JPH0347007A - reaping harvester - Google Patents

Abstract

PURPOSE:To prevent a reaping and treating part from hitting to the surface of land in position changing operation by making a position change inhibiting means suppress position changing operation of reaping and treating part in the width direction of machine body when ground height of reaping and treating part is smaller than a set lower range. CONSTITUTION:A reaping and treating part is equipped in the front of a machine body in such a way that the reaping and treating part can be freely lifted and dropped and position changing operation can be freely carried out in the width direction of machine body. Then, a ground height detecting means S2 discriminates whether ground height of the reaping and treating part is smaller than set height or not. Further, a position change inhibiting means 101 suppresses position change operation of the reaping and treating part in the width direction of the machine body when ground height of the reaping and treating part is smaller than set height based on information of the ground height detecting means S2. Consequently, the reaping and treating part is prevented from hitting to the surface of land when the reaping and treating part is operated for change of position.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a reaping and collecting WL machine in which a reaping processing section is provided at the front of the machine body so that it can be raised and lowered and its position can be changed in the width direction of the machine body. .

[Conventional technology]

Taking a combine harvester as an example of a reaping/harvesting machine, in order to prevent the traveling device from stepping on uncut grain culms while the machine is running, the reaping processing section is generally placed on the uncut side in the width direction of the machine. It is installed biased to the left side.

Therefore, for example, when mowing work is performed at the edge of a ridge, the machine body may fall over from the field, making it difficult to drive.

Therefore, in order to be able to perform mowing work at the edge of a ridge, etc., even when the machine is running in the field, it has been considered that the position of the reaping processing section in the width direction of the machine can be changed and operated. There is.

Further, the reaping processing section is provided so as to be able to be moved up and down in order to adjust the reaping height relative to the grain culm.

However, conventionally, the position changing operation and the lifting/lowering operation of the reaping processing section have been performed independently of each other.

[Problem to be solved by the invention]

If the position changing operation and the raising/lowering operation of the reaping processing section are performed independently of each other, there are disadvantages as described below, and improvements are desired.

In other words, when the height of the reaping processing section is low from the ground, if the position of the reaping processing section is changed in the width direction, there is a risk that the reaping processing section will collide with the ground when there is a convex part on the ground. .

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to prevent the reaping processing section from colliding with the ground when changing its position.

(Means for Solving the Problems) The reaping harvester according to the present invention is provided with a reaping processing section provided at the front part of the machine body so that it can be raised and lowered and its position can be freely changed in the width direction of the machine body. The feature configuration is as follows.

That is, a height above the ground detecting means detects whether the height above the ground of the reaping processing section is smaller than a set height, and the height above the ground of the reaping processing section is determined based on information from the height above the ground detecting means. is smaller than the set height range, a position change prohibiting means is provided that prohibits a position change operation of the reaping processing section in the width direction of the machine body.

[For production]

The height above the ground detecting means detects whether the height above the ground of the reaping processing section is smaller than the set height, and if it is smaller than the set height range, the position of the reaping processing section is changed. It determines that there is a risk of collision with the ground and prohibits the position change operation.

〔Effect of the invention〕

As a result, it has become possible to prevent the reaping processing section from colliding with the ground when changing its position.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 5, a combine harvester as an example of a reaping and harvesting machine includes a body (V) equipped with a pair of left and right crawler running devices (1), and a threshing device (2) mounted on the body (V).
), and a driving and boarding section (5) which is located at the front side of the right side of the fuselage (V) and includes a driver's seat (3) and a control section (4).
) and the reaping processing unit (A) attached to the front of the fuselage (V).
It is equipped with

The reaping processing unit (A) includes a reaping unit (6) that raises and reaps grain culms, and a conveyance device (8) that supplies the reaped grain culms to the feed chain (7) of the threshing device (2). . It is connected to the fuselage (V) so that it can be raised and lowered, and its position can be changed in the width direction of the fuselage.

The reaping section (6) includes a weeding tool (9) arranged in parallel in the width direction of the machine body, a pair of left and right raising devices (10), and a clipper-type cutting blade (11) that cuts the base of the raised grain culm.
), and an auxiliary conveyance device (12) that locks and conveys the stock base of the reaped grain culm to the rear side.

