JPH08308352A - Reaping system for harvester - Google Patents

Abstract

PURPOSE: To provide a reaping system designed to facilitate simplification of the turning operation for a harvester which is conducted by temporarily halting an automatic control of reaping height by a sensor to detect the height of a reaping section above the ground and an elevation member. CONSTITUTION: In this reaping system equipped with a sensor 24 to detect the height of a reaping section 7 above the ground and an elevation member 8 for the reaping section 7 so as to conduct an automatic control of reaping height for automatically regulating the grain culm reaping height for the reaping section 7, and also equipped with a lift switch 37 for the elevation of the reaping section 7, there is provided a controller 32 to automatically elevate the reaping section 7 to a non-reaping work height when the reaping section is at a specified height or lower while automatically lowering it to a reaping height subject to automatic control when it is at the specified height or higher, by one-touch operation of the lift switch 37.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a harvesting device for harvesters such as combine harvesters that continuously harvest grain culms.

[0002]

[Problems to be Solved by the Invention]
As disclosed in Japanese Patent No. 04031, a sensor detects the ground height of a mowing unit, controls an electromagnetic switching valve to operate an elevating cylinder, automatically performs cutting height control, and a lift switch as a lift switch which is switched by the sensor. There is a technique for connecting the two in parallel and operating the lift switch to raise the cutting unit. In the prior art, in order to raise the mowing unit by the lift switch to a non-mowing work height higher than the height of automatic cutting height control of the sensor, it is necessary to stop the automatic cutting height control of the sensor. When the direction is changed in the field headland during the mowing work, the structure is such that in addition to the steering operation and the traveling speed change operation, in addition to the lift switch operation, the cutting height automatic control of the sensor is turned on and off. There is a problem that it is not possible to easily simplify the direction change operation and prevent forgetting the operation. In addition, Japanese Patent Publication Sho 59-
As disclosed in Japanese Patent No. 16726, an elevating switch that raises and lowers a mowing unit to a height set by an operator and supports the mowing unit, and a raising switch that raises and supports the mowing unit to a certain height (for a set time of a timer) are provided. There is technology. In the prior art, when changing the direction in a field headland during the mowing work, the raising switch is switched to raise the cutting unit before changing the direction, and the raising / lowering switch is changed after changing the direction to perform height setting operation. Since the structure lowers the cutting part, it is necessary to switch two different switches before and after the direction change, and when a sensor for detecting the ground height of the mowing part is provided to automatically control the cutting height. However, there is a problem in that a switching structure between the two cutting height controls cannot be easily obtained, and it is not possible to easily improve operability and simplify the control mode switching structure.

[0003]

According to the present invention, however, a sensor for detecting the height of the mowing section above ground and an elevating member for raising and lowering the mowing section are provided to automatically adjust the grain cutting height of the mowing section. In the harvesting device of the harvester, which is equipped with a lift switch that raises and lowers the mowing unit, the harvesting unit automatically operates up to the non-mowing work height when the mowing unit is below a certain height by one-touch operation of the lift switch. It is equipped with a controller that automatically raises it to a certain height and automatically lowers it to a height when it is below a certain height.When changing the direction in the field headland during the cutting work, before cutting The operation of supporting the cutting section at the non-mowing work height and the operation of supporting the cutting section at the cutting height automatic control height after changing the direction,
It can be performed only by one-touch operation of the lift switch, and it is possible to easily simplify the direction changing operation performed by temporarily suspending the automatic cutting height control by the sensor for detecting the ground height of the mowing section and the elevating member. It is possible to easily improve the control functions of both the automatic cutting height control of the sensor and the automatic lifting control of the lift switch, and simplify the control structure.

[0004]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a block diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view thereof. In the figure, (1) is a track frame on which traveling crawlers (2) are mounted,
(3) is a machine base fixedly supported on the track frame (1), (4) is mounted on the machine base (3), and a feed chain (5) is stretched on the left side to incorporate a handling cylinder (6) The threshing unit, (7), is installed so as to be able to ascend and descend in front of the threshing unit (4) via an elevating cylinder (8), and a grain culm raising device (9), a cutting blade (10) and a grain culm conveyer. A mowing part provided with a mechanism (11), (12) a straw cutting part which is provided on the rear side of the threshing part (4) and faces the end of a straw chain (13) connected to the feed chain (5), ( 14) is a paddy tank for storing the grains extracted from the threshing unit (4) via the fried cylinder (15), (16) is a driver's seat on which an operator sits,
(17) is a driving operation section provided in front of and on the left side of the driver's seat (16), and (18) is an engine section for driving each section of the combine, and is configured to continuously perform cutting and threshing.

