUTION:A reaping part 6 is supported through a laterally movable device 9 movably and adjustably in the direction of the width of a machine body 1 having a crawler type traveling device 2 controllable by handling on the front of the machine body, and left and right position detecting sensors 8A and 8B for discovering the position of the reaping part 6 against crops to be cut are installed. When the position detecting sensors are outputted in a control range by a laterally movable device 9, a lateral movement command is outputted to the laterally movable device 9 based on the output of the sensors. When the position detecting sensors are outputted in a range exceeding the control range by the laterally movable device 9, a controller 10 outputting a handling regulating command to a handling regulating part 71 of a traveling device 2 is installed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device for harvesters such as combine harvesters.

[0002]

2. Description of the Related Art Conventionally, the operation control device for this type of harvester has been
The crawler type traveling devices provided on both sides of the lower part of the machine body are controlled by a steering control unit such as a pair of left and right side clutches and side brakes provided in a transmission linked to the engine, and at the front side of the machine body. The weeding rod and the like of the reaping unit provided, a pair of position detection sensors for detecting the position of the reaping unit by contact / non-contact with the object to be cut are provided, and based on the output from each of the position detection sensors, By controlling each of the traveling devices via the steering control unit, the reaper is automatically steered so that the reaper can perform the reaping work accurately along the object to be reaped. On the other hand, in the harvesting machine as described above, as shown in, for example, Japanese Patent Laid-Open No. 1-160425, a lateral movement for laterally moving the mowing section in the machine width direction between the machine and the mowing section. When the machine body is swung by reaching the end of the field or the like by inserting the device, by moving the mowing section to one side in the machine width direction via the lateral movement device, the mowing section is uncut. The thing that pushes down an object, or the traveling device raises the mud at the base of the uncut material to prevent the cutting blade or the like from entering the raised mud and damaging it during the subsequent cutting work. Is also known.

[0003]

By the way, recently,
Although the harvesting work has been speeded up by the harvester, the operation control device that controls the position of the cutting unit with respect to the object to be cut by steering the traveling device as described above detects each of the positions. The responsiveness of the steering control unit due to the output from the sensor is too sensitive, even if the position of each position detection sensor with respect to the cut object is slightly shifted, immediately based on the output from each position detection sensor. Since the steering control unit is operated and the steering control of the machine body is frequently performed via the traveling devices, there is a problem that the riding comfort of the operator who rides on the machine body is deteriorated.

The present invention has been made in view of the above problems, and an object of the present invention is to utilize a lateral movement device interposed between the machine body and the reaper as described above. Within the control range of the reaping unit, the lateral movement device allows the reaping unit to be moved and adjusted laterally with respect to the machine body, and the reaper unit can be controlled without frequently performing steering control of the entire machine body. It is an object of the present invention to provide an operation control device for a harvester, which can improve the ride comfort while enabling accurate cutting traveling along the object to be cut.

[0005]

In order to achieve the above objects, the operation control device for a harvester according to the present invention has a mowing section at the front of a machine body 1 having a crawler type traveling device 2 capable of controlling steering. 6 is supported laterally adjustable in the machine width direction, and a lateral movement device 9 for laterally moving the reaper 6 is provided between the machine 1 and the reaper 6, and the reaper 6 is provided with a lateral movement device 9. While position detection sensors 8A and 8B for detecting the position of the mowing unit 6 with respect to the cut matter are provided, when the position detection sensors 8A and 8B output within the control range of the lateral movement device 9, the position detection sensors 8A and 8B A lateral movement command is output to the lateral movement device 9, and the position detection sensor 8 is output in a region beyond the control range of the lateral movement device 9.
A controller 10 that outputs a steering control command to the steering control unit of the traveling device 2 when A and 8B output is provided.

[0006]

According to the above operation control device, within the lateral movement control range of the cutting unit 6 by the lateral movement device 9,
The output from the controller 10 based on the detection results of the position detection sensors 8A and 8B provided in the mowing unit 6 allows only the mowing unit 6 to move laterally with respect to the machine body 1 via the lateral movement device 9. Further, in an area beyond the control range, the output of the controller 10 based on the detection results of the position detection sensors 8A and 8B causes the steering control section of the traveling device 2 to control the entire body of the machine. That is, the direction control is performed, that is, the steering control of the entire machine body is performed only in a region beyond the control range of the lateral movement device 9, and within the control range of the lateral movement device 9, the mowing unit 6 is operated. Is only laterally adjusted with respect to the machine body 1, so that steering control of the entire machine body is not frequently performed, and accurate cutting traveling along the material to be mowed by the mowing unit 6 is performed. While it is theft, it can be a good ride comfort of the operator.

