JPH0595715A - Lift control unit for reaping component in reaping harvester - Google Patents

Abstract

PURPOSE:To provide the title control unit so designed that the lifting speed for a reaping component is controlled through the back-and-forth rotational movement of a machine body to make lift control of the reaping component in a favorably responsive state when the traveling machine body is brought to significant rotational movement due to the unevenness of a farm. CONSTITUTION:On significant back-and-forth rotational movement of a machine body 1, its speed is detected by a speed sensor 6, and an output is given from a controller to a lift device 4, controlling the lifting speed of a reaping component 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a raising / lowering control device for a reaper in a harvester such as a combine harvester.

[0002]

2. Description of the Related Art Conventionally, harvesters such as combine harvesters are
For example, as described in Japanese Utility Model Publication No. 61-34971, an ultrasonic sensor that supports a mowing section to a traveling machine body through an elevating device so that the mowing section can be vertically controlled, and an ultrasonic sensor that detects the height above the ground. With a cutting height sensor consisting of
The elevation of the lifting device is controlled based on the detection result of the sensor, so that the ground height of the mowing unit is automatically adjusted. Further, as described above, when adjusting the ground height of the mowing unit based on the detection result of the mowing height sensor, the target ground height of the mowing unit is preset, and the set value and the mowing height are set. When the deviation from the detection value detected by the sensor is large, the elevating device is continuously controlled by a continuous signal to adjust the ground height of the cutting unit so that the deviation is quickly reduced, and as a result, the deviation is obtained. When the height becomes smaller, the elevation device is intermittently controlled by a pulse signal so that the height of the mowing section above ground is finely adjusted.

[0003]

[Problems to be Solved by the Invention] However, as described above,
When a cutting height sensor composed of an ultrasonic sensor is used as an information source for automatically controlling the ground height of the cutting unit, the following problems occur. That is, when there is a large unevenness in the field during the harvesting work of the grain culm by the harvesting harvester, for example, when the grain culm of each row adjacent to the headland of the field is started to be mowed, the headland rotates the body. In many cases, large irregularities are formed due to
When the machine body gets into such unevenness of the headland, the machine body is largely rotated in the front-rear direction, and the ground height of the mowing section is changed based on this rotation, and the output from the mowing height sensor is output. As a result, the height of the mowing section above ground is automatically adjusted by the elevating device. That is, when the front side of the machine body is rotated so as to be higher as the machine body gets on the convex portion of the field, when the ground height of the cutting unit becomes high and the deviation becomes large. A case where a lowering command is output from the cutting height sensor and the elevating device is lowered by continuous control, while the machine body passes over the convex portion and is rotated so that the front side of the machine body is lowered. Then, when the ground height of the mowing unit becomes low and the deviation becomes small, a raising command is output from the cutting height sensor and the elevating device is raised by pulse control.

By the way, as described above, when the machine body gets into the unevenness of the field, the unevenness causes the ground height of the mowing section to fluctuate greatly in the vertical direction. At the time of a sudden change in the ground height, as described above, by comparing the detection value detected by the cutting height sensor including the ultrasonic sensor with the set value to control the lifting device, the result is Since it is controlled only by looking at it, a response delay inevitably occurs. For this reason, when the ground height of the mowing section becomes high as the body climbs on the convex portion of the field, the mowing section of the mowing section is controlled despite the descending control of the mowing section by the continuous control of the lifting device. The descending control is delayed arbitrarily, and the grain culms to be mowed by the mowing unit become high mowing, and when the ground height of the mowing unit becomes low due to overcoming to the field convex part of the aircraft, Even if the raising and lowering device controls the raising of the mowing section by continuous control, the raising control of the mowing section is delayed, and there is a problem that the mowing section plunges into the field.

The present invention has been made in view of the above problems, and an object of the present invention is to delay the response of the raising / lowering control of the mowing unit when the traveling machine gets into the unevenness of the field and is largely rotated. (EN) Provided is a control device for raising and lowering a mowing part in a mowing harvester, which can be quickly performed without cutting and can prevent high cutting of grain culms and plunging of the mowing part into a field.

