JPH06261620A - Device for reaping pretreatment of combine harvester - Google Patents

Abstract

PURPOSE:To properly control height of an auxiliary reaping device even in the case of inclination of a traveling machine body toward the longitudinal direction of the machine body and to avoid plunge of the auxiliary reaping device into a field even in a large inclination of the machine body forward. CONSTITUTION:A reaping device 11 is fitted to a reaping frame 10 and an auxiliary reaping device 16 is liftably attached to the reaping frame 10. Detecting means 22 and 23 for discovering height of the auxiliary reaping device 16 from a traveling machine body 2 and a detecting means 41 for discovering an angle of inclination of the traveling machine body in the longitudinal direction of the machine body are installed. A controlling means 100 for regulating operation of actuators 14 and 20 for rise and fall of the auxiliary reaping device 16 corrects detected information of height based on the detected information of an angle of inclination and carries out control to maintain the auxiliary reaping device 16 at target height based on the corrected height information. When a ground detecting means 31a attached to the lower side of the auxiliary reaping device 16 discovers contacts between the auxiliary reaping device and the surface of the ground, the auxiliary reaping device 16 is raised.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mowing device provided at a front end of a mowing frame which is supported to be movable up and down with respect to a traveling machine body, and an auxiliary mowing device is vertically attached to the mowing frame. A control means for controlling an operation of an elevating actuator of the auxiliary harvesting device and a height detecting means for detecting a height of the auxiliary harvesting device with respect to the traveling machine body, and the control means for detecting the height. A combine harvesting pretreatment device configured to execute a control operation for maintaining the auxiliary harvesting device at a target height based on the detection information of the means.

[0002]

2. Description of the Prior Art The above-mentioned mowing pretreatment device is used for two-step mowing work,
In other words, only the tip of the planted culm is cut by the cutting device, and long stumps remaining in the field are cut short by the auxiliary cutting device, but conventionally the auxiliary cutting device was maintained at the target height. In the height control to be performed, for example, the height of the auxiliary mowing device with respect to the traveling machine body is detected by the elevation angle information of the mowing frame with respect to the traveling machine body and the elevation angle information of the auxiliary mowing device with respect to the mowing frame, and the height detection information Maintain the auxiliary harvesting device at the target height based on
For example, the height of the auxiliary harvesting device above ground has been kept constant.

[0003]

However, when the combine travels in the field, the traveling machine body may tilt from the horizontal state to the machine front-rear direction depending on conditions such as unevenness of the field and the degree of wetness. According to the technology, since the height control of the auxiliary harvesting device is performed on the basis of the traveling body, even if the traveling body tilts in the longitudinal direction of the vehicle and the ground height of the auxiliary harvesting device fluctuates, no control is performed. Not done As a result, the two-step cutting work is not performed properly, for example, the height of the stump remaining in the field increases when the traveling vehicle leans to the rear side of the vehicle, and conversely, the stump remaining in the field increases when leaning to the front of the vehicle. There is a problem that the height becomes low and the stumps become uneven in height, and when the inclination angle to the front side of the machine is large, the auxiliary harvesting device may plunge into the field and be damaged.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the drawbacks of the above-mentioned prior art, even if the traveling machine body is inclined in the longitudinal direction of the machine body. The height of the auxiliary harvesting device can be properly controlled, and at the same time, the auxiliary harvesting device is prevented from plunging into the field when the inclination angle to the front side of the machine is large.

[0005]

A first characteristic configuration of a combine harvesting pretreatment device according to the present invention is provided with an inclination angle detecting means for detecting an inclination angle of the traveling machine body in a longitudinal direction of the machine body, The means is configured to correct the detection information of the height detection means on the basis of the information of the inclination angle detection means and execute the control operation.

In the second characteristic configuration, ground contact detection means for detecting contact with the ground is provided below the auxiliary harvesting device, and the control means is based on the information of the ground contact detection means. It is configured to raise the auxiliary reaper when the contact with the ground is detected.

