JPS5854779B2 - Combine harvester with automatic control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention detects the lateral position deviation of the machine body with respect to the planted stem culm that is introduced into the reaping section as it progresses, and determines the advancing direction of the machine body with respect to the stem culm based on this detection result. A hydraulic steering control device that operates to correct the height above the ground, and a hydraulic cutting height that detects the height of the reaping section above the ground and raises and lowers the reaping section based on the detection result to maintain it within a constant height above the ground. The present invention relates to a combine harvester equipped with an automatic control device, which is equipped with a hydraulic handling depth adjustment device that operates to maintain the amount of grain inserted into the threshing device within a certain range in accordance with the detection of culm length.

This type of combine harvester can automatically run the machine to follow the planted stem culm, and also maintains the height of the cutting section C above the ground within a certain range to achieve a uniform cutting height. Furthermore, it is possible to maintain the amount of shell culm inserted into the threshing device within a certain range to perform smooth and good threshing work.

The present invention aims to reduce the cost of the overall structure by driving the various devices using one hydraulic pump, and in the combine harvester having the above structure, the various devices are driven by one hydraulic pump. The mowing height adjustment device is driven by the
The present invention is characterized in that the steering control device and the steering depth adjustment device are connected to a hydraulic pump so that these devices are driven preferentially in that order.

That is, since a single hydraulic pump drives the steering control device, cutting height adjustment device, and handling depth adjustment device, the overall structure is simpler than providing separate hydraulic pumps for each of these devices. In addition, the cutting height is given top priority to prevent the cutting part from contacting convex parts of the field and is damaged, and the second priority is to control the cutting height so that it follows the planted stem culm appropriately. The system performs direction control, and finally controls the handling depth with less risk of developing into a major problem, so by setting the drive order according to the conditions of various devices while using one pump, the overall performance can be improved. Hereinafter, embodiments of the present invention that achieved the intended purpose without causing any deterioration in performance will be described in detail based on illustrative drawings.

FIG. 1 shows a pair of left and right crawler traveling devices 1a.

At the front of the machine, the threshing device 2 etc. is mounted on 1b.
This figure shows a combine harvester in which a reaping section A is connected and equipped.

The reaping section A uses a front pulling device 3 to pull up a plurality of planted stem culms, a reaping device 4 to harvest the base end of the plant, and then a second
As shown in the figure, the auxiliary conveyance device 5 transports the harvested stem culms laterally and merges them, and the culms are tilted so that the tip side of the merging stems is deviated inward from the plant base side. The stem culm is supported in this position, and then transported rearward by a vertical transport section consisting of the ear tip locking transport device 6a and the plant head clamping transport device 6b, and after changing to a sideways posture at the end of the transport, the stem culm stock is Threshing device 2
The feed chain 7 of FIG.

Further, this combine harvester is equipped with a cutting height adjusting device described below in order to maintain the height of the cutting section A above the ground within a certain range, and to maintain the cutting height within a certain range.

That is, the reaping section A is supported via an elevating frame 8 that is pivotally connected to the machine so as to be able to swing up and down, and a hydraulic cylinder 9 is interposed between the elevating frame 8 and the machine. , is configured to be telescopically operated by switching the electromagnetic three-position switching valve (see Fig. 5), so that it is forcibly lifted when the cylinder 9 is in the forcibly extended state.
When the cylinder 9 is in a freely expanding and contracting state, its own weight is lowered,
Further, when the -7IJ cylinder 9 is in the fixed lock state, it is configured to be fixed and held at a desired position.

On the other hand, the reaping section A is equipped with a ground sensor 10 that is rotatable around a horizontal axis, and is pressed against the sensor 10, which swings as the height of the reaping section A changes from the ground. A pair of switches S1. Equipped with S2.

