JPS6091910A - 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 specifically, in order to control the cutting height, the reaping section is automatically controlled based on the height of the reaping section above the ground detected by a height above the ground detection sensor. The present invention relates to a reaping/harvesting machine, which is equipped with means for controlling the elevation of the reaping section, and is configured such that the elevation of the reaping section can be manually operated.

Conventionally, in this type of reaping and harvesting machine, the height of the reaping section above the ground is kept constant so that the cutting height is automatically maintained at a predetermined height in order to improve work efficiency during normal reaping work. In addition to automatically controlling the maintained cutting height, the system also allows for manual lifting and lowering of the cutting section in cases where automatic control of the cutting height is not possible due to poor field conditions. . The switching between manual operation and automatic control at t7J is not only carried out manually, but also a configuration has been considered in which, for example, when an operation for manual operation is performed, the switch is automatically switched to auxiliary control.

However, after switching between manual and automatic mode, automatic control is not performed in any case, so for example, if there is an obstacle etc. during automatic cutting height control, manual operation may be necessary to temporarily cut the cutting height. Even if it would be more efficient to continue automatic control after raising the part slightly, automatic control ends immediately if manual operation is performed, resulting in poor operability. .

The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to provide a reaping harvester equipped with a control means that allows easy manual operation of the reaping section.

In order to achieve the above object, the reaping/harvesting machine according to the present invention is provided with a means for detecting whether or not the reaping section is manually raised, and based on the detection result of the presence or absence of manual operation by this means, the reaping/harvesting machine means is provided for canceling the automatic elevation control of the reaping section when the reaping section is manually raised and the detected height of the reaping section above the ground is higher than the control target height above the ground by a predetermined value or more. It is characterized by certain points.

Because of the above characteristics, the following excellent effects have been achieved.

In other words, when the reaping section is raised or lowered, if the reaping section rises by more than a predetermined value with respect to the control target value due to manual operation, automatic control is automatically canceled, so the range where the amount of manual operation is small is automatically canceled. Automatic control is continued when the amount of operation is large, and automatic control is canceled when the amount of operation is large.
Automatic/manual 1fr: Not only does it automatically switch between automatic and manual without performing a separate switching operation, but it also prevents malfunctions such as automatic control being canceled by mistake when there are too few manual operation buttons. This made it extremely easy to operate.

Embodiments of the present invention will be described below with reference to the drawings.

Figure 1 shows the IIJ of the combine harvester as the reaping part PiIm.
It is a side view of the reaping part tl+ of the section, the reaping part (1) is
It has a pulling device (2), a reaping device (3), and a conveying device (4), and in front of the pulling device (2) there is a weeding tool (5).
This weeding tool (61, the lower end of which is the cutting device (1)
The support frame L/ - is fixed by the support frame i[il.
In order to prevent the ultrasonic sensor (9) in the ground height detection sensor J-1, which consists of a transmitter (7) and a receiver (8), from malfunctioning due to the shell culm, an Iff marking device ( 5+, and is installed above the support frame i61, and the hydraulic cylinder (10) is operated based on the height above the ground detected by this ultrasonic sensor (9), and the horizontal axis center ( The mowing height is automatically adjusted by swinging the reaping section (1) around Pi, and the operating lever +B+ is provided on the driving section so that the mowing height can also be adjusted manually. Limit switch (Sl), (B
2) is provided.

Below, we will explain the control system that automatically controls the cutting height based on the detection result of the height above the ground by the ultrasonic sensor (9) in Section 10, and also controls the manual operation of the cutting height using the specified limit switch (Sl) and (B2). explain.