A cylindrical reaping part support frame (13) that connects the reaping part (6) to the machine body (V) is connected to the machine body (V).
is mounted on a reaping part lifting hydraulic cylinder (15) which is supported by a stand (14) so as to be vertically swingable and which vertically swings the reaping part support frame (13) to raise and lower the reaping part (6).
) is provided.

Further, the reaping section (6) is configured such that its position in the width direction of the machine body can be freely changed.

To explain further, as shown in FIG. 4, basically, the reaping section (6) is supported at the tip of the reaping section support frame (13) so as to be slidable in the width direction of the machine body. It is configured so that its position in the width direction of the aircraft can be changed.

The reaping section attachment frame (13A) attached to the tip of the reaping section support frame (13) is such that a pair of front and rear elongated frames (18A) and (18B) can slide freely in the width direction of the machine body. Miki's weeding tool support frames (19a), (19b), and (19c) are attached to these long frames (18A) and (18B). In other words, the weeding tool (9) supports the three weeding tool support frames (19a) and (19b).
, (19c), respectively. Although not described in detail, each of the raising device (10), the cutting blade (11), and the auxiliary conveyance device (12) is connected to the elongated frame (18A).
).

(18B) and the weeding tool support frame (19a),
(19b).

(19c) will be used as a base frame to be assembled in a predetermined posture.

A rotating shaft (21) with a spiral groove is driven in forward and reverse directions by a horizontal sliding electric motor (20) serving as an actuator for sliding the reaping section (6) in the width direction of the machine body. Square frame (18
A), (bracket attached to (18B)) (22
), and the reaping part is attached by fixing a frame member (23) to the frame (13A), which fits into the rotating shaft (21). It is configured such that the position of the reaping processing section (A) in the width direction of the machine body can be changed.

In addition, in the figure, (24a) and (24b) are a pair of limit switches that are turned ON when the frame (13A) reaches the left and right limits where the position of the reaping part can be changed. The attachment is provided to automatically stop the drive of the electric motor (20) when the frame (13A) reaches the left and right limits in which the frame (13A) can be repositioned.

However, although not detailed, the reaping part support frame (13
) is also used as a case of a transmission shaft that transmits power from the machine body <V> to the reaping section (6).

Further, as shown in FIG. 5, the reaping section (6) is provided with a locking rod (25) for locking the conveying device (7),
As the position of the reaping section (6) is adjusted, the conveying device (
7) whose position can be adjusted by swinging.

Next, a control configuration for automatically adjusting the position of the reaping processing section (A) with respect to the grain culm rows lined up in the machine traveling direction will be described.

As shown in FIGS. 3 and 4, the three weeding tool support frames (19a), (19b), (19c)
The weeding tool support frame (19
b) includes a contact type steering control sensor (Sl) for detecting whether or not the position of the reaping processing unit (A) in the width direction of the machine body with respect to the grain culm row deviates from the appropriate reaping position range; Two pieces are provided spaced apart from each other in the front and rear direction.

To explain further, the steering control sensor (S,) is as follows:
A pair of left and right sensor bars (
26) and its sensor bar (26) are at or above the set angle,
A pair of switches (not shown) are turned on as the machine rotates toward the rear, and the position of the reaping processing section (A) in the width direction of the machine relative to the grain culm row deviates from the appropriate reaping position range. As a result, the sensor bar (25) comes into contact with the base of the grain culm and rotates toward the rear of the machine, and with this rotation, the switch is turned on and the machine position moves out of the proper position range. It is possible to detect deviations. and a frame provided with a pair of left and right switches for detecting the sensor bar (26) and its rotation;
The configuration is such that it can be determined whether the shift is in the left or right direction based on which of the left and right switches is turned on.

Since the steering control sensor (Sl) is provided with a pair of front and rear sensors, it is possible to determine whether or not the body (V) is tilted with respect to the grain culm row and the position shift in the width direction from the front and rear deviation state. It is now possible to distinguish between the two.

In other words, when the orientation of the aircraft (V) is misaligned with respect to the grain culm row, the aircraft position detected by the pair of steering control sensors (S+) will be in different directions at the front and back, and the misalignment will result in If there is no difference in position only in the width direction, the front and rear will be in the same direction.

