JPS62282513A - Reaping automatic rising and falling control system of 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 3. Detailed Description of the Invention Field of Industrial Application This invention relates to an automatic reaping lifting control system for a combine harvester, and can be used as part of automation for lifting and lowering the reaping device of a combine harvester.

Conventional technology Recently, in the market, the operation of each device in combine harvesting work is complicated, so automation is gradually progressing. However, this automatic control raises the reaping device by 1 level as the harvesting of the culm row in the combine is completed, and normally the reaping device is operated for turning at the same time as this reaping device. However, since it is very busy and troublesome for the operator to carry out both operations at the same time, some attempts have been made to develop a control system that automatically raises the reaping device when the reaping of this row is completed. It has become...

Problems to be Solved by the Invention However, in the conventional automatic elevation control of the reaping device, the culm guide sensor installed at the front of the reaping device detects whether there is a culm or not, and the reaping A system was developed in which the reaping device was raised, but this method was impractical because if the culm was even slightly interrupted, the reaping device would have to be raised during the first row alignment stage, so the next step would be to By electrically connecting in series a culm transfer sensor provided on a transfer device that transports the harvested culm to the rear with the culm guide sensor, the culm transfer sensor detects the presence of a culm. We tried a method in which the reaping device was raised only when the culm guide sensor detected from the presence of the culm to the absence of the culm. In the detection state, even in the case of completely opposite detection such as when the shell culm transfer sensor detects from the presence of shell culm to the absence of shell culm, it is difficult to raise the reaping device because both sensors are connected in series. Problems such as this occur.

Therefore, the present invention attempts to solve the detection problems of both sensors in the automatic elevation control of the reaping device of a combine harvester.

Means for Solving the Problems This invention provides a reaping device (1) with a culm guide sensor (3) for detecting the presence or absence of a culm in the front part of the cutting blade device 21 (2) for reaping the culm. At the same time, a transfer device (5
) is provided with a culm transfer sensor (6) for detecting the presence or absence of the transferred culm, and in a state where the culm transfer sensor (6) detects transfer of the culm, the culm guide sensor (3) In the state where the culm has been switched from detection to non-detection, the reaping 92
1 (1) This is an automatic reaping lift control system for a combine harvester, which is characterized by raising the harvester to a certain height.

Function of the Invention During combine harvester work, when the reaping die and (1) are first lowered to reap the planted culms, the reaping device i! 1 (1
) of the cutting blade device (2), for example, a culm guide sensor (3) installed at the rear of the cutting rod that divides the planted culms, and The culm transfer sensor (6) provided in the transfer device (5) section for transferring to the rear is used to automatically control the elevation of the reaping mold 21 (1) based on the detection contents of these two sensors (3) and (6). For example, by electrically connecting the sensors (3) and (6) to the input circuit of the control device, the mowing operation can be continued while both the sensors (3) and (6) are detecting the presence of a culm. The culm relative to the guide sensor (3) is interrupted at a striation, etc., and the guide sensor (3) detects whether there is a culm or not, and at the same time, the transfer sensor (6) When the presence of a culm is being detected, the reaping device (1) is automatically controlled to rise to a certain height.

Effects of the Invention During reaping work in a combine harvester, the culm guide sensor (3) and the culm transfer sensor (6) provided on the reaping device (1)
), when the transfer sensor (6) detects the presence of a culm, if the guide sensor (3) detects from the presence of a culm to the absence of a culm, the reaping type 21 (1) 1. For example, when performing a turning operation in a section of a reaping row, etc., the reaping mold W1 (1) is automatically controlled to raise.
There is no need to perform a lifting operation, and the worker is freed from the busyness and hassle of doing so. In addition, for example, if for some reason the transfer sensor (6) detects the presence of shell culms due to the presence of shell culms in the rows of the reaping row, etc., and the cutting is stopped, the next time the reaping is started, In some cases, the guide sensor (3) detects the presence of a culm and the transfer sensor (6) detects from the presence of a culm to the absence of a culm. In the case where the guide sensor (3) and the transfer sensor (6) are electrically connected in series, a malfunction may occur where the reaping device (1) is raised incorrectly during reaping. There isn't.

Embodiment In the illustrated example, a long threshing device 2 is installed at the rear of the combine machine (7) on the left side when viewed from the f side, for threshing the harvested husks.
i (4), and on the right side adjacent to the threshing device (4) there is a cockpit (8) for controlling the fuselage (7) from the front end side of the fuselage (7), and a cockpit (8) at the rear thereof. A prime mover (10) for supplying power to each device of the aircraft (7) is provided on the lower side of the cockpit (9), and a motor (10) is provided on the lower side of the cockpit (9).
A grain tank (11) for storing the grains threshed by the threshing device (4) is provided at the rear of the threshing device (4), and a pair of longitudinally long endless bands (12
) is provided to run on the reaped soil surface, and the control platform (8) is provided at the front end of the threshing device (4).
), a reaping device 21 (1) for reaping the planted shell culm and conveying it to the threshing device (4) is connected and connected to the reaping device [
1] is a weeding rod (14) that divides the planted shell culm from the front end side.
) are provided at each position on the left and right in plan view, and a lifting device 27 (15) for raising the culm that has been divided from the rear of the weeding rod (14) is tilted backwards and extended upward to an arbitrary length, and the lifting device A transfer device 2t (1B) for scraping the raised culm is provided on the rear side of the 2t (15), and a cutting blade device (2) for cutting the culm is provided below the scraping device (IB). The transfer device 21 (1)
Taking over from B), the shell culm feeding device (1) of the shell mounting (4)
7) Transfer device l to transfer to the entrance side! 1 (5) is provided so as to face the inlet side of the feeding device (I7), and a rotation fulcrum portion (for up and down movement of the reaping device (1)) is provided near the terminal end of the transfer device (5). 18) and also the transfer device Zlt(1
B) Telescopic cylinders (19) for raising and lowering the reaping device (1) using the fulcrum portion (18) are provided near the rear side, extending from the body (7).