[0007]

According to the first characteristic configuration of the present invention, the inclination angle detecting means detects the inclination angle of the traveling body in the longitudinal direction of the machine body, and the height detecting means detects the inclination angle based on the inclination angle information. The height information for the traveling body of the auxiliary harvesting device is corrected. For example, when the traveling machine body is tilted to the front side of the machine body, the detected height of the height information is corrected to be low, and conversely, when the traveling machine body is tilted to the rear side of the machine body, the height is corrected. It is corrected so that the detected height of information becomes higher. Then, based on the corrected height information, the control operation for maintaining the auxiliary cutting device at the target height is executed.

According to the second characteristic construction, when the contact with the ground is detected by the ground contact detecting means provided on the lower side of the auxiliary cutting device, the auxiliary cutting device is raised.

[0009]

Therefore, according to the first characteristic configuration of the present invention, even if the traveling machine body is tilted in the longitudinal direction of the machine body, the height (for example, the height above ground) of the auxiliary reaper is set to an appropriate height. Since it is maintained, the height of the stumps remaining in the field does not become uneven as in the conventional case, and the pre-mowing treatment device capable of properly performing the two-step mowing operation can be obtained.

Further, according to the second characteristic configuration, even if the inclination angle of the auxiliary mowing device toward the front side of the machine body becomes large, the auxiliary mowing device does not plunge into the field and is damaged unlike the conventional case. A pre-cutting treatment device having excellent reliability can be obtained.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 3 shows an all culm throw type combine, which has a threshing device 3 mounted on a traveling machine body 2 equipped with a crawler traveling machine 1 and a pre-mowing treatment device on the front part of the traveling machine body 2. 4 is configured to be vertically movable. The threshing device 3 is provided with a handling room 6 for handling and processing the input grain culm by a handling barrel 5 which rotates around the longitudinal axis of the machine body, and below the handling room 6, the handling room 6 is provided with the handling chamber 6 and the concave 7 A sorting unit 8 for sorting grains from the leaked processed material is provided.

The mowing pretreatment device 4 is provided with a mowing frame 10 which is supported to be movable up and down with respect to the traveling machine body 2, and the front end of the mowing frame 10 scrapes the tip of the planted culm. A rotary reel 9 for inserting and a clipper-type cutting device 11 for cutting the planted grain culms are provided, and further, an auger 1 for collecting the trimmed grain culms to the center side behind the cutting device 11.
2 and a conveyor 13 that conveys the gathered grain culms toward the threshing device 3 at the rear of the machine body.

As shown in FIG. 1, the crawler traveling device 1 is adapted to be transmitted to the transmission case M for the traveling device 1 after the output of the engine E is changed by the traveling transmission device 32. ing. Further, a tension pulley type reaping clutch 25 is provided in the belt transmission portion between the output portion of the engine E and the input portion of the reaping pretreatment device 4, and the reaping clutch 25 is mounted on the traveling body 2. It is designed to be interlocked with the movement of the reaping clutch lever 25A which is provided in the boarding operation section and is manually turned on and off by an operator. The reaping clutch lever 25A is provided with a reaping clutch switch 25B which is turned on in response to the entering operation and turned off in response to the cutting operation.

As shown in FIG. 3, the mowing frame 10 is pivotally supported at the front part of the threshing device 3 so as to be swingable around a horizontal axis P4, and the hydraulic cylinder 14 is provided at the lower rear part of the mowing frame 10. Of the hydraulic cylinder 14
The base end portion of is linked to the front portion of the traveling machine body 2. The reaping frame 10 is moved up and down based on the drive of the hydraulic cylinder 14, and the height of the reaping device 11 is changed by the elevation. In addition, a second angle sensor 22 including a potentiometer whose resistance value changes according to the swing angle of the mowing frame 10 around the horizontal axis P4 is provided, and the resistance value is converted into a voltage value to be described later by a control device. H (see FIG. 1).
Therefore, the height of the mowing frame 10 with respect to the traveling machine body 2 can be detected by the second angle sensor 22.

The harvesting device 11 of the harvesting frame 10
The auxiliary mowing device 16 is attached to the mowing frame 10 by the support arm 15 so as to be movable up and down on the rear side of the installation position of the, so that the height of the auxiliary mowing device 16 with respect to the mowing frame 10 can be freely changed. Has become. Then, the auxiliary harvesting device 16 uses the harvesting device 11 in order to improve the threshing processing efficiency in the threshing device 3.
Is set to a high cutting position in which only the tips of the planted culms are mowed and thrown into the threshing device 3, the cutting frame 10 is lowered so as to have a working position projecting downward. As a result, long stumps remaining in the field after cutting only the tips of the ears are cut short. On the other hand, when the auxiliary harvesting device 16 is not in the working posture,
Raised to retract to the upper storage height position.