[0006]

In order to achieve the above object, in the present invention, there is provided a reaper section raising / lowering control device for a reaper harvesting machine, wherein a traveling body 1 supports a reaper section 5 via an elevating / lowering device 4 so that the reaper can be vertically controlled. A speed sensor 6 for detecting a speed or an angular speed when the machine body 1 is rotated in the front-rear direction, and a cutting height sensor 7 for detecting a ground height of the mowing unit 5,
The elevating device 4 is controlled to elevate and lower based on the detection result of the sensor 7, the ground height of the mowing unit 5 is adjusted, and the mowing by the elevating device 4 is performed based on the detection result of the speed sensor 6. The controller 8 for controlling the ascending / descending speed of the unit 5 is provided.

[0007]

[Operation] When performing the harvesting work with the above harvester
While the ground height of the mowing section 5 is automatically adjusted through the elevating device 4 based on the output from the mowing height sensor 7, while the mowing section 5 can mow the grain culms to a certain height. Moreover, during the above-mentioned mowing work, when the traveling machine body 1 gets into the unevenness of the headland of the field and is greatly rotated in the front-rear direction, the machine body 1
The speed sensor 6 immediately detects the rotation speed, and the controller 8 outputs the rotation speed to the elevating device 4 based on the detection result. Done. That is, when the machine body 1 is rapidly rotated in the front-rear direction, the speed or acceleration associated with the rotation of the machine body 1 is immediately detected by the speed sensor 6, and the controller 8 based on the detection result detects the speed or acceleration. Since the ascending / descending speed of the elevating device 4 is controlled by the output, the mowing section 5 is quickly ascended / descended according to the state in which the machine body 1 is rotated. It is carried out promptly without causing a delay, and the high cutting of the grain culm and the plunging of the cutting section 5 into the field are prevented in advance.

[0008]

FIG. 3 shows a combine as an example of a harvesting harvester equipped with the raising and lowering control device of the harvesting section of the present invention. In FIG. 3, 1 is a traveling machine body having traveling devices 2 on both lower sides. The threshing unit 3 is mounted on the upper part of the machine body 1, and a mowing unit 5 is supported in the front part of the machine body 1 through an elevating device 4 so as to be vertically movable. The grain culms are cut and conveyed to the threshing unit 3, and the threshing unit 3 performs the threshing treatment of the grain culms.

In the above combine, however, the raising / lowering control device for raising / lowering the cutting section 5 via the raising / lowering device 4 is constructed as follows. That is, a speed sensor 6 that detects the speed or acceleration when the traveling machine body 1 rotates in the front-rear direction is provided above the threshing unit 3, and the ground level of the cutting unit 5 is detected. A mowing height sensor 7 is provided, and the elevating device 4 is controlled to elevate and lower based on the detection result of the mowing height sensor 7 to automatically adjust the ground height of the mowing section 5, and the speed sensor 6 The controller 8 is provided to control the ascending / descending speed of the mowing section 5 by the ascending / descending device 4 based on the detection result of 1.

As the velocity sensor 6, for example, a tuning fork type angular velocity sensor is used which is provided with a driving element and a sensing element made of a piezoelectric bimorph, and which utilizes the fact that a voltage is generated in accordance with the bending of the driving element. The change in voltage when the drive element bends due to the rotation of is immediately detected, and the ascending / descending speed of the elevating device 4 is controlled by the output from the controller 8 based on the detection result. Further, the speed sensor 6 uses an acceleration sensor in which a thin disk-shaped piezo plastic film is arranged as a vibrator inside the casing, and the vibrator can separate the vertical and horizontal components of the acceleration direction. The acceleration detected by the sensor may be integrated by the controller 8 to measure the angular velocity, and the lifting speed of the lifting device 4 may be controlled based on the angular velocity. still,
As the speed sensor 6, other than the angular velocity sensor described above, a sensor capable of detecting a speed change due to the rotation of the machine body 1 can be used. Further, a normal ultrasonic sensor is used as the cutting height sensor 7, and the controller 8 based on the detection result of the sensor.
The height from the ground of the mowing section 5 is automatically adjusted by the output from the lifting device 4.

