JPS58224609A - Combine - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a combine harvester, and more specifically, a combine harvester that is equipped with a reaping section that can move up and down at the front of the machine, and that maintains a constant height of the reaping section above the ground when performing reaping work while traveling. Regarding combine harvesters that perform high control.

Traditionally, combine harvesters generally have cutting height control,
Various types of control are carried out, but in fields with poor ground conditions such as wet fields, the left and right crawler traveling devices may sink in different ways, and in this case, the aircraft tilts to one side. However, the work equipment attached to the machine as well as the machine tilted, causing problems in the work.

In other words, the reaping section tilts with the machine body, making it impossible to control the cutting height normally, and the sorting device built into the machine body tilts, causing a decline in the performance of the sorting device that sorts and collects threshed grain. There was a drawback.

An object of the present invention is to eliminate the above-mentioned drawbacks of conventional combine harvesters and provide a combine harvester that can perform normal work even in wet fields, etc., and further provides such a combine harvester,
With a simple configuration.

The second purpose is to make it a reality.

In order to achieve such an object, the present invention is configured such that the left and right traveling devices are movable up and down independently with respect to the aircraft body, and
A sensor is installed to detect the left and right tilt of the aircraft, and based on information from this sensor and a height-above-the-ground sensor attached to the reaping section located at the front of the aircraft, the aircraft is horizontally and horizontally tilted. The configuration is such that control is performed to adjust the vertical positions of the left and right traveling devices relative to the aircraft body in order to maintain a constant height above the ground.

Because of this configuration, when the traveling gear sinks in different ways on the left and right sides like in a conventional combine harvester, the machine body tilts from side to side, and the reaping section also tilts to the same side, resulting in the cutting height on the left and right sides. If the cutting height is different, normal cutting height control may not be possible.
Furthermore, when the slope becomes large, one side of the reaping part will not hit the ground and cause a malfunction.
Since the machine body can always maintain a horizontal state regardless of the horizontal tilt of the traveling device, the reaping section attached to the machine body can always maintain a horizontal state in the horizontal direction, allowing normal cutting height control. It is something. In addition, since the working devices such as the sorting device installed inside the machine are always in a horizontal position, it is possible to prevent performance degradation caused by tilting.

In addition, because of the above configuration, the height of the machine body from the ground is maintained constant, reducing the need to move the reaping section up and down with respect to the machine body, and preventing the reaping section from tilting back and forth. This enabled the vehicle to run stably without causing an unexpected situation where the bottom of the vehicle collided with the ground.

Furthermore, since we use a configuration that also uses the ground height detection sensor for cutting height control installed in the cutting section to control the height of the machine above the ground, the configuration is simpler than when a separate pressure sensor is installed. Simplification is something that can be achieved.

Hereinafter, embodiments will be described based on the drawings.

FIG. 1 is a schematic side view of a combine harvester as an embodiment of the present invention, in which a reaping section (2) is located at the front of the fuselage il+.
A hydraulic cylinder (3) is installed between the machine body (1) and the reaping section (2) to move the reaping section (2) up and down.

In the reaping section (2), a potentiometer (7) for detecting the height with respect to the body fil is provided on a shaft that supports the reaping section (2).

At the bottom of the fuselage (1), left and right crawler running devices +41 and +41, which are traveling devices, are arranged, and each one is connected to the fuselage (1).
It is attached to via link mechanisms +51, +51, and is configured to move up and down independently by hydraulic cylinders +61, tel. In addition, these crawler traveling devices [41, fi are driven by hydraulic motors 04 and 16+, so they are connected to the +11 side of the fuselage by flexible oil pipes to transmit power.

The reaping section (2) is equipped with a ground height detection sensor (8) that uses ultrasonic waves, which is originally a sensor for controlling the reaping height.

On the other hand, as shown in FIG. 2, a float-type tilt detection sensor (9) having a U-shaped cross section is installed inside the fuselage (1).

That is, the configuration is such that the tilting of the aircraft body +11 is detected by turning on the switches 1101, 1101 at both ends thereof.

A control system that controls the attitude and cutting height of the machine body (1) based on the signals from these sensors f81 and +91 is configured as shown in the block diagram of FIG. The signal +91 is a signal from the left and right hydraulic cylinders tel (61) that move the crawler traveling device (4) up and down (4), a signal from the limit switch (II) that detects that the (61) has reached its movable limit, and The signal from the potentiometer (7) is input to the arithmetic unit I via the input interface 0, and the arithmetic unit a determines the attitude of the aircraft f1+ and the ground position of the reaping part (2) based on this input information. +31, +61 for each cylinder to keep the height at a predetermined value.

(6) is configured to determine the direction in which to operate and output the result to the output interface 0.

Each of the hydraulic cylinders +31, tel; 181 is operated or stopped by switching the electromagnetic pulp 06), and the output interface 04) operates based on the signal from the arithmetic unit 0. to supply current for switching these electromagnetic valves θ5).

FIGS. 4A, B, and C are flowcharts showing the combinational control in the arithmetic unit 0 (to), and show the cases where there is no tilt, when the tilt is to the left, and when the tilt is to the right, and the basic In order to perform cutting height control and attitude control of the machine body il+, control is performed by preferentially moving the crawler traveling devices fil, +41 up and down, and the crawler traveling devices f41,
Hydraulic cylinders that move +41 up and down +61 and +81
When the height of the reaping section (2) above the ground cannot be kept constant due to the movable limit of the reaping section (2), the hydraulic cylinder (3) moves the reaping section (2) up and down with respect to the machine body full.

In addition, the aircraft fl+ has crawler traveling devices +41, +41
It goes down by pulling up, and goes up by pushing down.

Furthermore, priority is given to keeping the aircraft horizontally horizontal by keeping the height above the ground constant.

Although the present embodiment does not maintain the machine body +11 horizontal in the front-rear direction, it is also possible to provide hydraulic cylinders at the front and rear of each crawler traveling device to add control to maintain the machine body horizontal in the front-rear direction. Also, horizontal direction 1 [output sensor (
9) may be provided in the reaping part (2). Father, this sensor may be a double-barrel potentiometer.

[Brief explanation of drawings]

The drawings show an embodiment of a combine harvester according to the present invention, and FIG. 1 is a schematic side view of the combine harvester, and FIG. 2 is a flowchart. (1) ..... fuselage, (2) ..... reaping section,
(4)... Traveling device, (8)... Ground height detection sensor, (9)... Tilt detection sensor.

Claims (1)

[Claims] This is a combine harvester that controls cutting height based on information from a ground height detection sensor (8) attached to a cutting section (2) located at the front of the machine tl+. The traveling devices +41 and +41 are configured to be able to move up and down independently, and are equipped with a sensor (9) that detects the left and right inclination of the fuselage fil.
) and the information from the ground height detection sensor (8), the left and right traveling devices (4) and the +41 aircraft (1 ) A combine harvester 0 characterized in that control is performed to adjust the vertical position with respect to