The mounting structure of the auxiliary cutting device 16 to the cutting frame 10 will be described. As shown in FIG. 2, a bracket 17 is attached to the bottom plate of the conveyor 13 that constitutes a part of the harvesting frame 10, and the tubular support frame 18 is attached by the bracket 17.
Is rotatably supported. The tubular support frame 1
8 includes a support frame 15 that supports the auxiliary harvesting device 16.
A pair of left and right first support frames 15a forming a part of the above are integrally connected, and the pair of left and right first support frames 15a can be rotated around the rotation axis P1 of the tubular support frame 18. It has become. Further, an arm tip portion of a hydraulic cylinder 20 having an upper base end portion linked to the cutting frame 10 side is linked to a part of the pair of left and right first support frames 15a. A pipe frame 19 extending over the entire cutting width is erected on the front end of each of the first support frames 15a, and a pair of left and right pipe frames 19 are provided at the left and right ends of the pipe frame 19, respectively. The second support frames 15b are connected to each other, and the auxiliary harvesting device 16 is installed over the respective tip portions of the second support frames 15b.

In the above structure, the mowing frame 10
The auxiliary mowing device 16 attached to the rocking frame 1 is swingably driven around the rotation axis P1 of the tubular support frame 18 by the driving of the hydraulic cylinder 20, and the mowing frame 1
It goes up and down with respect to 0. Therefore, the hydraulic cylinder 20 corresponds to the lifting actuator of the auxiliary harvesting device 16.

When the auxiliary mowing device 16 is raised to the storage height, the front and rear inclination postures thereof are changed so that the auxiliary mowing device 16 is effectively stored in the empty space on the lower rear side of the auger 12. A link mechanism R is provided. In the link mechanism R, as shown in FIG. 2, first, the left and right support portions 34 of the auxiliary harvesting device 16 are pivotally supported by the second support frame 15b so as to be rotatable around the horizontal axis P2. In addition, a connecting portion 35 fixed to the bracket 17 and an arm 37 fixed to a rotating rod 36 rotatably supported over the first supporting frame 15a and the second supporting frame 15b on one side. The spaces are pivotally connected by a push-pull rod 38.
Also, the arm 39 that rotates integrally with the rotation rod 36 on the lateral side portion of the second support frame 15b, and the auxiliary harvesting device 16
The rear side of the fulcrum of the left and right support portions 34 of the
Are linked by. Therefore, the left and right support portions 34 of the auxiliary harvesting device 16, the linking member 40, and the rotating rod 3
6, the push / pull rod 38, and the arms 37 and 39 form a link mechanism R.

According to the link mechanism R, as the auxiliary mowing device 16 rises relative to the auxiliary mowing device 16, the vertical movement of the auxiliary mowing device 16 is caused by the deviation between the elevation swing fulcrum P1 and the base end side pivot fulcrum P3 of the link mechanism R. The inclined posture is relatively lowered, and the auxiliary mowing device 16 is effectively stored in the empty space on the lower rear side of the auger 12 and can be stored below the mowing frame 10 without protruding (see FIG. See the phantom line in 2.).

As shown in FIG. 2, in the vicinity of the axis P1 of rotation of the cylindrical support frame 18, the swing angle of the first support frame 15a which swings up and down around the axis P1 is detected. A one-angle sensor 23 is provided. Specifically, the first angle sensor 23 includes an input shaft 23a linked to the first support frame 15a so as to link with the first support frame 15a, and the bracket 17 is provided.
It consists of a rotary potentiometer with a base attached to it. From the above, the height of the auxiliary harvesting device 16 with respect to the harvesting frame 10 is detected by the first angle sensor 23. Therefore, the first angle sensor 23 and the second angle sensor 22 constitute a height detecting means for detecting the height of the auxiliary cutting device 16 with respect to the traveling machine body 2.