The left and right side clutch levers (19)
(19), a traveling main transmission lever (20), a traveling auxiliary transmission lever (21), a threshing / harvesting clutch lever (22), and a harvesting elevating / lowering operation lever (23) are arranged in the driving operation section (17), An ultrasonic cutting height sensor (24), which is a non-contact sensor for detecting the ground height of the mowing unit (7), is provided below the mowing unit (7).

Further, as shown in FIG. 1, the tip of the piston rod (8a) of the lifting cylinder (8) mounted on the machine base (3) is connected to the mowing section (7), and the cylinder (8) is also attached.
Is connected to a hydraulic pump (26) through a 3-port 3-position switching type electromagnetic switching valve (25).

A cutting clutch on / off member for inputting the driving force from the engine section (18) to the cutting section (7) through the cutting clutch (27) and automatically turning on and off the clutch (27). Mowing clutch motor (2
8) is provided.

When the motor (28) is driven in the normal direction ("ON" drive), the shift (29) screwed onto the motor screw shaft (28a) is moved to the right until the input side limit switch (30) is turned off. , The movable side clutch pawl (27a) meshes with the fixed side clutch pawl (27b).

When the motor (28) is driven in the reverse direction ("off" drive), the shift (29) is moved to the left until the off-side limit switch (31) is turned off, and each clutch pawl (27a) (27b) is moved. Release the meshing of.

The following are connected to the input ports of the control unit (32) composed of a microprocessor or the like. 1. A threshing switch (33) that detects the threshing clutch engagement operation of the threshing / rearing clutch lever (22). 2. A mowing switch (34) for detecting the operation of the mowing clutch (27) of the threshing / mowing clutch lever (22). 3. Automatic cutting height switch (35) for selecting whether or not to perform automatic cutting height control. 4. Automatic cutting clutch switch (36) for selecting whether to interlock the cutting clutch (27). 5. A lift switch (37) provided on the traveling main transmission lever (20) for raising the cutting unit (7) to the turning height with one touch when turning, for example. 6. A back switch (38) for detecting a reverse shift operation of the traveling main transmission lever (20). 7. Cutting height sensor (24). 8. Input and disconnect limit switches (30) (31) of the reaping clutch motor (28). The following are connected to the output port of the control unit (32). 9. Ascending / descending solenoids (25a) (25b) of the electromagnetic switching valve (25). 10, Mowing clutch motor (28). 11. Automatic cutting height lamp (39). 12. Mowing clutch lamp (40) displaying the interlocking state of the mowing clutch (27).

It should be noted that the selection of the on / off of the reaping clutch (27) is made by the operation lever (22) as usual, but the clutch (27) is operated by the operation of the motor (28) even when the lever (22) is on. This is a situation where the cutoff occurs.

The set values H1 to H6, which will be described later, are in the relationship of H1 <H2 <H3 <H4 <H5 <H6. The first set value (H1) is the dead zone lower limit position of the cutting height sensor (24). The second set value (H2) is the dead zone upper limit position of the sensor (24). The third set value (H3) is the upper limit position of the drive of the cutting clutch motor (28). The fourth set value (H4) is the off drive lower limit position of the motor (28). Fifth set value (H
5) is the judgment position above the lift switch (37). The sixth set value (H6) is set at the lower judgment position of the lift switch (37).

This embodiment is constructed as described above,
The operation will be described below with reference to the flowcharts of FIGS. Each flag has the following meaning. The S flag is for determining whether or not automatic cutting height control is to be performed.
"1" disables control (manual hold), "0" releases control prohibition. The up flag is for determining whether or not the reaper (7) is to be raised, and when it is "1", the up solenoid (2
5a) ON, "0" raises solenoid (25a) OFF.
The down flag is for determining whether or not the lowering of the mowing unit (7) is performed, and when the down flag is "1", the down solenoid (25
b) ON, down solenoid (25b) OFF at "0". The automatic lamp flag is used to determine whether the automatic cutting height control is activated or stopped. When the automatic cutting flag is "1", the automatic cutting height lamp (39) is on, and when it is "0", the lamp (39) is off. The lift flag is used to determine whether or not the mowing section needs to be raised,
When the lift switch (37) is turned on at "1", the ascent continues, and when "0", the ascent is stopped. First, in steps 1 and 2, the above flags are initialized. Next, the process branches into a manual mode and an automatic mode depending on whether or not the reaper raising / lowering operation lever (23) has been operated (step 3).