These switches S1. S2 is connected to a solenoid section that changes the position of the spool of the switching valve V, and when the switch S1 is brought into contact with the ground height of the reaping section A becoming higher than the desired position range, the hydraulic cylinder 9 is in a freely extending and contracting state, and when the switch S2 is pressed and operated as the height of the reaping section A becomes lower than the desired position range, the hydraulic cylinder 9 is operated to extend, and further, the height of the reaping section A above the ground is lowered. When the height is within the desired height range, both switches S1. S2
Both cylinders 9 are held in a non-operating state, and the cylinder 9 is fixedly locked.

Therefore, when the height of the reaping section A changes due to the presence of unevenness in the field, the ground sensor 10 detects this by its rocking displacement, and if the detected value increases or decreases by more than a certain level, the hydraulic cylinder 9 is controlled and the reaping section A is raised and lowered, thereby automatically maintaining the height above the ground within a certain range.

In addition, this combine harvester can handle the threshing device 2 regardless of the length of the stem culm.
In order to maintain the insertion amount within a set range, a hydraulic handling depth adjustment device described below is provided.

That is, the ear tip locking and conveying device 6a and the stock head clamping and conveying device 6b are pivotally connected at their rear end sides near the pivot point of the elevating frame 8, and as shown in FIG. With the expansion and contraction of the hydraulic cylinder 11 supported by the auxiliary conveyance device 5, the front end side thereof is configured to swing in a state of moving along the culm length direction of the stem culm supported by the auxiliary conveyance device 5. With this vertical swing, the holding position of the stem culm delivered from the auxiliary conveying device 5 is changed to the culm length direction, and the stem culm is inserted into the threshing device 2 while being held and conveyed by the feed chain 7. Change the amount of stem culms inserted.

It is configured to perform so-called handling depth adjustment.

In addition, as shown in FIG. 3, a curved shape for the first support of the clamping rail b' of the plant base conveyance device 6b is arranged so as to bypass the tip side of the stem culm being conveyed by the tip locking conveyance device 6a. A mechanism for electrically detecting the culm length of the conveying shell culm is provided inside the frame 12.

This detection mechanism consists of a case 1 attached to the frame 12.
3, three rocking sensors 14a.

14b and 14c are pivotally mounted along the culm length direction, and each sensor 14a... has this sensor 1.
A switch T, which operates in accordance with the rocking of 4a...

T2. Equipped with T3.

Incidentally, the stock clamping rail 6' is also equipped with a swing sensor 14d equipped with a switch T4 similar to that described above.
4a--It is installed on the extension line of the row, and is configured to function as a starting switch for starting the handling depth control described later.

First, the hydraulic cylinder 11 is an electromagnetic three-position switching valve ■
The switching valve (2) is oil-filled and expands and contracts when the switching valve (2) is in the neutral state, and is fixedly locked at a desired position when the switching valve (2) is in the neutral state.

Then, as the switching valve (2) is controlled as follows based on the culm length detection result, the cylinder 11 is expanded and contracted to maintain the handling depth.

In other words, the operator must first and second sensor 14a and second sensor 1
4b, the control is performed to maintain the deep handling state in which the tip of the conveying shell culm passes between the first sensor 14a and the second sensor 14b, and the shell is When the tip of the culm exceeds the first sensor 14a, the switch T1 is activated and the solenoid of the changeover valve v2 is activated to control the shallow handling side.
When it comes off below the sensor 14b, the solenoid of the switching valve (2) is activated by operating the switch T2, and control is performed to the deep handling side.

In addition, the operator also uses the second sensor 14b and the third sensor 14c.
If the state is switched to the state in which the conveyor shell is used, control will be performed to maintain the shallow handling state in which the conveying shell culm tip passes between the second sensor 14b and the third sensor 14c.
Similarly to the above, when the tip of the shell culm exceeds the second sensor 14b, control to the shallow handling side is performed, and the third sensor 14
If it deviates below c, control is performed to the deep handling side.

Further, this combine harvester is equipped with a hydraulic steering control device, which will be described below, in order to automatically run the combine harvester while following the planted stem culms.

