JPH06319337A - Reaping height controller for reaping harvester - Google Patents

Abstract

PURPOSE:To provide a controller capable of preventing unfavorable effects such as thrusting of a reaping pretreatment part into the ground surface and continuation of reaping operation at a ground height different from a target value regardless of a change in operating conditions by a simple improvement in structure and simultaneously improve the operating efficiency by eliminating the need for changing, etc., the set value. 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 an controller for controlling the hydraulic cylinder 4 so as to maintain the detected value with an ultrasonic type ground height detecting sensor (S1) at the target ground height. 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 the 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 correct the target ground height to a higher side when the frequency at which the proximity state is detected with the detecting sensor (S2) for the ground proximity state within the set time is higher than the set frequency.

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.
Usually, this type of harvesting harvester has a configuration in which a plurality of strips are simultaneously harvested in order to improve the work efficiency. Since the height of the ground is detected by one sensor, even if the detection height by the detection sensor is maintained at the target height, there is a long groove along the traveling direction of the aircraft, for example, at the place where the sensor passes. In the case where there is a raised part on the ground at a position distant from the position where the sensor passes in the machine width direction, the distance between the mowing pretreatment unit and the ground becomes short, and the mowing pretreatment is performed. There was a possibility that the divider at the front end of the section might plunge into the ground, and there was room for improvement. Moreover, although the target height for raising and lowering control of the pre-mowing processing section is manually set by the target height setting device, the actual height of cutting can be determined from the aircraft operator when the planted culms are in full bloom. Even if the target set value is too low, it may not be possible for the operator to know the state in which the cutting height is different from the target value. 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 the structure of itself but also the drive control circuit thereof is complicated, so 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]

According to a characteristic configuration of the present invention, in the cutting height control device for a cutting and harvesting machine described at the beginning, the non-contact type ground height detection at the front end portion of the cutting pretreatment unit is performed. At a location apart from the means in the machine width direction,
A grounding type ground proximity state detecting means for detecting a proximity state in which the ground height is less than or equal to a set value is provided, and the elevating control means detects the proximity state by the ground proximity state detecting means within a set time. If the degree of the increase is larger than the set amount, the target ground height is corrected to the higher side.

[0005]

The function of approaching the ground due to the ground contact state 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 cutting pretreatment section, in the machine width direction Since it is detected by the ground proximity state detection means, a long groove along the aircraft traveling direction is formed at the passage point of the non-contact type ground height detection means, or it is separated from the passage point in the machine width direction. When there is a ridge on the ground at a different location, or when the target ground height is set too low in the elevation control operation, the ground-proximity-state detecting means causes the cutting unit to approach the ground. If the detection degree (for example, the detection time or the number of detections) of detecting the proximity state within the set time is greater than the set amount, that is, as described above, If the ground proximity state continues, the elevation control means corrects the target ground height to a higher side, and the control operation is performed to maintain the ground height of the pre-mowing processing unit at the corrected target ground height. is there.

[0006]

As described above, the up-and-down control is performed based on the detection result of the non-contact type ground-height detection sensor capable of accurately detecting the ground-height with a small amount of weeds and the like, but it is directly controlled by the ground-contact tracking. By reasonably arranging the grounding type ground detection means that can detect the height above ground and has a relatively simple structure, it is possible to determine the proximity of the ground in the pre-mowing processing section, and the pre-mowing processing caused by changes in the ground condition. It has become possible to provide a cutting height control device for a reaper harvester, which can prevent adverse effects such as plunging into the ground and cutting at a cutting height different from a target value for a long time, by simply improving the structure. Moreover, since the cutting height of the pre-cutting processing unit is automatically changed, the operator does not need to perform a troublesome operation such as adjusting the set height while visually confirming the actual cutting work status.

[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 type ground height detecting sensor S1 is intermittently attached to and supported by the mowing frame 14 on the rear side of the divider 7R on the operating section 6 side, that is, on the most mown side. 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. , The target ground height can be easily set, and the proximity state in which the ground height of the furthest uncut side divider 7L farthest from the operation unit 6 is equal to or less than the set value is set to the ground proximity state detection sensor S2. It is detected by.
When the ground proximity state detection sensor S2 is in the detection state, as shown in the flowchart of FIG.
Counts the number of detection operations of the ground proximity detection sensor S2, stops the automatic lifting operation based on the detection information of the ground height detection sensor S1, and sets the hydraulic cylinder 4
Executes the forcible ascending control that operates the ascending side for the set time. Further, when the detection operation is performed more than the set number of times K during the set time (for example, about several seconds), the control device 12 sets the target ground height artificially preset by the cutting height setting device 13. The height is corrected by a higher amount, and thereafter the automatic elevation control is executed so that the detection value of the ground height detection sensor S1 is maintained at the corrected target ground height. The correction amount of the target ground height may be appropriately changed and adjusted by the adjusting means.

[Other Embodiments] The ground proximity detection sensor S2 may be a potentiometer type sensor for detecting an angle change of a swing arm that follows the ground instead of a limit switch type sensor. As the contact-type ground-height detection sensor S1, various non-contact-type sensors such as those that detect using infrared light or laser light can be used instead of the 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 (1)

[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). A cutting height control device for a reaper harvesting machine, comprising a lifting control means (12) for controlling the drive mechanism (4) so that the detection value of S1) is maintained at a target ground height. At the front end of the processing section (5) and at a position apart from the non-contact type ground height detecting means (S1) in the lateral direction of the machine body, a proximity state in which the ground height is equal to or lower than a set value is detected. A grounding type ground proximity state detection means (S2) is provided, and the elevation control means (12) determines the degree to which the proximity state is detected by the ground proximity state detection means (S2) within a set time from a set amount. If it is large, correct the target ground height to the higher side. Mowing height control device of the reaper harvester that is configured so.