JPH09131113A - Apparatus for controlling reaping part of combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the generation of unreaped crop at the side of an unreaped field and reduce the labor for setting the reaping part to the culm row of the side of an unreaped field. SOLUTION: A pair of a left sensor 50L for unreaped field side and a right sensor 50R for reaped field side are attached to a grass-dividing stick 15 at the side of a levee or a reaped field. The unreaped field-side sensor 50L and the reaped field-side sensor 50R are connected to a controller together with right and left ACD sensors 51R, 51L. When a culm row is detected by the reaped field-side sensor 50R, the reaping part is moved rightward to separate the reaped field-side sensor 50R from the culm row. The rightward motion of the reaping part is stopped when the culm row is detected by the unreaped field-side sensor 50L. The moving direction of the machine body is automatically controlled by the ACD sensors 51L, 51R attached to the other grass-dividing stick 15 of the reaping part. When the reaped field-side sensor 50R is separated from the culm row and the culm row is not detectable by the unreaped field-side sensor 50L, the reaping part is moved leftward and the automatic control of the moving direction is started after the detection of the culm row by the unreaped field-side sensor 50L. The reaping part is automatically moved rightward or leftward to accurately set the right edge of the reaping part to the boundary between the unreaped area and the reaped area.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is an invention for controlling a reaper of a combine to an appropriate position by moving it to the left or the right with respect to the machine body.

[0002]

Many current combine harvesters, called ACDs, automatically control the course direction of the machine body, thereby freeing the operator from the complicated steering operation during the reaping work.

In this ACD, a limit switch is provided in the cutting unit, and its operating rods are projected to the left and right sides of the weeding rod so that the operating rods are controlled so that the left and right rods do not contact the grain culms. , The combine is automatically driven along the grain culm.

Since the ACD has such a mechanism, it is important for a combine equipped with the ACD to set the reaper at a correct position with respect to the grain stem at the start of work.
If the initial position of the mowing part is mistakenly moved too deeply into the uncut area, the work will continue without remaining uncut material. In the open state, the work is continued while protruding, and as a result, the effective width of the mowing section is reduced by the amount of the protrusion, and the efficiency of the harvesting work is reduced.

Therefore, according to the present invention, in the combine with ACD, the initial position of the reaping section is automatically adjusted to an appropriate position so that the reaping section goes too deep into the uncut area or protrudes into the already cut area. The purpose is to make the combine run properly along the boundary between the cut and uncut areas of rice.

[0006]

According to the present invention, in a combine in which a grain culm sensor for detecting the presence or absence of a grain culm row and an ACD sensor are attached to a reaper that can be moved in the left-right direction of a machine body, the mowing portion has already been cut. On the left and right sides of the sward rod close to the ground, there are provided a cut-side sensor and a non-cut-side sensor for detecting the presence or absence of a row of crops, respectively, and a cutting unit moving means for moving the cutting unit to the left and right. , And each of them is connected via the control unit, and when the aforesaid cutside sensor detects that there is a row of culm, the reaping unit is moved to the side of the cultivated yard, and the sensor for the side of the cultivated ground indicates that there is no row of culms, and When both the cutting ground side sensor detects the presence of the grain culm row, the cutting part movement control for stopping the movement of the cutting part to the already cut land side is performed, and at the same time, the ACD sensor is used during the cutting part movement control. Characterized by interrupting the direction control of the aircraft .

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION A first example for carrying out the present invention is shown in FIG.
8 to 8.

Reference numeral 11 in FIG. 1 is a combine and is provided with crawlers 12, 12 on the left and right, and transmits the power of an engine (not shown) to the power transmission section 13. The power transmission unit 13 has a crawler 1
Drive shaft 13a for transmitting power to 2, 2 and cutting unit 1
4 is provided with an output pulley 14a for transmitting power. Also,
A gear box 13c for executing spin turns and mild turns is attached to the side surface of the power transmission unit 13 (see FIGS. 1 and 2).

A combiner rod 15, a grain culm raising device 16, a scraping device 17, a cutter unit 18, and a grain culm conveying unit 19 are provided at the front of the combine 11.

