JPH0611202B2 - Elevating control device for reaper harvester - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a mowing unit that is vertically movable to a traveling vehicle body.
A mowing machine provided with a ground height detection sensor, and provided with elevating control means for activating a mowing section elevating actuator based on detection information from the ground height detection sensor so as to maintain the mowing section at a target height. The present invention relates to a lifting control device for a harvester.

[Conventional technology]

In the lifting control device for such a harvesting harvester, in order to accurately maintain the ground height of the mowing unit at the target height, it is desired to make the control sensitivity sensitive, and in the past, even in the traveling stopped state, The control sensitivity was made sensitive.

By the way, the reason why raising and lowering control is performed even when the traveling is stopped is that in a reaper harvesting machine, when the traveling is started while the ground height of the reaper is low before the reaping work, for example, a convex portion on the ground immediately after traveling. If present, there is a risk of causing trouble such as colliding the mowing part with the convex part,
This is because it is necessary to accurately maintain the target height even when the vehicle is stopped during standby before the mowing work so that the desired mowing height can be obtained from the start of mowing.

[Problems to be solved by the invention]

However, in the past, when the measured value of the ground height detection sensor changes while the vehicle is stopped, the elevator control is performed sensitively as a result, which is disadvantageous in that it causes large unpleasant vibrations to the vehicle body, and improvement is desired. It was rare.

By the way, it can be considered that the measurement value changes in the traveling stopped state mainly because the vehicle body is vibrated by the vibration of the mounted engine or the like, and therefore the cutting unit is also vibrated.

The present invention has been made in view of the above circumstances, and an object thereof is to suppress application of a large vibration to a vehicle body while allowing the ascending / descending control even in a traveling stopped state.

[Means for solving problems]

In order to achieve the above object, the raising and lowering control device for a harvesting harvester according to the present invention is provided with stop detection means for detecting whether or not the traveling vehicle body is in a stopped state in the structure described above. The elevating control means is configured to be capable of elevating control even while the traveling vehicle is stopped, and makes the control sensitivity in the stopped state insensitive to that in the traveling state based on the detection information of the stop detection means. Is configured as a characteristic configuration.

The operation and effect of this characteristic configuration are as follows.

[Action]

That is, in a traveling stopped state such as before the mowing work, the control sensitivity is made less sensitive than in the traveling state, so that unnecessary raising and lowering of the mowing unit is suppressed as much as possible.

〔The invention's effect〕

Therefore, unnecessary raising and lowering of the mowing unit when the vehicle is stopped can be suppressed as much as possible, and it is possible to prevent uncomfortable large vibration from being applied to the vehicle body due to the raising and lowering of the mowing unit, and to make the boarding operator feel uncomfortable due to the vibration. The problem of giving it has also been resolved.

〔Example〕

Hereinafter, a case where the embodiment of the present invention is applied to a combine, which is an example of a harvesting machine, will be described.

As shown in FIG. 6, the combine includes a traveling vehicle body (1),
It has a mowing part (2) connected to its front part so that it can be moved up and down, and the mowing part (2) is moved up and down by a single-acting hydraulic cylinder (3) as an actuator for lifting the mowing part. It has become.

An ultrasonic sensor (4) as a ground height detecting sensor is attached to the reaping section (2). This ultrasonic sensor (4)
Is equipped with a transmitter (4a) that transmits ultrasonic waves at a set cycle, a receiver (4b) that receives reflected ultrasonic waves from the ground, and an interface (4c), assembled in one unit. ,
It is configured to detect the height above the ground based on the time from the time point of transmitting the ultrasonic wave to the time point of receiving the ultrasonic wave.

As shown in FIG. 1, the reaper (2) is maintained based on the detection information of the ultrasonic sensor (4) so as to maintain the reaper (2) at a target height (also referred to as a target height). The ascending / descending control means (100) for elevating and lowering) are configured by using a control device (5) using a microcomputer.

That is, the neutral return type control valve of the hydraulic cylinder (3).
(6) is provided so as to be switched by an electromagnetic mechanism (7) which can be operated normally and reversely, and a drive circuit (7a) for normal operation and a drive circuit (7b) for reverse operation for the electromagnetic mechanism (7) are provided. , Connected to the control device (5). However, the control valve (6)
Is linked to the neutral return type lift operation lever (8) that is manually operated through a link mechanism, and is connected to the electromagnetic mechanism (7).
It has become possible to switch to manual operation in priority to. It should be noted that the link mechanism is provided with a flexibility for permitting the valve operation by the electromagnetic mechanism (7) when the elevating operation lever (8) is in the neutral position (N).

A target height setting device (9) that can be manually adjusted, a lowering switch (S ₁ ) that detects that the lifting operation lever (8) has been operated to the lowered position (D), and the lifting operation lever (8) is raised. Ascending switch (S ₂ ) that detects when operated to position (U) side, Mowing unit (2)
Strain source switch (S to detect the presence or absence of grain culm in the grain culm transport path of
₀ ) (see FIG. 6), the lever (10) for the threshing clutch detects the threshing switch (S ₃ ) that is operated to the entry side,
Whether the traveling vehicle body (1), which is provided so as to be turned on and off when the shift lever (11) (see FIG. 6) for the traveling transmission is operated to the neutral position (n), is in a stopped state. Switch for stop detection (S ₄ ) as stop detecting means for detecting, and automatic switch for switching between automatic mode and manual mode
Each of (Sm) is connected to the control device (5).

