JPS6356762B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides an elevation drive mechanism for a ground work device, a non-contact type height above ground detection device for detecting the actual height of the ground work device, and a device for detecting the actual height of the ground work device. A setting device for setting the height above the ground compares the actual height above the ground detected by the height above the ground with the set value set by the setting device, generates a correction signal, and uses this correction signal to adjust the height above the ground. The present invention relates to a work vehicle that includes an operating device that controls a drive mechanism, and a human operating means that controls the lifting drive mechanism with priority over the correction signal.

For example, in a combine harvester configured so that the height of the reaping device above the ground is maintained constant, the reaping device is generally raised by the above-mentioned manual operation means when turning the machine at the edge of a ridge. When the means is returned to the inoperative state, the reaping device is lowered to a set height based on the detection result of the ground height detection device. Therefore, in order to maintain the reaping device in the raised position, it is necessary to maintain the manual operation means in the raised operating state, or to switch the height-above-the-ground detecting device to a non-operating state when the reaping device is raised. There was a drawback that I had to multiply it.

An object of the present invention is to make it possible to maintain the working device elevated without requiring the above-mentioned special effort.

In order to achieve the above object, the working vehicle of the present invention provides a system for keeping the working height constant only when the ground height detecting device detects that the ground working vehicle has risen to a non-working position. A switching device is provided for stopping control of the elevating drive mechanism based on the correction signal.

Therefore, according to the present invention, the following effects can be obtained.

In other words, when the work equipment rises and reaches the set height, the automatic switching device automatically switches the control by the ground height detection sensor to the inactive state, so a special It can save you time and effort. As a result, even when the machine moves with the working device in the raised state, such as when turning the machine, other operations such as gear change operations can be easily performed, and work can be carried out efficiently. Moreover, since the sensor for controlling the height of ground work is used to determine whether the ground work device is in the working position or the non-working position, there is no need for any special detection means, and it is possible to use a dual-purpose configuration. The overall configuration can be simplified.

Next, embodiments of the present invention will be described based on the drawings.

As shown in FIG. 1, a threshing machine 1 is provided on the upper part of the crawler type self-propelled machine, a lifting device 2 for raising the planted grain culm, a device 3 for raising and reaping the grain culm,
A reaping pre-processing section having a conveying device 4 for supplying reaped grain culms to the starting end of the threshing section 1 is provided at the front of the self-propelled machine, thereby forming a combine harvester.

A fluid pressure cylinder 6 for raising and lowering the reaping device 3 from the ground by vertically swinging the reaping pretreatment section relative to the machine body.
is attached to the pre-processing section frame 7, and a second
As shown in the figure, an ultrasonic ceramic microphone 8 and an ultrasonic wave a for detecting the ground height of the reaping device 3 from the microphone 8 are transmitted every set time t ₁ for a set time Δt as shown in FIG. an ultrasonic transmitter 10 consisting of a transmitting circuit 9 that transmits signals at each time, and
The transmitter 10 transmits a sound wave to the mowed field side, and the transmitter 10 transmits a sound wave to the mowed field side, and the transmitter 10 transmits a sound wave to the mowed field side. 13 is fixed to a support 14 that moves up and down together with the reaping device 3 while being juxtaposed in a case 5 that receives sound waves from the transmitter 10 reflected by the field. As shown in FIG. 3, a device measures the time t ₂ required from the transmitter 10 transmitting to the receiver 13 receiving the signal based on the information from the transmitting circuit 9 and the receiving circuit 12, respectively. 15. A device 16 for calculating the height above the ground of the reaping device 3 based on the measurement result by the time measuring device 15, and a device 16 for setting the desired cutting height to be changeable based on the calculation result by the height above the ground calculating device 16. A device 19 that compares the set value by the first setting device 17 and automatically operates the control valve 18 of the fluid pressure cylinder 6 so that the calculated result and the set value almost match based on the comparison result. A control device 20 is configured to automatically operate the cylinder 6 so that the actual cutting height substantially matches the set cutting height based on information from the receiver 13 and the setting device 17.