The grain culm transporting section 19 delivers the grain culm to the feed chain 21 and supplies it to the threshing sorting section 20 for threshing and fine selection. The straw after threshing is cut or focused by the straw processing unit and released to the ground.

The reaper 14 is provided with a rear frame 22 extending obliquely downward toward the front. The rear frame 22 has a hollow cylindrical shape, and the first transmission shaft 23 is inserted thereinto, so that power is transmitted to the grain stem raising device 16, the scraping device 17, and the cutter portion 18.

The center of the side surface of a cylindrical holding case 25 is connected to the tip of the rear frame 22 via a connecting tool 24, and a tube 26 is slidably inserted into the inside of the holding case 25. Inside the tube 26, the second transmission shaft 2 having a hexagonal cross section is formed.
7 is provided (see FIG. 3).

A first output bevel gear 28a is fixed to the first transmission shaft 23, and a first input bevel gear 28b is meshed with the first output bevel gear 28a. Fixing the first input bevel gear 28b to the bearing holding portion 29 of the holding case 25,
The bearing holding portion 29 holds the first input bevel gear 28b. Further, a hexagonal hole is formed in the first input bevel gear 28b, and the second transmission shaft 27 is inserted into this hole. Further, a long hole 30 through which the bearing holding portion 29 penetrates is formed in the tube 26.

The gear case 3 is provided at both left and right ends of the tube 26.
1, 32 are connected. The second bevel gear 33 and the third bevel gear 34 fixed to the second transmission shaft 27 are arranged in the gear case 31, and the fourth bevel gear 35 and the fifth bevel gear 36 fixed to the second transmission shaft 27 are arranged in the gear case 32. Set up.

Then, the sixth bevel gear 37, which always meshes with the second bevel gear 33, is fixed to the left cutting blade drive shaft 38, and the seventh bevel gear 39, which always meshes with the third bevel gear 34, is fixed to the scraping drive shaft 40. Also, the fourth bevel gear 3
The 8th bevel gear 41 that constantly meshes with the drive shaft 4
The ninth bevel gear 43, which is fixed to No. 2 and always meshes with the fifth bevel gear 36, is fixed to the right cutting blade drive shaft 44.

A protrusion 45 is formed on the side surface of the rear frame 22, and one end of a double-acting cylinder 46 is connected to the protrusion 45. Further, a protrusion 48 is formed on the side surface of the scraping drive shaft case 47 facing the protrusion 45, and the cylinder rod 46 a of the double-acting cylinder 46 is connected to the protrusion 48.

A front frame 49 is extended forward from the left and right gear cases 31, 32, and a plurality of weed rods 15 are extended forward of the combine from the tip of the front frame 49. The uncut land side sensor 50L and the cut land side sensor 50R are attached to the cut grass rod 15 on the cut land side, and the left and right ACD sensors 51L and 51R are attached to the other cut grass rod 15 (see FIG. 4). The uncut land side sensor 50L and the already cut land side sensor 50R are ACD sensors 51.
Use one that is slightly longer than L and 51R.

Further, a cutting height sensor 52 composed of an ultrasonic sensor is arranged at the tip of the front frame 49, and the cutting portion 18 is provided.
The height (cutting height) with respect to the ground is detected. Then, a cutting height position sensor 53 is attached to the upper end of the rear frame 22 to detect the height of the cutting unit 14 with respect to the machine body.

Then, the uncut land side sensor 50L and the already cut land side sensor 50R are connected to the input side of the control section C via the relays R1 and R2. Then, the respective contacts of the relays R1 and R2 are connected to the solenoids 54L and 54R of the electromagnetic valve that operates the double-acting cylinder 46, respectively.

Next, the flowchart of FIG. 6 will be described.

The cutting and threshing SW is turned on to start the cutting and threshing work (S1), and at the same time, the automatic SW is also turned on to activate the ACD sensor (S2).

Then, the tip of the weeding rod 15 is inserted between the rows of grain culms, and the control section C judges whether or not the cut-side sensor 50R is ON or OFF while advancing the machine body (S3).