As shown in FIG. 1, the cutting height sensor 7 is provided on the input side of the controller 8.
In addition, the speed sensor 6 is connected via an arithmetic unit 6A, and an automatic mode switch 9 for automatically raising and lowering the reaping unit 5 is provided on the input side of the controller 8 and is manually raised and lowered. In this case, the manual mode switch 10 and the controller 8 are connected respectively.
To the output side of, the up solenoid 4A and the down solenoid 4B for switching the switching valve provided in the elevating device 4 to the up and down sides are connected, respectively.

In the above-mentioned harvesting and threshing work of the combine, however, when manually controlling the ground height of the harvesting section 5 by the elevating device 4, the manual mode switch 1 is used.
With the ON operation of 0, the solenoids 4A, 4 of the lifting device 4 are
B is manually operated to manually control the height of the reaper 5 above the ground. When automatically controlling the ground height of the mowing section 5 by the elevating device 4, the automatic cutting mode switch 9 is turned on to turn the cutting height sensor 7 on.
The solenoids 4A and 4B of the elevating device 4 are automatically controlled by the output from the controller 8 based on the detection result, and the ground height of the mowing unit 5 is automatically adjusted in accordance with the automatic control of the solenoids 4A and 4B. The cutting height of the grain culm by the cutting unit 5 is set to a constant height. As described above, when adjusting the ground height of the mowing unit 5 based on the detection result of the mowing height sensor 7, the target ground height of the mowing unit 5 is preset, and the set value and the mowing height are set. When the deviation from the detection value detected by the height sensor 7 is large, the elevating device 4 is continuously controlled by a continuous signal, and the ground height of the mowing unit 5 is adjusted so that the deviation quickly becomes small,
As a result, when the deviation becomes small, the lifting device 4 is intermittently controlled by a pulse signal, and the ground height of the mowing unit 5 is finely adjusted gently.

Further, during the above-mentioned mowing and threshing work, when the machine body 1 gets into an uneven surface such as a headland in a field and the machine body 1 is pivoted largely in the front-rear direction, the machine body 1 is rotated. The angular velocity associated with the movement is immediately detected by the velocity sensor 6, the detected value is calculated by the arithmetic unit 6A and input to the controller 8, and from the controller 8 to the solenoids 4A, 4B of the lifting device 4. Upon output, when the machine body 1 rotates, the lifting device 4
Even in the output range of the pulse signal, the vertical signal raising / lowering control of the mowing unit 5 is performed quickly by the control by the continuous signal. Therefore, the vertical component raising / lowering control of the mowing unit 5 is promptly performed without causing a response delay. The cutting of the grain culm by the cutting unit 5 and the plunging of the cutting unit 5 into the field are prevented in advance.

Next, the control mode of the lifting control device having the above-mentioned structure will be described with reference to the flow chart shown in FIG. First, it is determined whether or not the automatic mode switch 9 is turned on at the start of the start (step 1). If no, it is determined in step 2 whether the manual mode switch 10 is turned on. If the determination result is YES, in step 3, the solenoids 4A and 4B are manually operated to control the raising and lowering of the lifting device 4, and when the determination result in step 2 is NO. Is returned to step 1 above.