Even if the machine pitches due to irregularities in the field, the stump height can be kept almost constant by raising and lowering the reaping device 3 so that its height above the ground is within the set range. It is designed so that you can work while

As shown in FIG. 3, the height above the ground calculation device 1
A device 21 for inputting information for raising and lowering the reaping device 3 to the valve operating device 19 with priority over the calculation result from step 6 is linked to the valve operating device 19, and the operating state and non-operating state are controlled by the operating tool 22. It is constructed so that it can be manually switched to the operating state. Further, by switching the valve operation device 19 between an operating state and a non-operating state, the control device 20
A device 23 for switching between an operating state and a non-operating state,
The height above the ground of the reaping device 3 when the control device 20 is switched to the non-operating state is the maximum height that can be detected by the ultrasonic waves a, that is, the height that the receiver 13 receives after the transmitter 10 starts transmitting the sound waves. a second setting device ² that sets the height when the time t 2 required to reach the desired height corresponds to twice the set time t ¹ ;
4. For the height above ground calculation device 16 and the information input device 21, a height above ground calculation device 16;
Based on information from the setting device 24 and the information input device 21, the valve operating device 19 is automatically switched between a first state in which the valve operating device 19 is activated and a second state in which the valve operating device 19 is in an inactive state. and the value calculated by the height above ground calculation device 16 is equal to the value set by the second setting device 24, and the information input device 21 is in an inactive state, the second setting is performed.
The receiver 13
Only when the information from the second setting device 24 is greater than or equal to the setting value set by the second setting device 24 and the information input device 21 is in an inactive state, the control device 20 is in an inactive state, and when the information input device 21 is in an active state, The control unit 20 automatically operates the cylinder 6 based on the information from the information input device 21 with priority over the information from the receiver 13, and furthermore, the detected value by the receiver 13 is higher than the set value by the second setting device 24. Small information input device 2
1 is in an inoperative state, the control device 19 is configured to automatically operate the cylinder 6 based on information from the receiver 13.

Therefore, when the operating tool 22 is operated to the input position of the rising information, the reaping device 3 is raised until the operating tool 22 is returned to the information input stop position regardless of the information from the receiver 13, and Ingredients 22
If the height is higher than the height set by the second setting device 24 when the tool is returned to the information input stop position, the operating tool 22 is lowered in that state so that the height is maintained at the height set by the second setting device 24. When the reaping device 3 is at the height set by the second setting device 24, unless the operating tool 22 is returned to the information input stop position, the reaping device 3 is lowered to the height set by the first setting device 17. .

Reference numeral 25 shown in FIG. 3 is a device that indicates by lighting a lamp or sounding a buzzer that the reaping device 3 is above the height set by the second setting device 24. Based on information from each device 24, the device is automatically switched between an active state and a non-active state.

The present invention can be applied to various work vehicles such as a harvester for cutting and harvesting various stem culms such as rushes in addition to rice and wheat, and a tiller configured to automatically control the plowing depth, and the reaping device 3 can be used for ground work. It will be referred to as device 3.

The fluid pressure cylinder 6 can be changed to a fluid pressure type or an electric motor combined with a gear mechanism or a link mechanism for swinging the preprocessing frame 7, and these are collectively referred to as a working device elevating drive mechanism 6.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the working vehicle according to the present invention, in which Fig. 1 is a side view of the front part of the combine, Fig. 2 is a side view showing the mounting part of the transmitter and receiver, and Fig. 3 is a block diagram of the control system. FIG. 4 is an explanatory diagram showing the state of transmitting and receiving ultrasonic waves. 3... Ground work device, 6... Work device elevating drive mechanism, 10, 13, 15, 16... Ground height detection device, 17... Working height setting device, 19... Operating device,
21, 22...Human operation means, 23...Automatic switching device.

Claims (1)

[Claims] 1 The lifting drive mechanism 6 of the ground work device 3, the non-contact ground height detection devices 10, 13, 15, 16 that detect the actual height of the ground work device 3, and the ground work height of the work device 3. Setting device 17 for setting the
and the height above ground detection device 10, 13, 15, 1
The actual height above the ground detected in step 6 and the setting device 1
A correction signal is generated by comparing the setting value set in step 7, and the correction signal is used to control the lifting drive mechanism 6.
The working vehicle is equipped with an operating device 19 that controls the above, and human operating means 21 and 22 that controls the lifting drive mechanism 6 with priority over the correction signal, wherein the ground working device 3 is raised to a non-working position. The working vehicle is provided with a switching device 23 that stops controlling the lifting drive mechanism 6 based on the correction signal only when the height above the ground detecting devices 10, 13, 15, and 16 detect that the height above the ground has changed.