At this time, if a grain culm row which is in contact with the already-cut area is projected outside the cutting range (W) of the reaping section 14, the protruding grain culm row cannot be cut off, but uncut areas are left uncut. In this example, the cut-ground side sensor 50R comes into contact with the overgrown grain culm row to be turned on, the relay R1 is actuated to close its contact, and the solenoid 54R is excited. As a result, hydraulic pressure is applied to the double-acting cylinder 46, and the cutting unit 14 moves to the right (to the side of the already-cut land) (S4).

As a result, if not only the cut-side sensor 50R but also the cut-side sensor 50L protrudes toward the cut-side and is separated from the uncut culm (S5), both sensors 50R.
And 50L are turned off, and the cutting unit 14 returns to the left (on the uncut area) (S6). The position of the reaper 14 is correct, the cut-side sensor 50R is OFF, and the cut-side sensor 5 is
When 0L is ON, the movement of the cutting unit 14 in the left or right direction is stopped. After that, the ACD control starts to operate (S7).

The ACD control is performed by the ACD sensors 51L, 51
Performed by R. That is, when the left ACD sensor 51L contacts the grain culm row, the aircraft changes its course to the right, and when the right ACD sensor 51R contacts the grain culm row, the aircraft changes its course to the left.
Automatically control the direction along the grain culm.

As described above, in this example, the cutting unit 14 is automatically moved to the right or left so that the right end of the cutting unit 14 is correctly aligned with the boundary between the uncut land and the already cut land. Therefore, there is no uncut area, and the cutting range (W) of the cutting section can be effectively used without waste.

Another automatic device improvement will now be described in connection with the present invention.

In the conventional combine harvester, the end of the mowing operation is detected by the grain rake sensor 60 provided in the scraping device 17, and when the mowing operation is completed, the mowing unit 1 is automatically operated.
4 is equipped with an automatic lift device that raises the vehicle 4 to a certain height.

However, the height of the mowing unit 14 with respect to the ground may change due to adjustment of the vehicle height or sinking of the car body in the wetland. The height may not be high.

If the cutting unit stops at a low position, the cutter unit 18 may come into contact with ridges or the like and may be damaged.
On the contrary, if the stop position of the mowing part is too high, the cutter part 1
There is a risk that 8 will contact the worker and get injured.

Therefore, the mowing unit 1 at the end of the mowing operation
The cutting height (H1) of 4 is measured and stored by the cutting height position sensor 53, and the height obtained by adding a constant height h1 to this cutting height is set as a target value (H01). Has been improved so that it automatically rises to this target value (H01).

This control procedure will be described with reference to the flowchart of FIG.

First, rice harvesting work is started by the combine 11 (S11), and the automatic lift device is put into operation by the automatic lift switch (S12). It is determined whether the auto lift switch is ON or OFF (S13). If the auto lift switch is OFF, the process is repeated from the beginning (S14).

When the automatic lift switch is ON, the signal from the grain-plucking sensor is read (S1).
5). Determines whether the grain rake sensor is ON or OFF, and turns it ON.
In the case of, since the grain culm is being conveyed in the scraping device 17, the reading of the grain smashing sensor is continued (S16).

When the grain culm sensor is OFF, it is determined whether or not the mowing work is completed. At this time, the cutting height position sensor 53 detects the cutting height (H1) (S17). Then, the target value (H01) of the cutting unit 14 is set to H01 = H1 + h1 (h
1 is set value) (S18).

Next, the elevating cylinder 65 is operated so that the cutting unit 14 reaches the target value (H01), and the cutting unit 14 is raised (S19).

During the ascent, the cutting height position sensor 53 detects the cutting height and compares it with the target value. If the target value is smaller than the cutting height, the raising of the cutting unit 14 is continued (S20).

If the cutting height is greater than or equal to the target value,
The operation of the lifting cylinder 65 is stopped to stop the raising of the cutting section 14 (S21).

As described above, in this improved automatic lift device, the cutting height of the cutting portion 14 at the end of rice harvesting is taken into consideration, and the cutting portion 14 is automatically lifted. Irrespective of the above, the cutting unit 14 can be automatically raised to an appropriate height with respect to the ground.

Next, the improvement of another automatic device will be described.

Conventionally, in the combine, the cutting unit 14
For safety, an automatic stop device that automatically stops the operation of the mowing unit 14 and the feed chain 21 when the height is raised to a certain height is adopted. In this case, the height of the mowing unit 14 on which the automatic stop works is the same as that of the above-described automatic lift device, and is not the height with respect to the ground.