[0007]

EXAMPLE FIG. 4 shows a combine as an example of a harvester to which the operation control device according to the present invention is applied. In FIG. 4, reference numeral 1 denotes a machine body provided with crawler type traveling devices 2 at the lower portions on the left and right sides. Then, the engine 3 and the threshing section 4 are mounted on the upper side, and the control section 5 is provided on the front side of the threshing section 4 on one side in the width direction, and on the front side of the machine body 1, in the field. A plurality of weed rods 61 for guiding the planted cut object to the rear side while weeding, and a cutting blade 62 arranged laterally on the rear side of the weed rods 61 in the machine traveling direction. The cutting unit 6 provided with a carrying device 63 for carrying the object to be cut by the cutting blade 62 to the feed chain 41 provided in the threshing unit 4.
Is provided.

As shown in FIG. 1, each crawler type traveling device 2 is controlled by a steering control section 71 such as a pair of left and right side clutches and side brakes provided in a transmission 7 interlocked with the engine 3. I have to.

Further, as shown in FIG.
Each of the weed rods 61 has a contact rod which is in contact with or not in contact with the to-be-cut material A on the inner side of each of the weed rods 61 located on the outermost side in the machine width direction. The left and right position detection sensors 8A and 8B for detecting the position of the mowing unit 6 with respect to the material to be cut A are provided by detecting the contact angle with the object to be cut A, and the steering operation is performed based on the outputs from the position detection sensors 8A and 8B. By individually controlling the direction of the left and right traveling devices 2 via the control unit 71, the machine body 1 is automatically steered so that the reaping unit 6 performs an accurate reaping work along the material to be cut A. To do so.

Further, as shown in FIGS. 2 and 4, a cylinder 91 is provided between the machine body 1 and the mowing section 6,
A hydraulic lateral movement device 9 having a piston 92 that reciprocates with respect to the cylinder 91 is interposed, and the lateral movement device 9 is operated based on outputs from the position detection sensors 8A and 8B. By selectively operating the directional control unit 71, the entire reaping unit 6 is moved relative to the machine body 1 so that the reaping unit 6 performs an accurate reaping operation along the material to be cut A. The movement can be adjusted in the lateral direction.

The lateral movement control range of the reaping unit 6 by the lateral movement device 6 is set to a constant range. As shown in FIG. 1, the controller 10 having a built-in CPU is used. When the position detection sensors 8A and 8B output within the control range of the lateral movement device 6, a lateral movement command is output to the lateral movement device 9 based on the sensor output, and control by the lateral movement device 9 is performed. When the position detection sensors 8A and 8B output in an area beyond the range, the lateral movement device 9 selectively outputs a steering control command to a steering control unit 71 provided in the transmission 7. Of.

Specifically, as shown in FIG. 1, the left and right position detecting sensors 8A and 8B are respectively connected to the input side of the controller 10, and the lateral movement control is performed on the output side of the controller 10. The lateral movement device 9 is connected via the output unit 11 and the steering control unit 71 of the transmission 7 is connected via the steering control output unit 12, respectively, while the lateral movement device 9 laterally cuts the cutting unit 6. Within the movement control range, each position detection sensor 8
Based on the outputs from A and 8B, the lateral movement device 9 is operated through the control operation unit 11 so that only the reaping unit 6 is laterally moved and adjusted with respect to the machine body 1. In a region beyond the control range, the traveling control units 71 are operated via the control operation unit 12 based on the outputs from the position detection sensors 8A and 8B, so that the traveling devices 2 are individually operated. The direction is controlled to control the steering of the entire body.

With the above configuration, when the harvesting machine performs the mowing and threshing work of the material to be cut, the position detecting sensors 8A and 8B output within the control range of the lateral moving device 9. , This Zenser 8A, 8B
Based on the detection result, the controller 10 outputs a lateral movement command to the lateral movement device 9, and by this output, only the reaper 6 moves laterally with respect to the machine body 1 via the lateral movement device 9. Further, in a region beyond the control range, the steering control 7 is performed from the controller 10 based on the detection results of the position detection sensors 8A and 8B.
1, a steering control command is output to the steering control unit 71 of the transmission 7, and the steering control unit 71 of the transmission 7 individually controls the direction of each traveling device 2 to control the steering of the entire machine body. That is, the steering control of the entire machine body is performed only in a region beyond the control range of the lateral movement device 9, and within the control range, the reaper 6 is laterally adjusted relative to the machine body 1. Therefore, the steering control of the entire body is not frequently performed, and while the accurate mowing traveling along the to-be-mowed object A of the mowing unit 6 is performed, the operation of the operator who rides on the control unit 4 is performed. The ride quality is good.