Therefore, if there is a deviation in the orientation of the machine body (v) with respect to the grain culm row, the traveling device (1) is steered and the machine body (V
), the orientation of the aircraft (V) is corrected, and there is no deviation in the orientation of the aircraft (V).
If there is a positional deviation only in the width direction, change the position of the reaping processing unit (A) in the width direction of the machine body so that the position of the reaping processing unit (A) with respect to the grain culm row is at the appropriate reaping position. The steering operation of the traveling device (1) and the reaping processing unit (A) are performed based on the detection information of each of the pair of front and rear steering control sensors (S+) so as to be maintained within the range.
and the position change operation.

Incidentally, the steering control sensor (S,) located on the rear side of the pair of front and rear steering control sensors (S+) is an ultrasonic reflection sensor that detects the height above the ground of the reaping processing section (8). A ground height detection sensor (S2) of the type above is located below the steering control sensor (S,) and is integrally assembled therewith.

That is, the above-mentioned height above the ground detection sensor (S2) corresponds to the above-mentioned height detection means for detecting whether the above-mentioned height above the ground of the reaping processing section (8) is smaller than the set height. Then, the boundary hydraulic cylinder (15
) will also be used as a means to detect control information for automatically operating the system.

Next, a control configuration for automatically changing the position of the reaping processing section (A) in the width direction of the machine body will be explained.

As shown in FIG. 1, the pair of left and right traveling devices (1) include a transmission device (2) that changes the speed of power from an engine (IE).
6) is driven via a pair of left and right steering clutches (27) that are operated on and off separately for the left and right sides.

However, the steering clutch (27) is provided with a travel brake (not shown) so that the brake is applied as the steering clutch (27) is further operated from the clutch disengaged state to the disengaged state. In other words, when the clutch is disengaged, the vehicle can turn slowly, and when the brakes are applied, the vehicle can turn sharply with a smaller radius than when the clutch is disengaged.

A pair of steering hydraulic cylinders (28L) are used to separately operate the left and right steering clutches (27), respectively.
), (28R) and their steering hydraulic cylinders (2
8L) and (28R), and an electromagnetically operated steering control valve (29) that controls the supply of hydraulic oil to the steering control valve (29), and the steering control valve (29) that controls the steering control valve based on the detection information of the pair of front and rear steering control sensors (Sl). The operation of the control valve (29) and the reaping processing section (A
) is a control bag using a microcomputer that constitutes the steering control ig means (100) that controls the operation of the lateral slide electric motor (20) that changes the position in the width direction of the aircraft. l1 (30) is provided.

However, the control device (30) includes an electromagnetically operated lifting control valve that controls the supply of hydraulic oil to the lifting hydraulic cylinder (15) based on information from the ground height detection sensor (S2). (31) If the height above the ground of the elevation control means that controls the operation or the reaping processing section (A) is smaller than the set height, position change prohibition that prohibits the position change operation in the width direction of the machine body. It also functions as a means (101).

In the figure, (32) is the horizontal slide electric motor (2).
0) drive circuit; (33) is the steering control valve (29);
This is a steering lever for manually operating the steering wheel with priority over the steering operation by the steering control sensor (S,), and is provided in the steering section (4).

Further, (34) is a pair of switch-type sensors that detect the operation state of the steering lever (33), and the output thereof is manually inputted to the control device (30).

That is, the control device (30) controls the steering lever.
When (33) is manually operated, the steering control sensor (
Even during the steering control by S, ), the manual operation by the steering lever (33) is given priority. However, although not detailed, the steering lever (
During the manual operation according to step 33), the position change operation of the reaping processing section (A) is not performed.

In addition, in order to manually change the position of the reaping processing section (A) with priority over the steering control means (100), a position change lever (35) and its operation are provided. A pair of switch-type sensors (36) that detect the state
and is provided. In other words, the steering lever (33
), the position change lever (35)
When is operated, the control device (30) operates to give priority to manual operation based on information from the pair of switch-type sensors (36).

Further, in order to manually perform the lifting operation of the reaping processing section (A) in preference to the lifting operation using the ground height detection sensor (S2), an lifting operation lever (37) is provided. , and a pair of switch-type sensors (38) for detecting the operating state of the steering lever (38).
33) and the position change lever (35), when the lift operation lever (37) is operated, the control device (30) controls the pair of switch-type sensors (38). Based on the information, it will operate to prioritize manual operations.

However, as described later, the above-mentioned height above ground detection sensor (S2
) is smaller than the set height, the operation of the position change lever (35) is ignored and the position change operation of the reaping processing unit (A) is prohibited. become.