[Manual mode] Mowing lift operation lever (2
3) is operated, the S flag which is the manual holding flag is set to 1 (step 4), and the down flag or the up flag is set to 1 according to the direction in which the operation lever (23) is operated (step 5,). 6, 7). Then step 33
Jump to the subsequent actuator operation block, and if the up flag is 1, turn on the up solenoid (25a),
If the down flag is 1, the down solenoid (25b) is turned on. (Steps 33, 34, 35, 36).
(That is, setting the up flag to 1 is synonymous with issuing an ascending command, and setting the down flag to 1 means issuing a descending command.) Return to step 3 again, but at this point Even if the reaper raising / lowering operation lever (23) is not operated in step S, the S flag is set to 1, so the process proceeds to step 15 in step 14 (the automatic control mode of steps 29, 30, 31, 32). It does not move to, but the manual holding state is maintained.

[Automatic Mode] In step 3, when the reaper raising / lowering operation lever (23) is not operated, if S flag is 0 and the following conditions are met, step 29-
The automatic cutting height control mode of 32 is entered. 1, threshing switch (33) on (through clutch on)
(Judgment in step 8) 2. Automatic cutting height switch (35) is turned on (step 11
3. Judgment switch (34) on (cutting clutch on)
(Determined in step 13) 4, touch operation of the lift switch (37) is not performed (determined in step 15) ... later described 5, back switch (38) is off (determined in step 28) ... later In step 1, the S flag is set to 1 by initialization. It is in step 12 that the S flag is set to 0. In order to set the S flag to 0, it is necessary to change from the state in which 2 and 3 of the above conditions of automatic control are lacking to the state in which they are once aligned.

The above-mentioned configuration is based on the following reasons. During the previous work, it happened that the cutting height automatic switch (3
When 5) is turned on, there is a danger that automatic cutting height control will start without the operator's prediction. Therefore, until the cutting clutch (27) is once disengaged and the automatic cutting height switch (35) is turned off, the S flag is set to 1 and the manual holding is continued. Further, the S flag is set to 1 when the threshing clutch is disengaged (step 9), because it is unnatural to start the cutting height automatic control as soon as the threshing clutch is engaged. After setting and resetting these S flags,
In step 10, the lift flag is set to 0.
(This lift flag will be described in detail later.)

The automatic cutting height control in steps 29 and 31 will be described. If the height (h) of the cutting unit (7) detected by the cutting height sensor (24) is lower than (H1), the up flag is set to 1 (a rising command is issued) (step 29,
30) If the height (h) of the cutting unit (7) detected by the cutting height sensor (24) is higher than (H2), the down flag is set to 1 (down command is issued) (steps 31, 3).
2). Then, the determination is made in steps 33 and 35 of FIG. 6, the process proceeds to steps 34 and 36, and the cutting height automatic control is performed.

[Lift Switch] In steps 15 and 24, it is judged whether or not the lift switch (37) is touch-operated, and the control is branched. When this lift switch (37) is touch-operated (steps 20 and 2)
5) The purpose is to perform the next operation. If the height (h) of the reaper (7) is lower than (H5), set the up flag to 1
(Step 21) The height (h) of the reaper (7) is (H5)
If it is higher, the down flag is set to 1 (step 22).

When the lift switch (37) starts ascending, the ascent continues to the height of (H6).
At the same time that the up flag is set to 1, both the S flag and the lift flag are set to 1. Therefore, when the lift switch (37) starts ascending, the S flag becomes 1. Therefore, the routine always branches to step 15 in step 14 and to step 17 in step 16. The height of the reaper (7) determined in step 17 is (H
Until 6) or more, the lift flag is not reset and the lift continues. (Steps 18 and 19)

On the other hand, by operating the lift switch (37) to set the down flag to 1 in steps 22 and 26, the process proceeds to step 36 in step 35, and the operation of lowering the reaper (7) is performed. In step 31, the height (h) of the mowing unit (7) is lowered until it becomes lower than (H2).

