JPH07274650A - Ride and fall control device for reaping pretreatment device in combine harvester - Google Patents

Abstract

PURPOSE:To readily and rapidly carry out a returning operation to a an automatic control mode after interruption of a manual mode during a rise and fall control of a reaping pretreatment device for a generalized combine harvester capable of selecting two kinds of reaping height control modes. CONSTITUTION:A reaping pretreatment device capable of rising and falling by driving a hydraulic cylinder for raising and dropping is equipped with a control mode changeover switch capable of selecting a ground reaping height control mode for regulating rise and fall by a detected value of a ground height sensor 31 and a reaping height control mode based on a machine body for regulating rise and fall by a detected value of a position sensor 32 based on a standard height position of the traveling machine body. The control mode change switch interrupts either one of the both the modes during setting and carries out the rise and fall operation of the reaping pretreatment device by the manual mode. The reaping pretreatment device is controlled in such a way that reaping pretreatment device is returned to a preset control mode by the control mode change switch by ON operation of an automatic returning switch. On the other hand, in the manual mode during setting in the ground reaping height control mode, when a ground sensor senses contact of the ground, the reaping pretreatment device is returned to the original ground reaping height control mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a raising / lowering control device for a cutting pretreatment device in a so-called general-purpose combine or self-propelled self-removing combine, which can thresh rice, wheat, soybeans, etc. over the entire width in front of the traveling machine body. It is about.

[0002]

2. Description of the Related Art A harvester generally called a general-purpose combine or a whole culm type combine is disclosed in JP-A-1-13791.
As disclosed in Japanese Patent Publication No. 6 and Japanese Utility Model Laid-Open No. 2-930, etc., a screw handling cylinder having a longitudinal length is provided at a position closer to one side of a traveling machine body having a cockpit in the front. While equipped with a threshing section and a swinging sorting device and a wind sorting device such as Kara Min Juan, the front of the traveling machine has a reel with a tine bar over the entire width of the traveling machine and a cutting blade on the lower surface side, and a horizontal scraping Elevating a cutting pretreatment device, which consists of a platform equipped with an auger and a square tubular feeder house (having a chain conveyor inside), which communicates with an opening at a position closer to one side of the rear surface of the platform, with respect to the traveling machine body. It is installed freely.

[0003] After the grain culm pulled backward by the rotating reel and tine bar in this reaping pretreatment device is mowed with a mowing blade, it is collected with a scraping auger and threshed with a chain conveyor in a feeder house. It is configured to be sent to the department. As described above, it is well known that a grounding sensor for grounding the ground (field) is provided as a sensor for allowing the pre-mowing processing device to follow the target cutting height in a combine with a vertically movable structure. On the other hand, by positioning the cutting blade at a height where the ground cannot be detected by this ground sensor, the cutting pretreatment device is placed at a high position of several tens of centimeters above the ground in order to cut only the ears of the grain culm. In the case of carrying out the mowing work while maintaining the posture in the above, the above-mentioned JP-A-1-137916
In the gazette, the mowing pretreatment device can be moved up and down with respect to the horizontal axis of the front part of the traveling machine body, and a separate position sensor for detecting the height of the mowing pretreatment device with respect to this horizontal axis is provided, and the ground sensor is used. A height control mode for controlling the height of the pre-cutting device (ground height) based on the detected information, and a height position of the pre-cutting device (for machine cutting based on the detection information from the position sensor). It is proposed to select the height control mode for controlling the height of the machine.

[0004]

By the way, in selecting the two types of cutting height control modes in this way, a setter for presetting the target height is provided for each cutting height control mode. It was normal to be there. That is, in the case of controlling the height of ground cutting, the value of the set height (target height) is small because the position of the cutting blade in the pre-mowing processing device is at a low position on the ground. On the other hand, in the case of controlling the height of cutting the machine body, in order to set the height position of the pre-cutting device and by extension the cutting blade so that the ground sensor cannot detect the ground, the set height (target height) The value is large, and there is no overlapping range in the target height value. Therefore, the two setting devices are used to set different target height values.

However, there is a problem that the work is extremely troublesome when the two setting devices are separately set. The first object of the present invention is to solve this problem. In this type of combine, while either the ground cutting height control mode or the machine body cutting height control mode is selected, the cutting pretreatment device is given priority over (interrupts) these in manual mode. May be moved up and down.