Next, the operation of the control device (30) in steering control will be explained based on the flowchart shown in FIG.

When the power is turned on and the control operation is started, the detection information of the pair of front and rear steering control sensors (Sl) is read at set time intervals, and the machine position relative to the grain culm row is in different directions at the front and rear. Based on whether or not there is a deviation in orientation of the vehicle (V) with respect to the grain culm row, it is determined whether or not there is a deviation in orientation of the vehicle (V) with respect to the grain culm row.

If there is a deviation in the orientation of the aircraft, the steering control valve (29) is operated in accordance with the direction of the deviation to steer the traveling device (1) to correct the orientation of the aircraft. Become.

If there is no deviation in the orientation of the aircraft, the position is determined in the width direction of the aircraft based on whether the deviation in the aircraft position detected by the front and rear steering control sensors (Sl) is in the same direction. If there is a deviation in the width direction of the machine body, the electric motor (20) is operated in accordance with the direction to adjust the position of the reaping processing section (A) in the width direction. will be corrected.

However, if the height above the ground detected by the above-mentioned height above the ground detection sensor (S) is smaller than the set height, there is a risk that the above-mentioned reaping processing section (A) will collide with the ground. It is designed to prohibit position change operations in the width direction.

That is, when the detected height above the ground is smaller than the set height, the process of prohibiting the position change operation in the width direction of the reaping processing section (A) corresponds to the position change prohibition means (101). become.

If there is no deviation in both the orientation of the aircraft and the position in the width direction, the operation of the steering control valve (29) and the electric motor (20) is stopped to maintain the current running state. It turns out.

Furthermore, the control bag mentioned above? i! (30) repeats each process described above until the power is turned off.

[Another example]

In the above embodiment, the case where the steering control sensor (Sl) is configured as a switch type that only detects the presence or absence of positional deviation is exemplified. The amount of positional deviation in the width direction of the machine body relative to the grain culm row can be detected using a potentiometer etc. that can output, and the amount of steering operation and position change of the reaping processing unit (A) can be determined according to the detected amount of deviation. You may also operate it with .

Further, in the above embodiment, the case where the raising/lowering operation and position change operation of the reaping processing unit (8) and the steering operation of the traveling device (1) are automatically performed, but it is possible to automatically perform the operation by manual operation only. You may also do so.

However, in the case of manual operation, as shown in the above embodiment, the operation state of the manual operation lever is electrically detected, and if the height above the ground is smaller than the set height, the operation is disabled. The position change operation may be prohibited by ignoring the position change operation, but for example, instead of the electric motor (20), a link mechanism or the like may be used to connect the position change lever and the reaping processing section (A). The reaping processing unit (A)
The specific configuration of the position change means and the position change prohibition means (101
) can be changed in various ways.

Further, when the reaping processing section (8) is to be operated only manually, the height above the ground detecting means may be replaced with a structure for detecting the actual height above the ground of the reaping processing section (A). hand,
It may be simplified to a grounding type or the like so as to binary-detect only whether or not the height is smaller than the set height, and its specific configuration can be changed in various ways.

Further, in the above embodiment, the present invention is applied to a combine harvester, but it can be applied to various types of reaping and harvesting machines, and the specific configuration of each part can be changed in various ways.

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 drawings]

The drawings show an embodiment of the reaping and harvesting machine according to the present invention, in which Fig. 1 is a block diagram of the control configuration, Fig. 2 is a flowchart of control operation, Fig. 3 is an enlarged side view of the height above ground detection means, and Fig. 4
The figure is a partially cutaway plan view of the position changing means of the reaping processing section, the fifth
The figure is a schematic side view of the front part of the combine. (8) Reaping processing unit, (V) Airframe, (S2) Ground height detection means, (101
)...Means for prohibiting position change.

Claims (1)

[Claims] A reaping/harvesting machine in which a reaping processing section (A) is provided in the front part of a machine body (V) such that the reaping processing section (A) can be freely raised and lowered and its position can be freely changed in the width direction of the machine, and the height of the reaping processing section (A) above the ground is A height above the ground detecting means (S_2) detecting whether the height above the ground is smaller than a set height, and a height above the ground of the reaping processing section (A) based on information of the height above the ground detecting means (S_2). is smaller than the set height range, the reaping processing section (
A) A reaping harvester that is provided with a position change prohibition means (101) that prohibits the position change operation in the width direction of the machine body.