That is, as shown in FIG.
On one side of the stem culm introduction path B formed along the side,
A swing sensor 15 is provided as a mechanism for detecting the lateral deviation of the machine body with respect to the introduced planted stem culm.

This sensor 15 is elastically biased into a protruding position that largely crosses the path B, and is configured to swing backward when it comes into contact with the stem culm. Detecting that the stem culm is deflected to the side (to the left), detecting that the stem culm is deflecting to the path-side (to the right) in the maximum swing posture, Further, as shown in the example, the device is configured to detect that the device is located at a substantially proper position between the protruding posture and the maximum swinging posture, and when the switch U1 is pressed in the protruding posture, the maximum swinging posture is achieved. It is configured to touch and operate the switch U2 during postural movements.

On the other hand, the crawler traveling devices 1a, lb are driven by an output transmitted from a mission case (not shown) that is linked to an installed engine E (see FIG. 1), and
A pair of left and right steering clutch brakes (not shown) installed in the transmission case are connected to a pair of hydraulic cylinders 16a.
, 16b (see FIG. 5) are alternatively operated by the alternative extension operation, an alternative drive state is manifested,
With this, the aircraft is configured to be steered.

When the switch U1 or U2 is operated as detected by the rocking sensor 15, the hydraulic cylinder 16
It is configured to energize the solenoid part of the electromagnetic switching valve ■3 that controls the operation of the switches U1 and 16b, so that when the switch U1 or the duck is operated, the machine follows the planted stem culm. Steering control is performed automatically.

Further, the hydraulic handling depth adjusting device, the hydraulic steering control device and the cutting height adjusting device are driven by one hydraulic pump P, as shown in FIG.

Then, switch S1 or S of the cutting height adjustment device
When 2 is operated, another electromagnetic 2-position switching valve 4 is switched, and the pressure oil is supplied from the steering control device and the handling depth adjustment device to only the cutting height adjustment device. When switching valve 3 of the steering control device is switched, the supply of pressure oil to the handling depth adjustment device is stopped. It is configured to be driven preferentially in the order of the high adjustment device and the steering control device.

In addition, to implement this proposal, the switching valve of the cutting height adjustment device ■1,
The switching valve ■2 of the steering control device and the switching valve ■3 of the handling depth adjustment device are arranged in series in this order from the pressure oil supply force enhancer side, and when the switching valve ■1 is in neutral, the switching valve Pressure oil may be supplied to the switching valve (■2) and pressure oil may be supplied to the switching valve (■3) when the switching valve (2) is in the neutral position.

[Brief explanation of drawings]

The drawings illustrate an embodiment of the combine harvester with an automatic control device according to the present invention, in which Fig. 1 is a side view, Fig. 2 is a schematic side view of the reaping section, and Fig. 3 is a back pain diagram showing the culm length detection mechanism. , 4th
The figure is a plan view showing the rocking sensor mounting part, and FIG. 5 is a hydraulic circuit diagram. 2... Threshing device, A... Reaping section, B.
·····Hydraulic pump.

Claims (1)

[Claims] 1 A hydraulic control system that detects the lateral positional deviation of the machine body with respect to the planted stem culm that is introduced into the reaping section A as the machine advances, and operates to correct the direction of movement of the machine body with respect to the stem culm based on this detection result. a hydraulic mowing height adjustment device that detects the height of the reaping section A above the ground and raises and lowers the reaping section A based on the detection result to maintain it within a constant height above the ground;
In a combine harvester equipped with a hydraulic handling depth adjustment device that operates to maintain the insertion amount into the threshing device 2 within a certain range as the culm length is detected, the various devices described above are operated by one hydraulic pump P. The automatic control device is characterized in that the mowing height adjustment device, the steering control device, and the handling depth adjustment device are connected to the hydraulic pump P so that the mowing height adjustment device, the steering control device, and the handling depth adjustment device are driven in this order with priority. combine.