As shown in FIG. 2, the control system inputs signals from the receiver (8) of the ultrasonic sensor (9) to a control device (11) whose main part is a microcomputer, and also inputs the signal from the receiver (8) of the ultrasonic sensor (9). The output signal of the potentiometer 021 as a means for presetting the value 1 and the signals from the limit switches (81) and (82) are input,
If the operating lever fBl is not operated, the electromagnetic valve 03 is automatically driven so that the height above the ground mark detected by the receiver (8) becomes the reference target value (Ho) set by the potentiometer (+21). Then, the reaping section il+ is automatically raised and lowered by the hydraulic cylinder 0j described in Mfl.

On the other hand, when the imitation lever (B1) is operated, the reaping section il+ is manually raised and lowered by the ON and OFF signals of the limit switches (Sl) and (B2) from the switches (S, ) and (B2). The electromagnetic valve (13) is configured to be driven based on the ON/OFF signal of the electromagnetic valve (13).

Then, the limit switch (I) is turned ON once by raising the +IF operation lever Bl by 1. From that point on, this ON state is memorized and retained for a predetermined period of time (force), Even if a descending operation is detected in a crowded trench or an ON signal is input from the Mitsutwitch (B2), this ON signal is invalidated, the ascending operation takes priority over the descending operation, and the solenoid valve fBl is driven to reap the harvest. This increases the part il+.

Furthermore, when the reaping part il+ is raised by this manual operation, the height above the ground Hl detected by the ultrasonic sensor 111 (9) is compared again with the target height above the ground (Ho), and the difference is determined to be a predetermined value (α ) or more, the cutting height will be automatically adjusted to
In order to cancel the t control, reset the flag indicating each automatic/manual control status (AUTO flag) to IQI and Ail.
The operation of the control device 111, that is, the raising and lowering of the reaping section il+, is controlled only by manual operation of the control lever 11ff.

On the other hand, if the difference between the detected value (H) and the target value (HO) is within the predetermined value (α), the operation of the operating lever FBI is interrupted and the rising operation detection sensor (Sl) is turned off.
When F is reached, the flag (AUTO flag) is set to 11 degrees so that the automatic control of mowing is continued, and the control of the control device (111) is returned to the automatic state.

By the way, in the cutting height control in this embodiment, in order to optimize the control response, the detected value (I
Corresponding to the size of the deviation (jH) of (), electromagnetic pulp (
131 drive gain (ON of intermittent drive pulse current,
OFF ratio, etc.) is automatically changed into a plurality of stages, so that the larger the deviation (jH), the faster the reaping part il+ is raised and lowered.

This drive gain (Gl) is created in advance in a table as values (G1) to (G4) that increase sequentially in response to the deviation (jH) and is stored in a memory (not shown) in the control device (11). .

Incidentally, Fig. 3 is a flowchart showing the operation of the control device @11) explained above, which performs this cutting height control and also checks the status of other sensors (threshing switch, etc.) and performs other controls. It also sets control flags for use.

Also, FIG. 4 is a table of drive gain ((, l).

[Brief explanation of drawings]

The drawings show an embodiment of the reaping harvester according to the present invention, FIG. 1 is a front side view of the combine, FIG. 2 is a block diagram of the control system, FIG. 3 is a flow chart showing the operation of the control device, and FIG. 4 is a table of broom control gains. tll...Reaping section, (9)...Ground height detection sensor, (Sl)...Manual raising operation detection means,
tll...Detection height above the ground, (Ho)...Control target height above the ground, (α)...Predetermined value.

Claims (1)

[Claims] Ground height detection sensor (9) to control cutting height
and means for automatically controlling the elevation of the reaping section fi+ based on the height of the reaping section fi+ above the ground detected by the
The reaping/harvesting machine is configured such that the reaping part tl+ can be manually raised and lowered, and is provided with means (Sl) for detecting whether or not the reaping part il+ has been manually raised. ), the reaping section 11+ is manually operated to raise the reaping section 11+, and the detected height of the reaping section (1) above the ground is (
A reaping harvester characterized in that it is provided with means for canceling automatic elevation control of the reaping section (1) when υ is greater than a predetermined value (σ) than the control target height above ground (HO).