However, in the prior art, when the manual mode is released, it is necessary to return to the initial state once and select either one of the cutting height control modes again, which is an operation upside down. Further, in the manual mode, if the operator mistakenly performs the lowering operation excessively, there is a problem that the lower surface of the mowing pretreatment device, particularly the cutting blade, collides with the field, causing damage to parts and causing an unexpected accident. .

A second object of the present invention is to solve these technical problems, and to quickly return to the cutting height control mode previously selected by canceling the manual mode or the like. is there. Normally, the pre-mowing treatment device is located far above the ground during the anti-machine cutting height control mode, but the unevenness of the field scene is severe and the combine shakes back and forth greatly during forward movement. There may be a situation where the front end of the pre-mowing treatment device or the cutting blade part collides with the ground, or the front end of the pre-mowing treatment device or cutting blade part collides with the ridge during work in the vicinity of the ridge in the field. A third object of the present invention is to ensure that accidents can be avoided in the above case.

[0008]

In order to achieve the above object, an elevator control device for a harvesting pretreatment device in a combine harvester according to a first aspect of the present invention is provided on a front surface of a traveling machine body of a harvester having a threshing section and the like. A combine comprising a control means for mounting the mowing pretreatment device so as to be vertically movable by driving an elevating actuator, and controlling the elevating actuator so that the cutting blade portion of the mowing pretreatment device is located at a target height. In the above, the anti-ground cutting height control mode for vertically moving the pre-mowing processing device based on the detection value of the ground height sensor, and the pre-mowing processing device based on the detection value of the position sensor with respect to the reference height position of the traveling body. A control mode changeover switch for selectively changing over to a machine height control mode for controlling the raising and lowering of the machine is provided. Not, is characterized in that one height setter for setting the target height was shared by the two control modes.

According to a second aspect of the present invention, there is provided a raising / lowering control device for a mowing pretreatment device in a combine, wherein the mowing pretreatment device is driven by an ascending / descending actuator on the front surface of a traveling machine body of a harvester having a threshing section and the like. In a combine that is mounted so as to be able to move up and down, and is provided with a control means that controls an elevating actuator so that the cutting blade portion of the mowing pretreatment device is located at a target height, in the combine based on the detection value of the ground height sensor, There are two modes: a height control mode for ground cutting to control the mowing pretreatment device and a height control mode for lifting the mowing pretreatment device based on the detection value of the position sensor with respect to the reference height position of the traveling body. Equipped with a control mode changeover switch that selectively switches, raising and lowering operation of the mowing pretreatment device in the manual mode with priority while setting one of the two control modes. Execution is possible, and when the automatic return switch is turned on, the control mode switch is controlled to return to the preset control mode, while the control mode switch is used to control the height above ground. In the manual mode operation during the mode setting, when it is detected that the ground height sensor is in contact with the ground, control is performed to return to the original ground cutting height control mode. Is.

According to a third aspect of the present invention, there is provided a raising / lowering control device for a mowing pretreatment device in a combine, wherein the mowing pretreatment device is driven by an ascending / descending actuator on the front surface of a traveling machine body of a harvester having a threshing section and the like. In a combine that is mounted so as to be able to move up and down, and is provided with a control means that controls an elevating actuator so that the cutting blade portion of the mowing pretreatment device is located at a target height, in the combine based on the detection value of the ground height sensor, There are two modes: a height control mode for ground cutting to control the mowing pretreatment device and a height control mode for lifting the mowing pretreatment device based on the detection value of the position sensor with respect to the reference height position of the traveling body. A control mode selector switch for selectively switching is provided, and the ground height sensor is set to the ground level while the cutting height control mode for the machine is set by the control mode selector switch. If it is determined to be in contact, it is characterized in performing a control for increasing operating preprocessing device reaper.

[0011]

According to the invention described in claim 1, one height setter for setting the target height at the time of raising and lowering control of the mowing pretreatment device is set to the detection value of the ground height sensor. Based on the ground height control mode for controlling the elevation of the pre-mowing device based on the ground, and the height control for controlling the height of the pre-mowing device based on the detected value of the position sensor with respect to the reference height position of the traveling body. Since it is shared with the mode, once the operator sets the target value with the setter, it is not necessary to operate the setter even if the control mode is changed, and the operation is extremely simple. Produce an effect.

According to the second aspect of the present invention, while either the ground cutting height control mode or the machine body cutting height control mode is selected, the cutting operation is performed in the manual mode before cutting. The device can be moved up and down. Then, when the automatic return switch is turned on to release this manual mode, the cutting mode can be returned to the cutting height control mode that was previously selected by the control mode selection switch. The cutting height control mode can be quickly returned to.