Further, a direction sensor is installed on the rear side of the weeding rod (14) to detect the machine body (7) for automatically controlling left and right steering so that the machine body (7) can travel along the rows of planted culms for reaping. (20)
is provided on the front end side of the transfer device 21 (1B).
2) and a shell culm guide sensor (3) for detecting the presence or absence of a shell culm guided to the transfer device (IB);
) is provided with a shell culm transfer sensor (6) for detecting the presence or absence of the transfer shell culm at an arbitrary part of the cutting blade fitting (2), and a culm transfer sensor (6) is provided at the rear side of the cutting blade device (2) between the cutting blade device (2) and the soil surface. An ultrasonic transmitter and receiver (
22) are arranged in front and behind each other, and the reaping device VtL(
Place the reaping device (1) on the rotation fulcrum part ([8) of 1).
) is provided with a position sensor (23) that performs detection to control the vertical and vertical elevation angles of the vehicle. Also, on the control platform (8),
A control device 2t (24) for controlling each device based on the detected values of each of these sensors is provided internally, and the control console (
8) On the top surface, there is a direction detection switch (25) that activates the direction sensor (20), a cutting height detection switch (2B) that activates the cutting height sensor (21) and the position sensor (23), and a cutting switch (2B) that activates the cutting height sensor (21) and the position sensor (23). Each sensor and each switch are electrically connected to the input side of the control device 2F (24), and the upper and lower switches of the reaping device (1) are connected to the output side of the control device 2F (24). The telescopic cylinder for lifting and lowering (19)
and other control equipment.

By starting the prime mover (10), the reaping equipment (1), threshing equipment (4), and traveling type! Power is transmitted to (13), and as the traveling type 2i (13) moves forward, the reaping device a (1
) is brought into sliding contact with the surface of the reaped soil, the culms that have been divided by the dividing rod (14) are raised by the pulling device (15), and the raised culms are raked by the transfer device (16). At the same time, the harvested husk is harvested by the cutting blade device (2), and the cut culm is transferred from the raking device (15) to the transfer device (5), and the threshing 'A' is carried out from the terminal end of the transfer device 21 (5). and (4
) is transferred to the inlet side of the shell culm supply bag 21 (17), supplied to the threshing equipment (4), and threshed, and the threshed grains are stored in the grain tank (11). In such a series of combine harvest operations, when reaping using the reaping equipment and (1),
First, the cutting height detection switch (26) is set to "man", and the cutting device (1) is lowered to the cutting height setting standard position under the control of the angle detection value of the position sensor (23). A constant cutting height is always maintained by detecting and controlling the ground height using ultrasonic control of the cutting height sensor [2]), and by turning on the automatic cutting lift switch (27).

In a state where the shell culm is being transferred by the transfer device (5) in the row section of the reaping row, and when the beaten shell culm transfer sensor (6) is detecting the presence of the shell culm, the scraping device i! 1(
1B) The state in which the culm is broken, l! When the shell culm guide sensor (3) switches from detecting the presence of a shell culm to detecting the absence of a stepped culm, the reaping device (1) is raised to a certain height.

In addition, when the direction detection fee 2,000 (25) is set to "ON" and the guide sensor (3) detects the right side of the culm, the direction sensor (20) does not come into contact with the culm row. Accordingly, the machine body (7) is controlled in the left-right direction along the row of culms to move forward with reaping.

In addition, when the guide sensor (3) switches from the culm cloth to the culm cover, if the raising control of the reaping device (1) is performed at the moment of this switching, there will be no problem during the continuous reaping. Even if for some reason the culms in the culm row are missing and the intervals are wide, the guide sensor (3) will detect the culm cap and the lift control will be activated. Therefore, in order to prevent such a problem, the ascending control may be performed after a certain period of time delay from the moment when the guide sensor (3) is switched.

In addition, when this delay time is used in the same way for the direction control of the aircraft (7) and the upward M control of the reaping type 21 (1), the direction sensor (20) for direction control While the output signal is being output, hydraulic and other drive circuits will have priority in terms of importance, and even if the output signal for lift control is output, it may be difficult to perform lift control. In order to prevent such a problem, the delay time may be maintained shorter for direction control than for upward control.

[Brief explanation of the drawing]

The figures show an embodiment of the invention, and Figure 1 is a side view;
FIG. 2 is a block diagram of the electrical circuit. In the figure, code (1) is the reaping device, (2) is the cutting blade device, and (3) is the reaping device.
) indicates a shell culm guide sensor, (4) a threshing device, (5) a transfer device, and (6) a shell culm transfer sensor.

Claims (1)

[Claims] In the reaping device (1), a reaping blade device (2) that reaps the culm.
A culm guide sensor (3) that detects the presence or absence of a culm in the front part of the
A culm transfer sensor (6) for detecting the presence or absence of the transferred husk is provided in the transfer device (5) that transfers the cut husk to the rear threshing device (4). In a state where the culm transfer sensor (6) detects transfer of the culm,
An automatic reaping/elevating control system for a combine harvester, characterized in that the reaping device (1) is raised to a certain height in a state in which the culm guide sensor (3) switches from detecting the culm to non-detecting the culm.