The left and right support portions 3 of the auxiliary harvesting device 16 are also provided.
4, one of which is provided with a sled body 31 for ground contact detection, which projects downward from the auxiliary mowing device 16 at a predetermined angle, is rotatably attached while being biased toward the ground side by a spring member (not shown). . A grounding switch 31a, which is a rotary switch, is provided on the rotation shaft portion of the sled body 31 on the proximal end side. 31a is turned on. Therefore, the grounding switch 31a constitutes grounding detecting means for detecting contact with the ground.

Next, the structure for controlling the raising and lowering of the reaping device 11 and the auxiliary reaping device 16 will be described. As shown in FIG. 1, a control device H using a microcomputer is provided, and the control device H includes: Manual cutting type first command for raising and lowering the mowing clutch switch 25B and the mowing device 11.
Lift switch 27, the first angle sensor 23, the second
The signals from the angle sensor 22 and the ground switch 31a are input. Further, the control device H is provided with a signal from a manual type automatic switch 26 for switching the raising / lowering control mode of the auxiliary harvesting device 16 between the automatic raising / lowering mode and the raising / lowering stop mode, and the inclination angle of the traveling body 2 in the longitudinal direction of the body. A signal from a tilt sensor 41 as a tilt angle detecting means for detecting is input. Further, from the control device H, the hydraulic cylinders 14 and 20, and the traveling transmission device 3 are provided.
Each drive signal for 2 is output.

Utilizing the control device H, a control means 100 for controlling the operation of the hydraulic cylinder 20 as the lifting actuator of the auxiliary harvesting device 16 is constructed. Then, the control means 100, when the automatic raising / lowering mode is instructed by the auto switch 26, causes the first angle sensor 23 and the second angle sensor 2 to operate.
The control operation for maintaining the auxiliary harvesting device 16 at the target height is executed based on the detection information of No. 2, and the detection of the first angle sensor 23 and the second angle sensor 22 is performed based on the information of the tilt sensor 41. It is configured to correct the information and perform the control operation. That is, as shown in FIG. 7, when the traveling machine body 2 inclines from the horizontal state to the front side, the height of the auxiliary cutting device 16 relative to the ground becomes relatively low, so that the angle sensors 23 and 22 can be obtained. On the other hand, the correction amount obtained from the height information according to the inclination angle is subtracted so as to be controlled to the ascending side. Since both the angle sensors 23 and 22 are
The height information obtained from the above is added with a correction amount obtained in accordance with the tilt angle, and correction is performed so as to control to the descending side.

Further, the control means 100 is configured to raise the auxiliary harvesting device 16 in accordance with the detection of contact with the ground based on the information of the rotary switch 31a. The controller H shifts the traveling transmission 32 to a low speed state when the contact state with the ground surface continues for a certain time or more, or
Stop operation. Further, the control device H, when the up / down stop mode is instructed by the auto switch 26,
The auxiliary cutting device 16 is configured to be raised to the storage height.

Next, the operation of the controller H will be described with reference to the flow charts shown in FIGS.
First, it is checked whether or not the reaping clutch switch 25B is ON, and if it is OFF, the auxiliary reaper 16 is raised to the storage height because the reaping work is not performed. On the other hand, when the reaping clutch switch 25B is ON, it is checked whether or not the auto switch 26 is ON, and when it is OFF (elevation stop mode), the auxiliary reaper 16 is raised to the storage height. On the other hand, when the auto switch 26 is ON (automatic raising / lowering mode), the second angle sensor 22 further checks whether the raising / lowering angle of the mowing frame 10 is within the control range. Then, as shown in FIG. 6, when the ascending / descending angle is outside the control range (larger or smaller than the control range), the two-step cutting work is not performed, so the auxiliary cutting device 16 is stored. Raise to height.

When the elevation angle of the mowing frame 10 is within the control range, the height information of the auxiliary mowing device 16 detected by the angle sensors 23 and 22 is corrected by the detection value of the longitudinal inclination angle of the machine body, The corrected height of the auxiliary cutting device 16 is controlled to be maintained at the target height. For example, as shown in FIG. 6, when the raising / lowering position of the mowing frame 10 is high and the mowing frame 10 is located above the traveling machine body 2, the auxiliary mowing device 16 is located below the mowing frame 10. On the other hand, when the raising and lowering position of the mowing frame 10 is low and the mowing frame 10 is located below the traveling machine body 2, the auxiliary mowing device 16 is located above the mowing frame 10 (storage height To maintain a predetermined height above ground.