Further, when the ground cutting height control mode is selected by the control mode changeover switch and the lowering operation of the cutting pretreatment device is excessively performed in the interrupted manual mode, the ground height sensor is operated. When it detects that the machine is in contact with the ground, it returns to the height control mode for ground cutting, so even if the operator makes a malfunction in the manual mode,
It is possible to prevent the situation in which the lower surface of the pre-mowing treatment device, particularly the cutting blade, collides with the field and the parts are damaged and an unexpected accident occurs.

According to the third aspect of the present invention, the normal mowing pretreatment device is normally separated from the ground by a large distance while the control mode changeover switch is set to the machine cutting height control mode. However, the unevenness of the field scene is severe, and it swings greatly back and forth while the combine is moving forward, and the front end of the mowing pretreatment device or the cutting blade part collides with the ground, or the mowing pretreatment device is used during work near the ridges in the field. There is a possibility that the front edge and the cutting blade part will collide with the ridge.

Therefore, if it is determined that the ground height sensor is in contact with the ground, the control for raising the cutting pretreatment device is executed. Therefore, even in the machine cutting height control mode, The present invention has an effect that it is possible to reliably prevent an accident such as joining of the pre-mowing treatment device or damage to the cutting blade.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described. A general-purpose combine 1 is provided with a pair of left and right crawler type traveling devices 3 and 3 on a lower surface of a traveling machine body 2 so as to face the traveling direction of the traveling machine body 2. At the front part on the right side, a control part 4 with a seat is arranged, behind which is provided an engine (not shown) and a tank 5 for accumulating grains, and on the left side of the traveling machine body 2, there is a circumferential outer surface. Threshing section 6 incorporating a front and rear long handling cylinder 6a in which a double-pitch screw plate and an appropriate number of handling teeth are embedded, a receiving net below it, a swing selecting device 9 using sheaves, etc. And a wind sorter for 10 winds. Code 7
Is a discharge cylinder for discharging the grains in the tank 5 to the outside.

On the other hand, on the front surface of the traveling machine body 2, a rectangular tubular feeder frame 11 communicating with the front opening of the threshing unit 6 and a rectangular tubular insert frame 17 communicating with the front end opening of the feeder house 11. And a cutting pretreatment device 15 which is detachably attached to the interposition frame body 17 and which extends laterally over the entire width of the traveling machine body 2 can be vertically rotated about a horizontal shaft 16. It is mounted on the traveling machine body via a lifting hydraulic cylinder 12 as a lifting actuator so as to be liftable and lowerable.

A reel 19 with a tine bar is mounted on the front upper part of the platform 18 so as to rotate in the direction of arrow A in FIG. Similarly, it also has a clipper blade 20 in the shape of a left and right long length, and above the bottom plate of the platform 18, a horizontally long scraping auger 25 that rotates in the direction of arrow B is provided, and a horizontal transmission with a universal joint is provided from the transmission portion. The reel 19 and the auger 25 are rotationally driven via the shaft, and the cutting blade 20 is also driven.

Grains culled backward by the rotating reel 19 and tine bar in the pre-mowing treatment device 15 are mowed with a cutting blade 20, and then collected with an auger 25 for scraping. At this time, the auger 25 rotating in the direction of arrow B
On the circumferential surface of the auger 25, screw-shaped scraping plates 22 and 23, which are opposite to each other in the turning direction, are provided while leaving the axially intermediate portion of the auger 25. It has a scraping rod 24 that protrudes downward on the substantially lower surface side and is retractable on the substantially upper surface side.
Rotation of the platform laterally (auger 2
5 longitudinally (approximately in the center), and then platform 1
At the location of the front end opening 16 of the feeder house 11 from the introduction port in the rear plate 8, the cut culm that has been inherited by the chain conveyor 13 in the feeder house 11 is conveyed to the threshing unit 6.

Further, the reel 19 is configured such that the reel moving hydraulic cylinder 28 can adjust forward and backward movement and vertical swing according to the fall state of the grain culm and the like. Note that reference numeral 26 is a grass body projecting forward from both left and right ends of the pre-mowing treatment device 15, and the traveling device 3 and the pre-mowing treatment device 15 are provided.
As will be described later, a post-cutting blade 27 for cutting the root part of the grain culm, which is obtained by cutting only the tips of the ears, by increasing the height position of the pre-cutting device 15 is provided between and. ing.

