JPH06169623A - Device for controlling reaping height of combine - Google Patents

Abstract

PURPOSE:To automatically control drop of a reaping device because a culm separating lever often thrusts into soil depending upon the attitude of a body when the reaping device of a combine frequently differs height by advance or retreatment of the body and the reaping device once raised is automatically dropped to the position of reaping attitude. CONSTITUTION:In a combine wherein a reaping device 1 is automatically dropped based on a body 12 and given reaping height H is maintained and controlled by detection of a reaping height sensor 2, when the reaping device 1 is raised to an uncutting position and then automatically dropped to a reaping position, a preset drop of <= the lowest height HZ is controlled by detection of the reaping height sensor 2 to give the objective device for controlling reaping height.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine cutting height control device. Simplify the raising and lowering operation of the mowing device.

[0002]

2. Description of the Related Art In a mode in which a combine is crawled, the entire vehicle body is likely to move up due to a driving reaction force during cutting, which is particularly noticeable in a wetland state. For this reason, when cutting forward,
A great change occurs with the height of the mowing device when moving backward, and in such a case, the operation must be corrected manually, and the operation is troublesome.

[0003]

The present invention is directed to a cutting device 1
In a combine that automatically lowers the cutting device 1 relative to the vehicle body 12 and maintains and controls to a predetermined cutting height H by the detection of the cutting height sensor 2, when the cutting device 1 is raised to the non-cutting position and then automatically lowered to the cutting position. A cutting height control device is characterized in that a drop below a preset minimum height HZ is restricted by the detection of the cutting height sensor 2.

[0004]

During the combine operation, the cutting height sensor 2 constantly detects the cutting height, and the cutting device 1 is automatically moved up and down so as to maintain the target value H which is the cutting height. To do. The grain stalks cut by the cutting device 1 are maintained at a substantially constant cutting height H. When the reaping device 1 reaches the end of the reaping strip and the culm culms are removed and raised, the cutting height target value H immediately before the end of reaping is stored in the controller. After the mowing operation is completed, the mowing device 1 is once raised, and then the turning or the like is ended to start mowing a new strip.
The reaping device 1 is automatically lowered by manually operating the up / down lever to the lower side. At this time, the reaping device 1 is not automatically lowered below the preset minimum height HZ. When it is about to be lowered to the minimum height HZ or less, the cutting device 1 is raised by the detection of the cutting height sensor 2 and returned to the position of the minimum height HZ.

In this way, once the cutting action by the cutting forward is stopped and the cutting device 1 is raised,
The target value H of the cutting height control immediately before the rise does not become the lower limit target value of the automatic lowering of the cutting device 1 at the start of the subsequent cutting action, and the lowering is regulated based on the preset minimum height HZ. Then, when the grain culm cutting such as detecting the corn grain culm is started, it is controlled under the cutting height H,
When the reaping work is restarted, the reaping device 1 goes down too much, the tip of the weeding rod can be thrust deep into the soil surface, and the operation of raising and lowering the up / down lever 3 can be eliminated. It can be carried out.

[0006]

EXAMPLE A combine has a structure in which a pair of left and right crawlers 4 are driven to travel via a transmission device 5 driven by an engine. On the traveling chassis, there is a control stand 6, a threshing device,
A grain tank or the like is mounted, and the reaping device 1 is movably supported in the front by an elevating cylinder 7 that is hydraulically expanded and contracted. The culms to be mowed by the reaping device 1 are reared by a culm conveying device 8 It is fed to the equipment and threshed.

The cutting device 1 has a weeding rod 9, a grain culm raising device 10 and the like on the front side of the cutting blade device, and a grain culm sensor for detecting the cutting guidance of the grain culm in the left and right weeding rods 9. 11 is provided,
Further, the cutting height sensor 2 for detecting the cutting height is composed of an ultrasonic sensor and can detect the ground height. 12 is a part of the chassis,
The front end has a link 13 that connects it to the mowing frame of the mowing device 1, and the link 13 can be rotated with respect to the chassis 12 by the extension and contraction of the elevating cylinder 7. Then, the rotation angle of the link 13 can be detected by the position sensor including the potentiometer 14.