Then, the control device (5) is configured to execute processing corresponding to various control means on the basis of information stored in advance and various information sequentially input.

The control operation will be described based on the flowchart shown in FIG.

That is, when the automatic switch (Sm) is operated in the automatic mode and the threshing switch (S ₃ ) is turned on, and further, the lowering switch (S ₁ ) is turned on and operated, the ultrasonic sensor (4)
In order to start the detection operation of (1), the transmission operation of the oscillator (4a) is started and the process of the elevation control is started.

After the elevation control processing execution, that the automatic switch (Sm) is off, it thresher switch (S ₃₎ is OFF, strain source switch (S ₀₎ is and raising switch off (S ₂₎ is turned on And that the measured value by the ultrasonic sensor (4) is higher than the target value (target height) by the set value or more even if the stock switch (S ₀ ) is on. Then, the condition for switching the lifting control process to the stopped state is satisfied, and after the transmission of the ultrasonic sensor (4) is stopped, the process shifts to the determination of the condition for switching to the control operating state. When the condition for switching the lifting control process to the stopped state is not satisfied, the processes from the lifting control process are repeatedly executed.

In the processing of the lifting control device, basically, as shown in FIG. 4, the value measured by the ultrasonic sensor (4) is the target value (H _O ).
Target range obtained by adding or subtracting the allowable value (M _O), the target range (M _O) rises lower than the range (M _U), the upper low-speed range than the target range _{(M O) (M D1)} , the low-speed Range (M _D1 ), higher speed range (M _D2 ), or higher speed range (M _D3 ), which is higher than the middle speed range (M _D2 ). The control valve (6) is intermittently operated based on the result of the determination. Information for intermittently operating the control valve (6) is stored in advance. This information is shown in Figure 5.
As shown in (a) and (b), the output pattern A for reducing the control sensitivity to be used when the vehicle is stopped.
And an output pattern B for making the control sensitivity to be used in the running state sensitive, and each of the patterns has the above-mentioned ranges (M _U ), (M _O ), (M _D1 ). , (M _D2 ), (M
_D3 ) has an on-time for operating the control valve (6) and an off-time for stopping the control valve (6), and corresponds to the middle speed range (M _D2 ) rather than the low speed range (M _D1 ). _Has a larger on-time, and the on-time is set to be larger in the high speed range (M _D3 ) than in the medium speed range (M _D2 ).

When comparing the output pattern A and the output pattern B, the OFF time corresponding to the same range is set to be longer for the output pattern A and the ON time is set to be shorter for the output pattern A. Yes, this setting is the difference in the control sensitivity.

Next, description will be added based on the flowchart of FIG.

First, based on the information of the switch for stop detection (S ₄ ), it is checked whether or not the vehicle is in the traveling stopped state. If the vehicle is in the traveling stopped state, the output pattern A is set, and if the vehicle is in the traveling state. Is set to the output pattern B.

Next, it is checked whether or not the measured value is within the target range (M _O ), and if not, the following processing is executed.

It is checked whether or not the measured value is larger than the target value (H _O ), and if it is smaller, the process of increasing output is executed.

If the above check determines that it is large,
Check whether it is in the low speed range (M _D1 ), and select the low speed range (M _D1 ).
If the case where by executing the operations of the low-speed down output, checks whether the case is not a low speed range (M _D1) is a medium speed range (M _D2), a medium speed range (M _D2) In the case of not being in the medium speed range (M _D2 ), the processing of the middle speed falling output is executed, and the processing of the high speed falling output is executed.

[Another embodiment]

INDUSTRIAL APPLICABILITY The present invention is applicable not only to combine harvesters but also to various harvesters.

As the ground height detecting sensor, various kinds of sensors can be used in addition to the ultrasonic sensor (4), such as one in which the elevation position of the grounding body that can be raised and lowered is detected by a potentiometer.

The stop detection means can be modified in various ways, such as by detecting whether or not the axle is rotating.

In order to change the control sensitivity, in addition to changing the ascending / descending speed as in the above-mentioned embodiment, it is also possible to change the width of the target range (M _O ), and the measured value of the ground height can be set to the sampling value of multiple times. In the case of obtaining the average value, various changes can be made, such as changing the number of sampling values.

In addition, various changes can be made to the specific configurations of the respective units necessary for carrying out the present invention.

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

[Brief description of drawings]

FIG. 1 is a block diagram showing a control configuration, FIG. 2 and FIG. 3 are flow charts showing a control operation, and FIG. 4 is a target value. 5A and 5B are diagrams showing an output pattern, and FIG. 6 is a side view of the combine front portion. (1) …… Traveling vehicle, (2) …… Working device, (3) …… Activator for raising and lowering the mowing section, (4) …… Ground height detection sensor, (10
0) .. elevation control means, (S ₄ ) .. stop detection means.

Claims (1)

[Claims] 1. A ground level detection sensor (4) is attached to a mowing section (2) which is vertically movable to a traveling vehicle body (1) so as to maintain the mowing section (2) at a target height. In the elevation control device of the harvesting harvester provided with the elevation control means (100) for operating the mowing section elevation actuator (3) based on the detection information of the ground height detection sensor (4), wherein Running car body
Stop detection means for detecting whether (1) is in a stopped state
(S ₄ ) is provided, the lifting control means (100),
It is configured to be capable of lifting control even while the traveling vehicle body (1) is stopped, and makes the control sensitivity in the stopped state insensitive to that in the traveling state based on the detection information of the stop detection means (S ₄ ). Lifting control device for the harvesting harvester.