Next, the structure for controlling the height position of the cutting pretreatment device 15 and further the cutting blade 20 will be described.
As shown in FIG. 3, a ground height sensor 31 for detecting the ground height (height of the cutting blade 20 with respect to the farm scene 30) of the pre-mowing treatment device 15 is arranged on the side of the platform 18 and is used for cutting. The position sensor 32 for detecting the relative height of the pretreatment device 15 with respect to the reference height position in the traveling machine body 2 includes a front portion of the traveling machine body 2 and the feeder house 11.
It is arranged between the side surface and the rear part.

The ground height sensor 31 is, as shown in FIG.
The base of a sled-shaped sensor 33 that can come into contact with the field 30 is attached to the outer surface of the feeder house 11 via a pivot 34, and the first bracket 35 of the sensor 333 and the pivot 38 on the outer surface of the feeder house 11 above it. The second bracket 36, which can be rotated around, is connected by a connecting rod 37 with a spring. Second
An operating arm 40a of the potentiometer 40 via an interlocking rod 39 formed of an arc-shaped spring plate provided on the bracket 36.
4 is pressed and the free end side of the sensing body 32 is rotated from the solid line state to the two-dot chain line state in FIG. 4 (the height to ground becomes small), the first bracket 35, the connecting rod 37, the second bracket The operating arm 40a is rotated via the 36 and the interlocking rod 39. The operating arm 40a is always biased by a spring in a direction of pressing the interlocking rod 39. Further, since the interlocking rod 39 is formed in a circular arc shape with a spring plate, it is considered that the impact force is not transmitted from the interlocking rod 39 to the actuating arm 40a when the sensing body 32 is pushed up by impact. .

5 (a) and 5 (b) are side views showing the structure of the position sensor 32. FIG. 5 (a) shows that the front end side (cutting blade 20 side) of the mowing pretreatment device 15 is at a low position. FIG. 5B shows a state where the front end side (cutting blade 20 side) of the pre-mowing treatment device 15 is raised. A potentiometer 42 and a rotating bracket 43 are provided on a support base 41 provided at the front end of the traveling machine body 2, and an operating arm 42a of the potentiometer 42 is provided via an interlocking rod 44 formed of an arc-shaped spring plate attached to the rotating bracket 43. Is being pressed,
The rotating bracket 43 and the outer surface of the feeder house 11 are connected by a spring-like connecting rod 45. Similarly to the above, the actuating arm 42a is always spring-biased in the direction of pressing the interlocking rod 44. Further, the interlocking rod 44 is formed in a circular arc shape with a spring plate, so that the feeder house 11 is rapidly rotated up and down, so that the interlocking rod 44 moves from the operating arm 42a.
It is designed so that the impact force is not transmitted to.

FIG. 6 shows the relationship between the output voltage V (0V to 5V) of the potentiometer 40 of the height sensor 31 and the potentiometer 42 of the position sensor 32 and the height mm from the field 30 to the tip of the cutting blade 20. FIG. 4 is a diagram showing a solid line potentiometer 40 (height detection range is 0 mm to 120 mm), and a dotted line is potentiometer 42 (height detection range is −200 mm to
+1400 mm. The minus sign indicates that the tip of the cutting blade 20 is located lower than the field scene 30).

FIG. 7 is a functional block diagram of an electronic (microcomputer type) controller 50 for controlling the pre-mowing processor of the present invention so as to maintain it at a target height. CPU), read-only memory (ROM) storing control programs, and readable / writable memory (RA) storing various data
M) and an input / output interface 51.

The input section of the input / output interface 51 is provided with a threshing switch 52 for setting the threshing clutch for connecting the threshing section 6 to ON (power connection) and OFF (power shutoff) for connecting the power transmission to the threshing section 6 and the reel 19. A reel clutch switch 53 for setting ON / OFF of a reel clutch for interrupting power transmission, a manual cutting height raising switch 54 for raising the cutting pretreatment device 15 to manually adjust the cutting height, and also lowering. At this time, the manual cutting height lowering switch 55, the reel manual raising switch 56 for manually raising the reel 19, the reel manual lowering switch 57 for similarly lowering the reel 19, and the cutting pretreatment device 15 at the edge or the like.
Lift switch 58 forcibly raising it to a predetermined height (a high position where it does not collide with the ridges), an automatic return switch 59 for returning to the control mode previously selected by the control mode changeover switch 60 as described later, The ground cutting height control mode setting unit (output terminal) 61 in the control mode changeover switch 60, the body cutting height control mode setting unit (output terminal) 62 in the control mode changeover switch 60, and the cutting clutch ON / OFF are also set. A reaping switch 63, a signal input to the position sensor 32,
The input signal of the ground height sensor 31, the setting device 64 including a variable resistor and the like for setting the target height of the cutting pretreatment device 15 from the field scene, and also including the variable resistor and the like, the height of the reel 19 Reel height setter 65 for setting the reel 1 and reel 1 from the reference position in the pre-mowing treatment device 15.
9 A reel height sensor 66 for detecting the height is connected.