For this reason, the height of the mowing part 14 from the ground may vary during vehicle height adjustment, wet field work, high mowing, etc., and the stop device may not operate at an appropriate height. There was a problem above.

Therefore, here, the cutting height (H2) of the cutting unit 14 with respect to the machine body at the end of the cutting operation is measured by the cutting height position sensor 53, and a constant height (h2) is set to this cutting height (H2). In addition, a target value (H02) is calculated, and the cutting height of the cutting unit 14 is adjusted to this target value.

This control procedure will be described with reference to the flowchart of FIG.

First, rice harvesting work is started by the combine 11 (S31), the automatic stop device is activated (S32), and it is determined whether the automatic switch is ON or OFF (S33). If the automatic switch is OFF, the operation is repeated from the beginning (S34).

When the automatic switch is ON, the signal of the grain-scraping sensor is read (S35) to determine whether the grain-scraping sensor is ON or OFF. If it is ON, since the grain culm is being conveyed in the scraping device 17, the reading of the grain stalk scratching sensor is repeated (S36).

If the grain culm sensor is OFF, the cutting height position sensor 53 reads the cutting height (H2) of the cutting section 14 (S37). Here, the target value (H02) at which the automatic stop device operates is H02 = H2 + h2 (h2 is a set value)
(S38). When the cutting height (H2) is smaller than the target value (H02), the cutting height (H2) is newly detected (S39).

Next, when the cutting height (H2) is equal to or larger than the target value (H02), the cutting unit 1 is operated by the automatic stop device.
4 and the feed chain 21 are stopped (S4
0).

As described above, according to the improved automatic stop device, the operation of the mowing part 14 and the feed chain 21 is surely stopped at a predetermined height from the ground at the end of the work, which poses a danger to the worker. There is no. Further, since the height of the mowing unit 14 stops at a certain height above the ground depending on the situation of the field, it is possible to smoothly proceed the work without correcting the height of the mowing unit 14 when continuing the work. it can.

[0050]

As described above, according to the present invention, a grain culm is detected by the uncut land side sensor and the already cut land side sensor, and the cutting portion of the combine is automatically set to the correct position at the start of work. As a result, it is possible to prevent the cutting portion from entering too much into the uncut area and leaving uncut residue, or to prevent the cutting area from being wasted and the cutting range of the cutting portion is not wasted. Play.

[Brief description of the drawings]

FIG. 1 is a side view of a combine harvester according to an embodiment of the present invention.

FIG. 2 is an enlarged view of a main part of FIG.

FIG. 3 is a cross-sectional view of a moving mechanism of a mowing unit.

FIG. 4 is an explanatory diagram of the operation of the uncut land side sensor and the already cut land side sensor of the cutting unit.

5 is a connection diagram of a control unit of the combine shown in FIG. 1. FIG.

FIG. 6 is a flowchart thereof.

FIG. 7 is a flowchart of an improved example of an automatic lift device.

FIG. 8 is a flowchart of an improved example of the automatic mowing unit stop device.

[Explanation of symbols]

 11 combine 14 cutting unit 15 weeding rod 21 feed chain 50L uncut land side sensor 50R already cut land side sensor 51L, 51R ACD sensor 53 cutting height position sensor C control unit

Claims (1)

[Claims] 1. In a combine in which a grain culm sensor and an ACD sensor for detecting the presence or absence of a grain culm are attached to a reaper that can move in the left-right direction of the machine body, in a combine harvester, the left and right sides of a weeding rod close to the sown land In addition to the existing cut-side sensor and uncut-side sensor for detecting the presence or absence of grain culm respectively, these sensors are respectively connected to the cutting unit moving means for moving the cutting unit to the left and right through the control unit. Connected, if the slaughtered land side sensor detects that there is a grain culm row, move the reaping part to the slaughtered land side, and the slaughtered land side sensor has no grain stalk row,
If the uncut land side sensor detects that there is a row of grain culms,
Mowing unit movement control is performed to stop the movement of the mowing unit to the already-cut area, and at the same time, during this cutting unit movement control, the direction control of the aircraft by the ACD sensor is interrupted. Department control device.