When the result of the determination in step 1 is YES, that is, when the automatic mode switch 9 is turned on, the vertical movement control of the vertical movement device 4 is performed. That is, in step 4, when the machine body 1 rotates in the front-rear direction, the rotation speed is detected by the speed sensor 6, and the output from the computing unit 6A based on the detected value is a reference speed value α set in advance.
If the result is NO, then in step 5, the detection value of the ground height detected by the cutting height sensor 7 and the target cutting height setting value set in advance. Is determined to be larger than a preset deviation setting value β, and if the determination result is NO, that is, the detected value of the speed detected by the speed sensor 6 is higher than the reference speed value α. When it is small and the deviation based on the detection value of the cutting height sensor 7 is smaller than the deviation set value β, the rotation speed of the machine body 1 is small and the ground height of the mowing unit 5 is the target cutting value. It is determined that the height is close to the set value, and in step 6, the solenoids 4A and 4B of the lifting device 4 are intermittently controlled by a pulse signal, and this pulse control allows a gentle automatic lifting control of the lifting device 4. Be seen. Further, when the determination result in the step 4 is YES, that is, when the detected value of the speed detected by the speed sensor 6 is larger than the reference speed value α, the ground height detected by the cutting height sensor 7 Regardless of the deviation between the detected value and the target cutting height setting value, in other words, even in the range where the deviation is small and the pulse signal is used to control the low speed, a continuous signal is output in step 7 to output the solenoid 4A or 4B.
Is continuously controlled to control the lifting device 4 at a high speed. In step 5, in the case of yes, that is, when the deviation based on the detection value of the cutting height sensor 7 is larger than the deviation setting value β, the ground height of the mowing unit 5 is the target cutting height setting value. Judge that they are far away from
In step 7, each solenoid 4 of the lifting device 4
A and 4B are continuously controlled, and the lifting device 4 is controlled by this continuous control.
The rapid automatic lifting control is performed.

[0016]

As described above, in the raising / lowering control device for the mowing section according to the present invention, the speed sensor 6 for detecting the speed or acceleration when the traveling machine body 1 is rotated in the front-rear direction.
And a height sensor 7 for detecting the height of the reaper 5 above the ground
Based on the detection result of the mowing height sensor 7, the elevating device 4 of the mowing section 5 is controlled to elevate and lower to adjust the ground height of the mowing section 5, and based on the detection result of the speed sensor 6. And a controller 8 for controlling the ascending / descending speed of the mowing unit 5 by the elevating device 4, the output of the controller 8 to the elevating device 4 based on the detection result of the mowing height sensor 7 causes the mowing unit. Although the ground height of 5 is always kept constant and the cutting height of the grain culm can be made constant, when the machine body 1 gets into the unevenness of the field and is largely rotated in the front-rear direction, the machine body 1 The speed or acceleration associated with the rotation of 1 is immediately detected by the speed sensor 6, and the speed of the lifting device 4 is controlled by the output from the controller 8 based on the detection result of the rotation speed of the machine body 1. Reaper That is, since the raising / lowering speed control of the mowing unit 5 by the lifting / lowering device 4 can be performed earlier according to the rotation speed of the machine body 1, the height position of the mowing unit 5 is delayed in response. Therefore, it is possible to promptly control the cutting without causing the above, and therefore, it is possible to prevent the cutting of the grain culm by the cutting unit 5 and the plunging of the cutting unit 5 into the field.

[Brief description of drawings]

FIG. 1 is a control block diagram of a reaper section lifting / lowering control device according to the present invention.

FIG. 2 is a flowchart of the lifting control device.

FIG. 3 is a side view of the combine shown as an example of the harvesting machine provided with the lifting control device.

[Explanation of symbols]

 1 Traveling aircraft 4 Lifting device 5 Mowing part 6 Speed sensor 7 Cutting height sensor 8 Controller

Claims (1)

[Claims] 1. A reaping harvester in which a reaping unit 5 is supported on a traveling machine body 1 via an elevating device 4 so that it can be controlled to move up and down. 6, a mowing height sensor 7 for detecting the ground height of the mowing section 5, and the elevating device 4 is controlled up and down based on the detection result of the sensor 7 to adjust the ground height of the mowing section 5. In addition, based on the detection result of the speed sensor 6, the cutting unit 5 by the lifting device 4
And a controller 8 for controlling the ascending / descending speed of the reaper.