At the output of the input / output interface 51, the lifting hydraulic cylinder 12 is operated to lift the electromagnetic solenoid 67 in the electromagnetic hydraulic switching valve for lifting the pre-mowing treatment device 15, and the electromagnetic solenoid 67 is also lowered. Lowering side electromagnetic solenoid 68 for moving the reel 19, and the lifting side electromagnetic solenoid 69 in the solenoid hydraulic pressure switching valve in the reel lifting hydraulic cylinder 28 for raising the reel 19.
Similarly, an alarm that gives an alarm when it is determined that the lower end of the cutting blade 20 of the pre-mowing treatment device 15 is lower than the field scene 30 from the detection results of the descending electromagnetic solenoid 70 for descending and the ground height sensor 31. A buzzer 71 is connected.

Then, the control mode changeover switch 60
The setting device 64, the lift switch 58, and the automatic return switch 59 are arranged on the operation panel 72 of the control unit 4, and the lift switch 58 and the automatic return switch 59 change the power from the engine. It is provided on the side surface or the like of the grip portion of the main transmission lever 73 of the mission. Here, the automatic return switch 59 is a so-called touch switch (push switch) that outputs one ON pulse signal by pressing the switch once, and is a non-lock type.

In the control mode changeover switch 60,
As shown in FIG. 8, when the pointer is aligned with the display of "PO", the cutting height control mode setting unit 62 for the machine is set to high (O).
N) state, when you put the pointer on the "Mow" display,
When the height to ground cutting control mode setting unit 61 is in the high (ON) state and the pointer is aligned with the display of "OFF", the setting of the automatic control mode is canceled.

In the setter 64 for setting the target value of the cutting height, the pointer is set continuously (analog) or stepwise (digitally) from the right side (high) to the left side (low) in FIG. The value can be changed, and the target is set by the one setting device 64 when the control mode changeover switch 60 selects either the ground cutting height control mode or the aircraft body cutting height control mode. The value is shared so that any value from "high" to "low" can be set.

In this case, as shown in FIG. 6, the detection range by the ground height sensor 31 and the position sensor 32.
Although the absolute value of the target value by the setter 64 differs according to the detection range, the magnitude relationship of the target values is the same, and a strict value is not required when setting the cutting height. In view of this, as shown in FIG. 10, the position of the knob of the setting device 64 and the ground height (mm)
If set in relation to
If the knob (pointer) 4 is set at an arbitrary position, the target value can be set to approximately "high position", "medium height position", "low position", or the like.

However, if the operator once sets the target value by the setting device 64 in consideration of the degree of weakness of the field, for example, if the operator sets it at the position of Q1 in FIG. In the anti-ground cutting height control mode, the control mode changeover switch 6 is executed to execute the cutting threshing work at the cutting height Y1 which is close to the field scene 30 and to select the anti-machine body cutting height control mode.
When 0 is switched, the cutting blade 20 moves up from the farm scene 30 so that the cutting blade 20 is located at a height position of Z1 (a value much larger than the value of Y1). In FIG. 10, Y
The range from o to Yx is the range that can be automatically controlled in the ground cutting height control mode, while the range from Zo to Zx is the range that can be automatically controlled in the machine cutting height control mode.

Next, referring to the flow charts of FIGS. 11 to 13, the control mode for the control of the mowing threshing work and the selection of the above-mentioned ground cutting height control mode or the machine-to-machine cutting height control mode will be described. In the main flow chart shown in FIG. 11, the threshing switch 5 follows the start.
It is determined whether or not 2 is in the ON state (step S1). When the threshing switch 52 is ON, power is transmitted to the threshing unit 6 and the like to be in a threshing and sorting work preparation completion (standby) state.