Further, as shown in the flow chart of FIG.
Check the state of the ground switch 31a, and
When 1a is in the ON state, it can be seen that the auxiliary mowing device 16 has approached the ground and the sled body 31 has come into contact with the ground. Therefore, the auxiliary mowing device 16 is raised by a predetermined height, for example. When the sled body 31 is kept in contact with the ground for a certain period of time (for example, several seconds), the traveling transmission 32 is decelerated or stopped.

[Other Embodiment] In the above embodiment, the hydraulic cylinder 20 is used as the lifting actuator of the auxiliary mowing device 16.
However, the lifting actuator is not limited to the hydraulic cylinder, but may be an electric motor, for example.

In the above-described embodiment, the height detecting means 22, 23 for detecting the height of the auxiliary cutting device 16 with respect to the traveling machine body 2 is used.
In the above description, the two angle sensors 22 and 23 are used, but in addition to this, the height of the auxiliary harvesting device 16 with respect to the traveling machine body 2 may be configured by one angle sensor or the like.
The specific configuration of the angle sensor is not limited to the rotary potentiometer of the embodiment.

In the above embodiment, the tilt angle detecting means 41 is composed of a tilt sensor, but the invention is not limited to this.

In the above embodiment, the ground detecting means 31a is constituted by the rotary switch provided on the base end side rotating shaft of the sled body 31 for grounding, but other than this, for example, a micro switch or the like may be used. The shape of the ground contact portion is not limited to the sled body.

In the above embodiment, the auxiliary harvesting device 16 is configured to be raised by a predetermined height when the ground contact detecting means 31a detects contact with the ground, but it is not a predetermined height. Alternatively, for example, the height may be raised to the storage height on the upper side. Further, in the above-mentioned embodiment, when the contact state with the ground continues for a certain period of time or more, the vehicle speed is set to the low speed state or the stop operation is performed, but such a shift operation is not always necessary. .

It should be noted that reference numerals are given in 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.

[0034]

[Brief description of drawings]

FIG. 1 is a block diagram of a control configuration.

FIG. 2 is a side view of the main part of the pre-mowing treatment device.

FIG. 3 is a schematic side view of the combine.

FIG. 4 is a flowchart of control operation.

FIG. 5 is a flowchart of control operation.

FIG. 6 is an explanatory view of characteristics of height control.

FIG. 7 is an explanatory diagram of a correction characteristic of height detection information.

[Explanation of symbols]

 11 Mowing device 2 Traveling vehicle 10 Mowing frame 16 Auxiliary mowing device 14, 20 Elevating actuator 100 Control means 22, 23 Height detecting means 41 Inclination angle detecting means 31a Grounding detecting means

Claims (2)

[Claims] 1. A mowing frame (10) in which a mowing device (11) is supported on a traveling machine body (2) so as to be vertically movable.
An auxiliary mowing device (16) is provided at the front end of the auxiliary mowing device (16) so as to be vertically movable, and is attached to the mowing frame (10).
0) control means (100) for controlling the operation, and height detection means (22, 23) for detecting the height of the auxiliary harvesting device (16) with respect to the traveling machine body (2) are provided. The means (100) includes the height detecting means (22,
23) based on the detection information of the auxiliary harvesting device (1
A combine harvesting pretreatment device configured to execute a control operation for maintaining 6) at a target height, the tilt angle detecting means detecting a tilt angle of the traveling machine body (2) in a machine longitudinal direction. (41) is provided, and the control means (100) is configured to detect the tilt angle (4).
The height detecting means (22, 23) based on the information of 1)
A combine pre-mowing pretreatment device configured to correct the detection information of the above and perform the control operation. 2. Below the auxiliary harvesting device (16),
Ground contact detection means (31a) for detecting contact with the ground is provided, and the control means (100) includes the ground contact detection means (31).
The combine harvesting pretreatment device according to claim 1, which is configured to raise the auxiliary harvesting device (16) when contact with the ground is detected based on the information in (a).