A travel distance sensor 15 can be detected from the rotation of the transmission gear of the transmission 5. The up-down lever 3 is provided on the control base 6, and by rotating the up-down lever 3 in the front-back direction, the hydraulic circuit 16 of the up-down cylinder 7, the lower cutting height solenoid valves 17, 18, the unload valve 19, etc. Can be output to raise and lower. The up-down lever 3 also serves as a steering lever, and by tilting in the left-right direction, a steering clutch, a steering brake, etc. are output-operated to perform steering, turning, and the like.

A cutting height automatic switch 20 is provided on the control stand 6, and the automatic cutting height control device is operated by turning on the cutting height automatic switch 20. The cutting height H of this automatic cutting height control is automatically set or updated by the cutting height average value or the like by the cutting height detection of the cutting height sensor 2 being performed over a certain distance during the cutting operation. However, during the mowing work, when the mowing device 1 does not detect the grain culm at the terminal end of each mowing ridge or the like and is raised to the height of the non-mowing position, the cutting height control so far is performed. Cutting height target value H at
Is stored and set, and is switched to a preset minimum height HZ.

The grain culm sensor 11 also serves as a pair of left and right steering sensors, and automatically controls the cutting direction of the reaping device 1 while detecting the grain culms on the left and right sides while outputting a steering clutch and the like. To do. In the figure, P is a hydraulic pump, T is a tank port, 21 is a relief valve, and 22
Is a threshing clutch lever. Reference numeral 23 is a shift lever.

In the reaping work, when the operation lever 3 is tilted to the front side, the reaping device 1 is lowered to the reaping work position and stopped at the work position by the detection of the position sensor 14. When the cutting height automatic switch 20 is turned on and the grain culm sensor 11 detects one of the left and right grain culm, automatic cutting height control by the cutting height sensor 20 is performed. In the cutting height control, the cutting height is registered in the memory of the controller CPU as the average cutting height for each predetermined cutting travel distance, and becomes the control target value H, and the cutting height is adjusted according to the running state and the cutting conditions. When the height is changed, the cutting height after the change is similarly updated to the target value H.

The cutting height control is performed in this way,
When the grain culm is lost at the end of the strip, both the grain culm sensors 11 on the left and right are turned off, whereby the reaping device 1 is automatically raised to the non-crop position. At this time, the target value H of the cutting height control is registered in the memory. In such a state, the combine is turned by the steering operation of the up / down lever 3 so as to oppose the grain culm of the folding process. At this time, the traveling may be switched from the forward direction to the reverse direction by the shift lever 23. When entering a new grain culm, it is switched from reverse to forward. Therefore, especially when the traveling soil surface is soft, in the forward state, the cutting unit 1 on the front side floats up, and in the reverse state, Since the part of the mowing device comes to sink, when shifting from the reverse state to the forward state, the swarding rod 9 is stabbed in the ground in a posture in which it is greatly inclined downward. .

However, when entering a new grain culm in the folding process, the up-down lever 3 is operated to lower the harvesting device 1. The tilting of the up / down lever 3 on the front side turns on the switch for lowering the mowing device 1, and thereafter the mowing device 1 is automatically lowered regardless of the operating position of the up / down lever 3. At this time, the grain culm sensor 11 is in the OFF state, and the height between the cutting device 1 and the ground is being detected by the cutting height sensor 2, but under such a condition, the preset minimum Since the height HZ is the control target value of the cutting height sensor 2, even if the cutting device 1 is automatically lowered, it is not lowered below the minimum height HZ. Further, even if it is lowered from this, it is raised to the minimum height HZ.

When the grain culm is entered in the state where the reaping device 1 is lowered as described above, the grain height is controlled by the cutting height target H by the grain culm sensor 11 detecting the grain culm. Therefore, the combine or cutting device 1 by the posture of the crawler 4 from the end of the cutting of the grain cuttings to the start of the next cutting is performed.
Despite the vertical position of the cutting position, the cutting height target value H and the cutting height sensor 2 do not control the cutting height, and the safe position set as the minimum height HZ of the reaper 1 and the height of the cutting height sensor 2 are set. By control, the lower limit of the descent of the reaping device 1 is regulated. For this reason, it is advisable to set the minimum height HZ to a position higher than the cutting height target value H during normal times.