Next, in step S2, the reaping switch 63
The ON state of is determined. When the mowing switch 63 is ON, power is transmitted to the mowing pretreatment device 15.
Each switch 52, 6 in all kisses 1 and step S2
When 3 is not turned on, the process returns. Next, it is determined whether or not a manual operation such as pressing the manual raising switch 54 or the manual lowering switch 55 has been performed (step S
3). When the manual operation is performed (step S3, yes), the automatic return flag F is reset to 0 (step S4).

Next, in step S5, the selected position of the control mode changeover switch 60 is determined. Prior to this, the setting of the target value Y1 (Z1) by the setter 64 is executed. When it is "OFF" in step S5, the process returns. When the "ground cutting height control mode" is selected in step S5, the detection value L1 of the ground height sensor 31 is read (step S6), and then the detection value L1 is cut in the "ground cutting height control mode". Height controllable range (Yo to Y
It is determined whether it is within x) (step S7). If it is within this range, the ground cutting height control described in detail below is executed (step S8).

Next, when the answer to the step S7 is no, that is, when the "ground cutting height control mode" is selected but is out of the ground cutting height controllable range, for example, In the cutting height control mode, the manual raising switch 54 or the manual lowering switch 55 is pushed to execute a manual mode of raising or lowering the mowing pretreatment device 15, or the lift switch 58 is pushed at the ridge to perform the mowing pretreatment. This is a case where the detected value L1 is out of the ground cutting height controllable range (Yo to Yx) by forcibly raising the device 15 by a large amount. In such a case, when the operator wants to return to the ground cutting height control mode, when the operator presses the automatic return switch 59 once, the automatic return flag F is set to "1".

Therefore, in step S9, it is determined whether or not the automatic return flag F is in the set state, and when it is not set (step S9, no), the process returns. When the automatic return flag F is set (step S9, yes), the automatic return flag F is reset to 0 again (step S10), and then the ground cutting height control of the step S8 is executed. As will be described later, in the ground cutting height control, since the detection value L1 by the ground height sensor 31 is read again before the cutting height control is executed, the cutting blade 20 is set in the field scene 30. You can avoid the situation of collision with. In this way, it is possible to quickly return to the "ground cutting height control mode" which has been selected in advance by the control mode changeover switch 60, so that the operation of the operator is extremely simple.

Next, in the step S5, the control mode changeover switch 60 is operated to set the "machine height control mode".
The control mode is not immediately changed even if the control mode is selected to, but the automatic return flag F is set to "1" by pressing the automatic return switch 59 once, and then the height control for cutting the machine is described. (Step S12) will be executed.

The cutting height control for the machine is performed by the pre-mowing processing device 15
The height of the cutting blade 20 in the field scene 30 is large,
Therefore, this is performed in a case where the unevenness of the field scene 30 is severe or only the spikes of the grain culms are cut to reduce the amount of grain culms introduced into the threshing unit 6 to reduce the threshing load. Then, during this operation, the manual raising switch 54 or the manual lowering switch 55 is pressed to perform a manual operation of raising or lowering the mowing pretreatment device 15, or the lift switch 58 is pushed at the ridge to perform the mowing pretreatment device. If a manual operation such as forcibly raising 15 is interrupted, the steps S3 and S4 are performed, so that the "machine cutting height control mode" is once released, that is, no at step S11. It becomes the state of.

Therefore, in step S11, when the automatic return flag F remains in the reset state,
Regardless of whether it is in the manual mode or not, in step S13, it is determined whether the detection value L1 of the ground height sensor 31 is smaller than the value α. The value α is a value when the cutting blade 20 is close to the field scene 30, and indicates a state in which there is a risk that the cutting blade 20 collides with the ground. When the detected value L1 is smaller than the value α (step S13, yes), the raising solenoid 67 is driven to raise the reaping pretreatment device 15 (step S14). Thereby, it is possible to reliably prevent the cutting blade 20 from colliding with the farm scene 30. When the detected value L1 is larger than the value α (step S13, n
o), leave it to manual operation.

FIG. 12 is a flow chart of the subroutine for controlling the height above the ground. Here, following the start,
The data of the detection value L1 of the ground height sensor 31 is input (step S15), and the data of the setting value Y1 of the setting device 64 is input (step S16). Then, the deviation Δθ between the detected value L1 and the set value Y1 is calculated (step S17). The deviation Δθ and the vehicle speed v of the traveling vehicle are used as antecedent parts, or the fuzzy inference is executed by using the time change rate Δθ / t of the deviation and the vehicle speed v of the traveling vehicle as antecedent parts to perform the lifting hydraulic pressure. The operation amount K of the electromagnetic solenoids 67 and 68 in the electromagnetic switching valve of the cylinder 12 is calculated (step S18). Then, based on the operation amount K, the lifting hydraulic cylinder 12 is operated to execute the lifting control of the pre-mowing treatment device 15 (step S19).

