JPS59232020A - Reaming harvester - 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 reaping harvester, and more particularly, to a reaping harvester, and more particularly, to a reaping and harvesting machine, a transmitter that emits ultrasonic waves toward the ground and its reflection in order to detect the height of the reaping section above the ground in order to control the reaping height. The present invention relates to a reaping harvester that is equipped with an ultrasonic sensor consisting of a receiver that receives waves, and is configured to automatically control the elevation of a reaping section based on the height above the ground detected by the ultrasonic sensor.

Conventionally, this type of reaping/harvesting machine has been configured to automatically control the elevation of the reaping section based on the detection result of the height of the reaping section above the ground in order to keep the cutting height constant.

However, with the conventional configuration described above, immediately after the start of reaping work or when working in cold regions, the viscosity of the hydraulic oil in the hydraulic system is high, so the performance of the actuator for raising and lowering the reaping section decreases. There was an inconvenience that the control response deteriorated.

The present invention has been made in view of the above-mentioned circumstances, and its object is to provide a reaping harvester equipped with means for automatically correcting the control response of an actuator that moves up and down the reaping section in accordance with the viscosity of the hydraulic oil. It is about providing.

In order to achieve the above object, the reaping harvester according to the present invention is provided with a sensor that detects the amount of elevation of the reaping section, and detects the actual amount of elevation of the reaping section per unit elevation command control amount during automatic elevation control. The present invention is characterized in that it is provided with means for detecting the amount of elevation by a detection sensor and automatically changing the unit elevation command control amount based on the detection result.

The above-mentioned number of configurations has resulted in the following excellent effects being exhibited.

That is, when controlling the elevation of the reaping section, the actual elevation amount per unit elevation command control amount with respect to the control target value is detected, and the unit elevation command control amount is automatically changed in accordance with this detection result. Stable control response was obtained from the start of work, and control performance was significantly improved even when working in cold regions where hydraulic oil tends to have high viscosity.

Furthermore, since the convergence of the actuator to the control target value is improved, unnecessary operations are reduced, the frequency of actuator operation is reduced, and the durability of the device is improved.

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG.
) equipped with a threshing device (3) and a control section (4).
) is installed, as well as a weeding tool (5)@・, a pulling device (6), a reaping device (7), and a conveyor that merges the cut culm and transports it to the rear threshing device (3). Equipment (8
) is attached to the front axis G of the fuselage (1).
P) Installed around it so that it can be raised and lowered freely by a hydraulic cylinder αQ,
This constitutes a combine harvester as a reaping and harvesting machine.

The lower tip of the weeding tool (5) is fixed to the support frame αυ of the reaping unit (9), and an ultrasonic sensor α for detecting height above ground consisting of a transmitter (6) and a receiver α frame is attached. In order to prevent malfunctions due to the culms, the stalks are installed behind the weeding tool (5) on the mown field side and above the support frame Q1.

Then, the height above the ground is increased by the ultrasonic sensor α→5)
Based on the detection result, the reaping section (9) is moved by the hydraulic cylinder 00 so that the reaping height becomes a predetermined height (HO).
It is operated by raising and lowering.

Next, a control system for raising and lowering the reaping section (9) will be explained.

As shown in FIG. 2, the control system includes a control device Q12 whose main part is composed of a microcomputer.
A potentiometer (as a sensor) is interlocked and connected to the axis CP) in order to use the signal from the ultrasonic wave sensor a◆ and the actual lifting amount of the reaping part (9).
faith from number has been input, and the ultrasonic sensor α
Based on the detection result of the height above the ground by → and the detection result of the lifting amount of the reaping part (9) by the potentiometer α, the operation of the electromagnetic valve αη that supplies hydraulic oil to the hydraulic cylinder QI is controlled.

The electromagnetic pulp α force is applied from the control device αG so that the reaping part (9) moves up and down at a predetermined speed, and so that the amount of hydraulic oil supplied to the hydraulic cylinder 0Q is a predetermined amount per unit time. It is driven by a pulsed current of
During the control, the duty ratio (D) of the pulse current as a unit elevation command control amount is set to a predetermined value by the control device (g) in (5) by first starting to drive the electromagnetic pulp Q″t). Based on the detection result of the lifting amount ('') of the reaping part (9) by the potentiometer M during the elapse of time (to), the subsequent duty ratio (D) is determined for the predetermined time (t(l) fi! The amount of elevation ('') of the reaping section is automatically changed to a predetermined amount (''0).

Incidentally, FIG. 8 is a flowchart illustrating the operation of the control device α0 described above.

[BRIEF DESCRIPTION OF THE DRAWINGS] The drawings show an embodiment of the reaping harvester according to the present invention, in which FIG. 1 is a front side view of the combine, FIG. 2 is a block diagram of the control system, and FIG. 8 is a control system. 3 is a flowchart showing the operation of the device. (9)...Reaping section, (6)...Transmitter, (to)...Receiver, α→...Ultrasonic sensor, 0.・・・・・・Lifting amount detection sensor (Shi...Detection height above ground. Fig. 1 3 Rattan 2 Fig. JP-A-59-232020 (3) Fig. 3 f1 height 3 $10 light BS reed height (14) h πte' / 24 meters (16)

Claims (1)

[Claims] In order to detect the height of the cutting section (9) above the ground in order to control the cutting height, a transmitter (1) and a transmitter (2) emit ultrasonic waves toward the ground.
) and a receiver (to) that receives the reflected waves, an ultrasonic sensor α→ is provided, and the reaping part (1) is automatically controlled to raise and lower based on the height above ground H) detected by this ultrasonic sensor ←◆. A reaping harvester configured to:
A sensor Q for detecting the amount of elevation of the reaping section (9) is provided, and the actual amount of elevation of the reaping section (9) corresponding to the unit elevation command control amount during the automatic elevation control is detected by the elevation amount detection sensor α. A reaping/harvesting machine comprising means for detecting and automatically changing the unit elevation command control amount based on the detection result.