A fuel tank 13 for supplying fuel to the engine 3 is mounted on the machine body 1. The fuel tank 13 is provided on the upper portion thereof as shown in FIG. In addition to increasing the opening diameter of the fuel supply port 14, the tank 13 is provided with a filter net 15 for removing dust, which is similar in shape to the tank 13 from the supply port 14 to the inner bottom and has a large filtration area. It is preferable to install it in 13. That is, normally, the fuel tank 13 is provided with a filter net inside the fuel supply port 14 to remove dust and the like mixed in the fuel with the filter net. When a filter net is provided in the mouth, when the fuel is supplied from the supply port to the inside, the fuel is injected into the tank because the filtration area of the filter net is small and the fuel filtration resistance of the filter net is large. Since it is difficult to do so, it sometimes spilled outside from the supply port. Thus, as described above, when the fuel is supplied from the supply port 14 into the tank 13 by providing the filter net 15 having a large filtration area from the fuel supply port 14 to the inner bottom of the tank 13, The tank 1 is provided without spilling the fuel from the supply port 14 to the outside.
3 can be supplied smoothly. Further, in FIG. 3, reference numeral 16 is a cap detachably fitted to the fuel supply port 14 of the tank 13.

In the above-mentioned embodiment, whether or not the control range of the lateral movement device 9 is exceeded is determined by the detection areas of the sensors 8A and 8B. When the output signals from 8A and 8B do not become neutral, it may be determined that the control range of the lateral movement device 9 is exceeded, and a command may be issued to the steering control unit 71 of the steering device 7.

[0016]

As described above, in the operation control device of the present invention, the cutting unit 6 is provided in the front part of the machine body 1 having the crawler type traveling device 2 capable of steering control, and the lateral movement adjustment in the machine body width direction. A lateral movement device 9 that laterally moves the mowing section 6 is provided between the machine body 1 and the mowing section 6 while supporting the same so that the mowing section 6 detects the position of the mowing section 6 with respect to the cut object. While the position detection sensors 8A and 8B are provided, when the position detection sensors 8A and 8B output within the control range of the lateral movement device 9, a lateral movement command is output to the lateral movement device 9 based on the sensor output. However, when the position detection sensors 8A and 8B output in a region beyond the control range of the lateral movement device 9, a controller 10 that outputs a steering control command to the steering control unit of the traveling device 2.
Therefore, within the control range of the lateral movement device 9, a lateral movement command is output to the lateral movement device 9 based on the detection results of the position detection sensors 8A and 8B, and the lateral movement device 9 cuts Only the portion 6 is laterally adjusted with respect to the machine body 1, and in a region beyond the control range, the steering control of the traveling device 2 is performed based on the detection results of the position detection sensors 8A and 8B. The steering control command is output to the control section, and the steering control of the entire body is performed by the operation of the traveling device by the steering control section. That is, the steering control of the entire machine body is performed only in the region beyond the control range of the lateral movement device 9, and within the control range of the lateral movement device 9, the cutting unit 6 is laterally moved with respect to the machine body 1. Therefore, it is possible to perform accurate cutting traveling along the object to be cut of the cutting unit 6 without frequently performing steering control of the entire machine body, and therefore the operator's riding You can feel good.

[Brief description of drawings]

FIG. 1 is a control block diagram showing an operation control device for a harvester according to the present invention.

FIG. 2 is a plan view showing a lateral movement device of the harvester.

FIG. 3 is a cross-sectional view of a fuel tank mounted on the harvester.

FIG. 4 is a side view showing the overall structure of the harvester.

[Explanation of symbols]

 1 Airframe 2 Crawler type traveling device 6 Mowing unit 71 Steering control unit 8A, 8B Position detection sensor 9 Lateral movement device 10 Controller

Claims (1)

[Claims] 1. A mowing section 6 is supported at a front part of a machine body 1 having a crawler type traveling device 2 capable of controlling steering, and the machine body 1 and the mowing section 6 are supported so as to be capable of lateral movement adjustment in the machine body width direction. A lateral movement device 9 for laterally moving the mowing section 6 is provided between the two, and the mowing section 6 is provided with position detection sensors 8A and 8B for detecting the position of the mowing section 6 with respect to the object to be cut,
When the position detection sensors 8A and 8B output within the control range of the lateral movement device 9, a lateral movement command is output to the lateral movement device 9 based on the sensor output,
A controller 10 that outputs a steering control command to the steering control unit of the traveling device 2 when the position detection sensors 8A and 8B output in a region beyond the control range of the lateral movement device 9 is provided. Characteristic harvester operation control device.