FIG. 13 is a subroutine flow chart for controlling the cutting height of the machine. Here, following the start, the data of the detected value L2 of the position sensor 32 is input (step S20), and the set value of the setter 64 is set. The data of Z1 is input (step S21). Then, the deviation Δβ between the detected value L2 and the set value Z1 is calculated (step S22). The deviation Δβ and the vehicle speed v of the traveling machine body are used as antecedent parts, or the temporal change rate Δβ / t of the deviation and the vehicle speed v of the traveling machine body are used as antecedent parts to execute fuzzy inference to raise and lower the hydraulic pressure. The operation amount M of the electromagnetic solenoid in the electromagnetic switching valve of the cylinder 12 is calculated (step S23).

By the way, during the cutting height control mode for the machine, the traveling machine body 2 may plunge into a highly uneven portion of the field, or the cutting pretreatment device 15 may be approached at the edge of the ridge. In this state, when the ground height sensor 31 comes into contact with the ground or the ridge, the detected value L2 is out of the range of Zo to Zx, which is outside the range that can be automatically controlled in the machine height control mode. Therefore, controlling the mowing pretreatment device 15 up and down based on the manipulated variable M causes a malfunction. Therefore, in step S24, the detection value L1 by the ground height sensor 31 is read, and it is determined whether or not the detection value L1 is within the range of the ground cutting height control (within the range of Yo to Yx) (step S25). ), If it is determined to be within the above range (step S25, yes), the raising solenoid 67 is turned on to forcibly operate the lifting hydraulic cylinder 12 to raise the cutting pretreatment device 15 (step). S26). On the contrary, when it is determined in step S25 that it is within the range, the lifting hydraulic cylinder 12 is operated with the operation amount M based on the fuzzy inference to execute the lifting control of the mowing pretreatment device 15 (step S27). ).

With these controls, the handling operation of the mowing pretreatment device 15 becomes extremely convenient, and it is possible to prevent accidents in which the mowing pretreatment device 15 accidentally descends and collides with the ground, which is safe. In a general-purpose combine of this type, when an operator manually cuts a grain culm planted in a headland of a field and then throws it into the combine pre-processing device 15 of the combine to perform only the threshing work. There is. At this time, it is necessary to stop the traveling machine body 2 and bring the pre-mowing treatment device 15 into a lowered state such as grounding it to stop the reel 19 and rotationally drive the scraping auger 25. Therefore,
In order to ensure the safety of the operator, a subroutine flowchart for raising / lowering and drive control of the reel 19 as shown in FIG. 14 is executed. That is, following the start, it is determined whether or not the reel clutch switch 53 operated by the operator is in the ON state (step P1). When the reel clutch switch 53 is ON, the reel 19 rotates,
When it is OFF, it stops. When it is determined that the reel clutch switch 53 is ON (step P1,
Yes), the reel control prohibition flag is turned on (step P2), and when it is judged that the reel clutch switch 53 is off (step P1, no), the reel control prohibition flag is released (step P3). When the reel control prohibition flag is turned on, the reel 19
The operation of the reel lifting hydraulic cylinder 28 for lifting and lowering the reel is prohibited, and the hydraulic cylinder 28 is lifted by releasing the reel control prohibition flag.
Is allowed to operate.

Needless to say, the present invention can also be applied to ordinary self-propelled self-removing combine harvesters.

[Brief description of drawings]

FIG. 1 is a side view of a general-purpose combine.

FIG. 2 is a plan view of a general-purpose combine.

FIG. 3 is a schematic side view of a pre-mowing treatment device.

FIG. 4 is a side view of a ground height sensor.

5A is a side view of the position sensor with the pre-mowing treatment device in the lowered state, and FIG. 5B is a side view of the position sensor with the pre-mowing treatment device in the raised state.

FIG. 6 is a diagram showing a relationship between an output voltage of a ground height sensor and a position sensor and a ground height.

FIG. 7 is a functional block diagram of a control device.

FIG. 8 is a plan view of a main portion of a control unit.

FIG. 9 is a side view of a main part of a control unit.