6 to 10, the difference from the above example is that the transmission of each part of the reaping device 1 can be changed with respect to the transmission of the crawler 4 so that the transmission at the time of harvesting a grain stalk that has not fallen down is cut. As a standard mode, by increasing the mowing transmission ratio in the lodging mode when mowing the lodging grain culm, the mowing grain culm is trimmed while the posture is kept constant.
By setting the switching output time between the standard mode and the fall mode to each unique time length, the number of times the motor relay is operated during the switching control is reduced and durability is improved.

In a mowing transmission structure capable of transmitting the input shaft 34 of the mowing device 1 at a constant standard mode transmission ratio to the traveling speed of the crawler 4 from the engine through the transmission device 35 having a synchronizing mechanism, The belt 38 between the bellcon pulleys 36 and 37 that transmits the input shaft 34 is configured to be accelerated and decelerated by the output of the shift control motor 39, and in the low speed traveling range, the transmission ratio of the reaping device 1 is increased to a high level. The sloping mode can be set by changing the gear ratio of the mowing rotation speed so that the rotation speed is maintained and the transmission ratio approaches the standard mode in the high speed traveling range.

Shift control motor 39 and bellcon pulley 37
Limiters 41 and 42 are provided in the middle of the interlocking mechanism 40 with and, by which the shift position of the shift control motor 39 is stopped at the positions of the standard mode and the fall mode. The controller CPU previously has a relationship between the vehicle speed and the mowing speed (FIG. 9).
Is set, and the changeover switch 26 for detecting the vehicle speed by the vehicle speed sensor 24, detecting the rotation of the reaper by the reaper rotation sensor 25, and switching between the standard mode and the lodging mode,
The gear shift control motor 39 is operated by inputting a mowing stop changeover switch 27, a threshing clutch position 28 indicating the engagement / disengagement of the clutch of the threshing device, and a mowing / disengaging clutch position 29 indicating the engagement / disengagement of the clutch between the mowing device and the threshing device.
The relay switches 30 and 31 can be output and driven. An output delay is set to these relay switches 30 and 31. For example, if the output delay counter is set to 2 seconds in the switching output to the standard mote, it is set to 0.2 seconds in the switching output to the fall mode. It is set for a short time.

As described above, in the combine harvesting synchronizer for controlling the rotation speed of the harvesting section to the optimum value corresponding to the vehicle speed by using the speed change device using the belt 38, the rotation fluctuation is caused in the standard mode and the fallen mode. The time until the transmission is operated while detecting it, that is, the time until the relay output of the motor is set to a value suitable for each, makes it difficult to shift in the standard mode and shifts with a fast response in the lodging mode. To be done.

11 and 12, the difference from the above example is that a certain width is set as the dead zone A in the mowing rotation region of the standard mode, and the mowing rotation speed is calculated while the target value of the mowing rotation speed is calculated from the vehicle speed. A deviation value between the cutting speed detected by the sensor 27 and the target value is calculated. When the deviation value is outside the dead zone A, the waiting time for the cutting speed control output is shortened, and when it is within the dead zone A. , Control to make it longer. This results in a faster response when switching from the lodging mode to the standard mode.

[Brief description of drawings]

FIG. 1 is a partial flowchart of a cutting height control unit.

FIG. 2 is a block diagram of a cutting height control unit.

FIG. 3 is a hydraulic circuit diagram.

FIG. 4 is a side view of the reaping device.

FIG. 5 is a time chart and a control action diagram.

FIG. 6 is a side view of a traveling transmission device portion according to another embodiment.

FIG. 7 is a plan view of a part thereof.

FIG. 8 is a control block diagram of a reaping transmission unit.

FIG. 9 is a graph showing the control characteristics.

FIG. 10 is a flowchart of partial control thereof.

FIG. 11 is a graph showing a control characteristic of an example according to another embodiment.

FIG. 12 is a flowchart thereof.

[Explanation of symbols]

 1 Cutting device 2 Cutting height sensor 12 Vehicle body H Cutting height HZ Minimum height

Claims (1)

[Claims] 1. In a combine in which the mowing device 1 is automatically lowered with respect to a vehicle body 12 and is maintained and controlled to a predetermined mowing height H by detection of a mowing height sensor 2, the mowing device 1 is raised to a non-mowing position. A cutting height control device, characterized in that, when automatically descending to a cutting position, a drop below a preset minimum height HZ is regulated by detection of the cutting height sensor 2.