[Back switch] In step 28, it is judged whether or not the back switch (38) is turned on. The switch (38) is a switch that is turned on when the shift shift is set to the reverse as described above. It is provided to raise the reaper (7) when the aircraft is moved backward. That is, when the back switch (38) is turned on, the lift flag is set to 1, the up flag is set to 1 and the S flag is set to 1 as described above (step 27), and the mowing unit (7) is set to (H
Raise it until it is above the height of 6).

[Automatic Ramp] Whether the S flag is 1 or 0 is determined in step 14. When the S flag is 0, the automatic ramp flag is set to 1 (step 2).
3). Whether or not the cutting height automatic lamp (39) is turned on is determined depending on whether the automatic lamp flag is 1 or not. (Steps 38, 39, 40)

The control (automatic off control of the reaping clutch (27)) corresponding to the gist of the present invention will be described. In steps 41, 42 and 43, the automatic reaping clutch (27)
It is determined whether or not the on / off control is performed. The automatic cutting clutch (27) on / off control is performed when the following conditions are met. 1, threshing switch (33) on (step 41) 2, mowing switch (34) on (step 42) 3, automatic cutting height switch (35) on (step 4)
3) If this condition is not satisfied, the automatic cutting clutch (27) on / off control is stopped.

[Discontinue automatic control of cutting clutch on / off] In step 44, after turning off the automatic cutting clutch lamp (40), the cutting clutch (27) is turned on (until the input side limit switch (30) is turned off). ) Drive control. (Steps 45 to 49) That is, when the on / off control is not performed, there is no contradiction between the manual operation of the reaping clutch lever (22) and the continuous state of the reaping clutch (27).

[Automatic control of cutting clutch on / off] Step 5
At 0, the mowing clutch automatic lamp (40) is turned on. (Automatic entry of cutting clutch) In step 51, only when the height (h) of the cutting section (7) is (H5) or less and the down flag is 1, the motor (28) is turned on (clutch entry side operation). I am configuring. (Steps 51, 5
2, 53, 54, 55) As described above, "the down flag is 1" means the mowing unit (7).
This indicates that the descending drive is being performed. That is,
The cutting height sensor (2
This is because the detection value of 4) is equal to or less than the set value (H5) and only when the cutting unit (7) is driven downward.

(Automatic disengagement of reaping clutch) After step 56, the motor (28) disengagement operation is performed only when the height (h) of the reaping unit (7) is (H6) or more and the up flag is 1. (Steps 56, 57, 58, 59, 60) That is, the cutting clutch (27) is disengaged when the detection value of the cutting height sensor (24) is equal to or higher than the set value (H6) and the cutting unit (7).
This is only when driving up. In these processes, if the motor (28) has already moved to the side to be actuated, the motor is not started from the beginning.
(Steps 53, 58)

Further, in steps 61, 62, 63 and 64, the input side switch or the off side limit switch (30) (3
When 1) is turned on, the operation of the motor (28) is stopped to prevent the seizure of the motor (28).

Therefore, the threshing / rearing clutch lever (2
2) The threshing part (4) and the mowing part (7) are driven by the operation, and the mowing height of the mowing part (7) is set to a substantially constant height, that is, the first setting by turning on the automatic mowing height switch (38). Value (H1)
And the second set value (H2), the reaper (7) is driven upward when the value is lower than the first set value (H1) and is higher than the second set value (H2). 7) is driven downward.