FIG. 10 is a diagram showing a scale of a setting device and a height control range of height control for ground cutting and height control for body cutting.

FIG. 11 is a main flowchart.

FIG. 12 is a sub-routine flow chart for ground cutting height control.

FIG. 13 is a flowchart of a subroutine for controlling a height of cutting a machine.

FIG. 14 is a subroutine flowchart of reel height control.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Harvester 2 Traveling machine 6 Threshing part 12 Elevating hydraulic cylinder as an elevating actuator 15 Mowing pretreatment device 31 Ground height sensor 32 Position sensor 50 Control device 58 Lift switch 59 Automatic reset switch 60 Control mode switch 64 Setter

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[Procedure amendment]

[Submission date] October 21, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0027

[Correction method] Change

[Correction content]

Further, the output of the output interface 51 actuates the elevating hydraulic cylinder 12, ascending side electromagnetic solenoid 67 in the electromagnetic hydraulic pressure changeover valve for raising the pre-processing unit 15 reaper, it is also lowered Descending side electromagnetic solenoid 68 for raising the reel 19, and an ascending side electromagnetic solenoid 69 in the solenoid hydraulic pressure switching valve in the reel lifting hydraulic cylinder 28 for raising the reel 19.
Similarly, an alarm that gives an alarm when it is determined that the lower end of the cutting blade 20 of the pre-mowing treatment device 15 is lower than the field scene 30 from the detection results of the descending electromagnetic solenoid 70 for descending and the ground height sensor 31. A buzzer 71 is connected.

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 3

[Correction method] Change

[Correction content]

[Figure 3]

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 4

[Correction method] Change

[Correction content]

[Figure 4]

[Procedure amendment 4]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 5

[Correction method] Change

[Correction content]

[Figure 5]

Claims (3)

[Claims] 1. A mowing pretreatment device is mounted on the front surface of a traveling machine body of a harvesting machine equipped with a threshing unit and the like so as to be vertically movable by driving an elevating actuator, and a cutting blade in the mowing pretreatment device is set to a target height. In a combine comprising control means for controlling the raising and lowering actuator so that the part is located, a ground cutting height control mode for controlling the cutting pretreatment device to move up and down based on a detection value of the ground height sensor, and a traveling machine body On the basis of the detection value of the position sensor with respect to the reference height position, the control mode changeover switch for selectively changing over to the machine height control mode for controlling the mowing pretreatment device is provided, while the control mode changeover switch A combine characterized in that one height setting device for setting the target height is shared by the two control modes regardless of the switching operation. Lifting control device for pre-cutting device. 2. A cutting pretreatment device is mounted on a front surface of a traveling machine body of a harvester equipped with a threshing part and the like so as to be able to move up and down by driving an elevating actuator, and a cutting blade in the cutting pretreatment device is set to a target height. In a combine comprising control means for controlling the raising and lowering actuator so that the part is located, a ground cutting height control mode for controlling the cutting pretreatment device to move up and down based on a detection value of the ground height sensor, and a traveling machine body A control mode changeover switch for selectively changing over to the machine height control mode for controlling the mowing pretreatment device based on the detection value of the position sensor with respect to the reference height position of the control mode. The control mode is configured such that the raising and lowering operation of the mowing pretreatment device can be performed in the manual mode with priority to the setting to the one side, and the automatic return switch is turned on. While controlling to return to the preset control mode by the changeover switch, at the time of the manual mode operation while setting the ground cutting height control mode by the control mode changeover switch, the ground height sensor is set on the ground. An elevating control device for a cutting pretreatment device in a combine, which is controlled to return to an original ground cutting height control mode when it is detected that the contact is made. 3. A cutting pretreatment device is mounted on a front surface of a traveling machine body of a harvester equipped with a threshing part and the like so as to be able to move up and down by driving an elevating actuator, and a cutting blade in the cutting pretreatment device is set to a target height. In a combine comprising control means for controlling the raising and lowering actuator so that the part is located, a ground cutting height control mode for controlling the cutting pretreatment device to move up and down based on a detection value of the ground height sensor, and a traveling machine body A control mode changeover switch for selectively changing over to the body height control mode for controlling the mowing pretreatment device based on the detection value of the position sensor with respect to the reference height position of the control mode changeover switch. When the machine height control mode is set, if the ground height sensor determines that the ground height sensor is in contact with the ground, control is performed to raise the cutting pretreatment device. An elevation control device for a pre-mowing treatment device in a combine, comprising: