JPH06319335A - Reaping height controller for reaping harvester - Google Patents

Abstract

PURPOSE:To enable the prevention of unfavorable effects such as thrusting of the tip of a reaping pretreatment part into the ground surface without causing complication of the structure. CONSTITUTION:The reaping height controller for a reaping harvester is obtained by drivably, liftably and lowerably connecting a reaping pretreatment part 5 to the front of a mobile machine body 2 with a hydraulic cylinder 4 and installing a controller for controlling the hydraulic cylinder 4 so as to maintain the ground height of the reaping pretreatment part 5 at a target value based on detected information by an ultrasonic type ground height detecting sensor (S1). In this reaping height controller, a ground contact type detecting sensor (S2) for a ground proximity state capable of detecting the proximity state in which the ground height is changed to a set value or below is installed at the front end in the reaping pretreatment part 5 and a site separate from the ultrasonic type ground height detecting sensor (S1) in the width direction of the machine body. The controller is constructed so as to stop the automatic lifting and lowering operation based on the detected information with the ground height detecting sensor (S1) as the proximity state is detected by the detecting sensor (S2) for the ground proximity state and perform the forced lifting control for operating the hydraulic cylinder 4 to the side of lifting operation for a set time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a non-contact type ground height detecting means which is connected to a front part of a traveling machine body by a drive mechanism so as to be driven up and down so as to be movable up and down. The present invention relates to a cutting height control device for a reaper harvesting machine, which is provided with an elevation control means for controlling the drive mechanism so that the detection value of the ground height detection means is maintained at a target value.

[0002]

2. Description of the Related Art In the above-mentioned cutting height control device for a harvesting harvester, conventionally, one ultrasonic type ground height detecting sensor is provided in front of a pre-cutting processing section, and the value detected by this detecting sensor is It was configured to automatically control the drive mechanism so as to maintain the target height set by the potentiometer-type target height setter.

[0003]

SUMMARY OF THE INVENTION In the above-mentioned conventional structure, the non-contact type ground height detecting sensor which is less likely to catch weeds, straw chips, etc. controls the cutting height while accurately detecting the ground height. It was made possible.
However, in general, this type of reaping harvester has a structure in which a plurality of strips are simultaneously mowed in order to improve the work efficiency. However, even if the mowing width is large, one sensor is used. Since the height to ground is detected at, even if the detection height by the detection sensor is maintained at the target height,
For example, if there is a recess at the location where the sensor passes, or if there is a raised portion on the ground at a location distant from the location where the sensor passes in the lateral direction of the machine, There was room for improvement because there was a risk that the divider at the front end of the pre-mowing treatment section would plunge into the ground. As a method for solving the above-mentioned problem, it is conceivable to arrange a plurality of the non-contact type ground height detection sensors in parallel along the cutting width direction, but the non-contact type ground height detection sensor is a sensor. Not only its own structure but also its drive control circuit becomes complicated, so that there is an adverse effect that the structure becomes complicated and the cost becomes high. It is an object of the present invention to solve the above-mentioned problems by reasonably improving the structure without causing a large complication of the structure.

[0004]

The features of the first invention are as follows:
In the cutting height control device of the harvester described at the beginning,
At the front end of the pre-cutting section and at a location apart from the non-contact type ground height detecting means in the lateral direction of the machine body, a ground type of detecting a proximity state in which the ground height is equal to or less than a set value A ground proximity state detecting means is provided, and the control means stops the automatic lifting operation based on the detection information of the ground height detecting means, as the proximity state is detected by the ground proximity state detecting means, and The point is that the drive mechanism is configured to be operated on the raising operation side for the set time to execute the forced raising control. A characteristic configuration of the second invention is that the control means is configured to execute the forced rise control when the proximity state is continuously detected by the ground proximity state detection means for a set time. is there.

[0005]

According to the characteristic construction of the first aspect of the invention, at a position apart from the non-contact type ground height detecting means for detecting the ground height which is a reference for the elevation control of the pre-mowing processing section, in the lateral direction of the machine body, Since the proximity to the ground is detected by the ground contact state detection means by the ground contact state, when there is a concave portion on the ground at the passage point of the non-contact type ground height detection means or external matter such as weeds. When the reaping action section approaches the ground based on the automatic lifting control operation due to the detection operation due to the presence, or at the location distant in the lateral width direction from the passage point of the non-contact type ground height detection means. When there is a raised portion in the ground, the ground proximity state detection means is in the detection state. Along with the detection operation, the automatic raising / lowering control operation is stopped, and the drive mechanism is operated to move upward for a set time so that the pre-mowing processing section rises. It can be prevented. According to the characteristic configuration of the second aspect of the invention, in addition to the operation of the characteristic configuration of the first aspect of the invention, in the case where there is a local protruding portion of the ground such as a clod at the passage point of the ground proximity state detecting means. However, the cutting pretreatment unit is not raised by such a local disturbance detection state.

[0006]

According to the characterizing feature of the first invention, the ascending / descending control is performed based on the detection result of the non-contact type ground height detecting means capable of accurately detecting the ground height in a state where there is little catch of weeds and the like. Although it is possible to detect the proximity to the ground directly by following the ground, the ground-based ground height detection means, which is a relatively simple structure, is rationally arranged so that the structure does not become significantly complicated and the proximity to the ground does not occur. The cutting height control device of a harvesting harvester that can judge the condition and prevent the damage such as the tip of the pre-mowing pretreatment unit sticking to the ground due to the change of the ground condition can be prevented. It came to be able to offer it by improvement. According to the characteristic configuration of the second aspect of the invention, in addition to the effect of the characteristic configuration of the first aspect of the invention, the cutting height becomes a value different from the target height due to the local disturbance detection by the ground proximity state detecting means. This can be prevented, and only the change state of the ground can be reliably detected.

[0007]

Embodiments will be described below with reference to the drawings. Figure 5
Shows the combine as a harvester. In this combine, a threshing device 3 is mounted on a traveling machine body 2 including a pair of left and right crawler traveling devices 1, 1, and a hydraulic cylinder 4 [an example of a drive mechanism] is provided around a horizontal axis P in a front portion of the traveling machine body 2. The harvesting pretreatment unit 5 is connected to be driven up and down freely by, and a boarding operation unit 6 is provided on the right side of the harvesting pretreatment unit 5. The pre-mowing processing unit 5 has a plurality of dividers 7 arranged in parallel at a predetermined interval in the lateral direction of the fuselage to guide the culm to be harvested by dividing the front end of the fuselage into the root of each row of planted culms. There are a plurality of raising devices 8 for raising the lodging grain culms in a vertical position on the rear side thereof, a mowing device 9 for cutting the plant origin of the planted grain culm, and a gradual change from the vertical position while sandwiching the harvested grain culms. The vertical transport device 10 is configured to transport the grain toward the threshing device 3 while changing the posture so as to be in a sideways posture.

During the cutting operation, the hydraulic cylinder 4 is driven and controlled so that the cutting height of the grain culms is maintained at the set value. More specifically, as shown in FIG. 1, the electromagnetic hydraulic control valve 11 for the hydraulic cylinder 4 is configured to be switched and controlled by a control device 12 (one example of lifting control means) equipped with a microcomputer, and a pre-mowing processing unit is also provided. Ultrasonic type ground height detection sensor S1
The control device 12 switches and controls the hydraulic pressure control valve 11 so that the detected value of (1) becomes a target value by the potentiometer-type cutting height setting device 13. As shown in FIGS. 2 and 4, the ultrasonic ground height detecting sensor S1 is attached to and supported by the mowing frame 14 on the rear side of the operating section 6 side, that is, the rearmost divider 7R. It is configured to include a transmitter 15 that emits ultrasonic waves and a receiver 16 that receives reflected waves of the ultrasonic waves emitted from the transmitter 15 from the ground, and reaches the receiver 16 from the transmission of the transmitter 15. The ground height of the pre-mowing processing unit 5 is configured to be calculated and detected by the control device 12 from the time until the cutting.

The divider 7L located on the most uncut side
A ground type ground proximity state detection sensor S2 (an example of a ground proximity state detection means) for detecting a proximity state in which the ground height is equal to or lower than a set value is provided in the lower part of the. As shown in FIG. 3, the detection sensor S2 is composed of a limit switch, and is provided with the downwardly biased detection piece 17 protruding downward from the lower surface of the divider 7, and the detection piece 17 contacts the ground. Then, when the swing angle changes, it is turned on and the proximity state to the ground can be detected. In this way, by providing the ultrasonic type ground height detection sensor S1 which is the reference of the lifting control operation on the rear side of the divider 7 on the farthest cutting side, which is easily visible to the operator of the machine operating the operation section 6. While the target ground height can be easily set, the ground height on the most uncut side farthest from the operating unit 6 is detected by the ground proximity detection sensor S2. And the ground proximity state detection sensor S2
When the proximity state is detected by and the detection state continues for a set time (for example, several seconds), the control device 12 stops the automatic lifting operation based on the detection information of the ground height detection sensor S1 as shown in the flowchart of FIG. In addition, it is configured to execute the forced raising control for operating the hydraulic cylinder 4 to the raising operation side for the set time.

[Other Embodiments] The ground proximity state detection sensor may be a potentiometer type sensor for detecting an angle change of the swing arm that follows the ground instead of the limit switch type sensor. As the ground-to-ground height detection sensor S1, it is possible to use various non-contact type sensors such as those that detect using infrared light or laser light instead of ultrasonic type. Further, the positions where the ultrasonic ground height detecting sensor S1 and the ground proximity state detecting sensor S2 are arranged are limited to the most uncut side part and the most already cut side part as long as they are separated in the machine lateral width direction. Not done.

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

[Brief description of drawings]

FIG. 1 is a control block diagram.

FIG. 2 is a side view of a ground height detection sensor arrangement portion.

FIG. 3 is a side view of a ground proximity state detection sensor arrangement portion.

FIG. 4 is a plan view of the combine.

FIG. 5 is a side view of the front part of the combine.

FIG. 6 is a control flowchart.

[Explanation of symbols]

 2 traveling machine body 4 drive mechanism 5 pre-mowing processing unit 12 elevation control means S1 ground height detection means S2 ground proximity detection means

Claims (2)

[Claims] 1. A drive mechanism (4) is provided at a front portion of the traveling body (2).
The cutting pretreatment unit (5) is connected to be driven up and down by means of the above, and a non-contact type ground height detecting means (S1) is provided at the front end of the cutting pretreatment unit (5). Based on the detection information of S1), the pre-mowing processing unit (5)
A cutting height control device for a reaper harvesting machine, comprising a control means (12) for controlling the drive mechanism (4) so that the ground height of the reaper is maintained at a target value. ), A grounding type ground for detecting a proximity state in which the height of the ground is equal to or less than a set value at a position distant in the lateral direction of the airframe from the front end portion and the non-contact type ground height detecting means (S1). Proximity state detecting means (S2) is provided, and the control means (12) controls the proximity state by the ground proximity state detecting means (S2).
Mowing configured to stop the automatic raising / lowering operation based on the detection information of the ground height detecting means (S1) and execute the forced raising control for operating the drive mechanism (4) to the raising operation side for the set time. Harvester cutting height control device. 2. The control means (12) is configured to execute the forcible rising control when the proximity state detecting means (S2) continuously detects the proximity state for a set time. The cutting height control device for the harvesting harvester according to claim 1.