Further, as apparent from the flow charts of FIGS. 4 to 6, a sensor (24) for detecting the ground level of the mowing section (7) and an elevating cylinder which is an elevating member for elevating the mowing section (7). (8) is provided to perform automatic cutting height control for automatically adjusting the cutting height of the cutting section (7), and a lift switch (3) for moving the cutting section (7) up and down.
In the harvesting device of the harvester provided with 7), the height of the non-mowing work (H6 or more) when the mowing section (7) is below a certain height (H5) by one-touch operation of the lift switch (37).
A control section (32) that is a controller that automatically raises the height to a certain height (H5) or less and automatically lowers to the cutting height automatic control height (H2 or less) is provided during the cutting operation. At the time of changing the direction in the field headland, the operation of supporting the mowing part (7) at the non-mowing work height before the direction change and the operation of supporting the mowing part (7) at the automatic cutting height after the direction change. The operation is performed only by one-touch operation of the lift switch (37) to temporarily suspend the automatic cutting height control by the sensor (24) for detecting the ground height of the mowing section (7) and the elevating member (8). In addition to simplifying the direction changing operation performed by the above, the control functions of both the cutting height automatic control of the sensor (24) and the lifting automatic control of the lift switch (37) are improved, and the control structure is simplified. .

Further, the operator controls the control section (32), which is a controller, by the lift switch (37) to give priority to the raising and lowering operation of the reaper section (7), and the work is performed after the operation of the lift switch (37). When the worker determines that it is inconvenient, the operator switches to an appropriate operation, whereby the operation based on the operation of the lift switch (37) is released and the reaper (7) can be supported in a state desired by the operator,
The lower limit height setting value (H5) for raising the mowing section (7) by the automatic control of the control section (32) and the upper limit height setting value (H5) for lowering the mowing section (7) are substantially the same. Let
The lift switch (37) is operated to perform the raising control and the lowering control of the cutting unit (7) based on substantially the same set value (H5), and the automatic control mode is changed to perform the raising control, the lowering control, and the cutting height control. The standard is configured so that it can be easily initialized.

When the cutting clutch automatic switch (38) is turned on during the automatic cutting height control, for example, when turning at a ridge, the cutting switch is operated by touching the lift switch (40). (7) is lifted and supported at the turning height (sixth set value (H6)), the cutting clutch motor (29) is driven "off", and the driving of the cutting unit (7) is automatically interrupted. Mowing unit after turning (7)
Is again lowered to the cutting height control range (third set value (H3) or less), the clutch motor (29) is “ON”.
It is driven and the drive of the reaper (7) is restarted.

[0032]

As is apparent from the above embodiments, the present invention provides a sensor (24) for detecting the ground height of the reaper (7).
And an elevating member (8) for elevating the reaper (7),
In the harvesting device of the harvester, the harvesting device is provided with a lift switch (37) for automatically raising and lowering the harvesting unit (7) while automatically controlling the harvesting height of the harvesting unit (7). By one-touch operation of the switch (37), when the mowing part (7) is below a certain height, it is automatically raised to the non-mowing work height, and when below the certain height, it is automatically adjusted to the cutting height. Controller to lower (3
2) is provided, the operation of supporting the mowing part (7) at the non-mowing work height before the direction change and the cutting part (7) after the direction change at the field headland during the mowing work. ) Can be supported by the one-touch operation of the lift switch (37), which makes it possible to support the cutting height automatic control height.
The sensor (24) for detecting the height of the mowing unit (7) above the ground and the automatic cutting height control by the elevating member (8) can be temporarily paused to simplify the direction changing operation. It is possible to easily improve the control functions of both the automatic cutting height control of the sensor (24) and the automatic raising / lowering control of the lift switch (37) and simplify the control structure.

[Brief description of drawings]

FIG. 1 is a block diagram.

FIG. 2 is an overall side view of the combine.

FIG. 3 is a plan view of the same.

FIG. 4 is a flowchart.

FIG. 5 is a flowchart.

FIG. 6 is a flowchart.

FIG. 7 is a flowchart.

FIG. 8 is a flowchart.

[Explanation of symbols]

 (7) Mowing section (8) Lifting cylinder (elevating member) (24) Cutting height sensor (32) Control section (controller)

Claims (1)

[Claims] 1. A sensor (24) for detecting the ground height of the mowing unit (7) and an elevating member (8) for elevating the mowing unit (7) are provided, and the grain cutting height of the mowing unit (7) is provided. In the harvesting device of the harvester, which is provided with a lift switch (37) for raising and lowering the mowing unit (7) while automatically controlling the mowing height for automatically adjusting the mowing unit (one-touch operation of the lift switch (37), When 7) is below a certain height, a controller (32) for automatically raising to a non-mowing work height and automatically lowering to a non-cutting height to a cutting height automatic control height is provided. A characteristic harvester harvester.