JPS5811808B2 - Work equipment height control device for mobile agricultural machinery - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a work machine height control device that enables stable vertical movement of a work machine of a mobile agricultural machine.

A mobile agricultural machine such as a combine harvester that automatically reaps husks and threshes grains has a clipper-like reaping section installed at the front lower part of the machine, and when not working, this reaping section is placed in a non-working position away from the ground. During holding work, it is held in a working position close to the ground.

Furthermore, when the reaping section is in the working position and working, the reaping section is automatically moved up and down according to the unevenness of the ground, and the cutting height is automatically controlled so that the roots of the culms are reaped to the same depth.

In conventional combines, the reaping section was moved up and down at the same speed as the speed at which it was moved between the non-working position and the working position, and even during automatic cutting height control, the control became too rapid, causing vibrations and accelerating the deterioration of the machine. There were drawbacks such as bunching and unstable control action.

Furthermore, when lowering the reaping section to the working position, it was difficult to set the position and operation was difficult.

This invention was made in view of these points,
The purpose of this is to accurately and smoothly move up and down operation of mobile agricultural machinery such as the reaping section of a combine harvester, etc. 1. Mobile agricultural machinery with good workability and stable automatic height control. The purpose of the present invention is to provide a work equipment height control device.

below. The details of this invention will be explained based on examples.

FIG. 1 is a side view of a combine harvester using another embodiment of the present invention.

In the figure, 1 is the culm to be harvested, 2 is the dividing body that guides the culm 1 to the introduction path, 3 is the culm pulling device that pulls the culm 1 straight, and 4 is the operation of reaping the culm 1 from the root. Reaping section as a machine,
Reference numeral 5 denotes a cutting height sensor provided on a base connected to the reaping section 4, 6 an actuator of the cutting height sensor 5 whose tip is in contact with the ground, and 7 a hydraulic cylinder that operates the reaping section 4 up and down. , 8 is a cut stump, 9 is a culm conveying device for conveying the cut culm, 10 is an operating rod for manually moving the reaping section 4 up and down, 11 is a traveling device, 12 is an engine, and 13 is a The grain packaging device 14 is a threshing machine.

In such a combine harvester, the traveling device 11 is on a flat ground surface, but if the reaping unit 4 is on a depressed ground 15, the reaped culm will be short if it is reaped at its normal position (height). Since the stump becomes long, in this case, the cutting section 4
Automatic cutting height control is performed so that the cutting height of the shell culm is constant from the ground.

FIG. 2 is an explanatory diagram of the operation of the actuator 6 of the cutting height sensor 5.

When the actuator 6 is in the range of θn, both the automatic lowering switch and the automatic raising switch of the cutting height sensor 5 are turned off, and when the actuator 6 is in the range of θd, the automatic lowering switch of the cutting height sensor 5 is turned on, and the automatic lowering switch of the cutting height sensor 5 is turned on, and the automatic lowering switch of the cutting height sensor 5 is turned on. When the cutting height is within the range, the automatic raising switch of the cutting height sensor 5 is turned on.

Therefore, as mentioned above, when the reaping section 4 is on the depression 15, the actuator 6 is in the range θd, the automatic lowering switch is turned on, and an automatic lowering signal is sent, and based on this, the hydraulic cylinder 7 is activated. to lower the reaping section 4.

When the actuator 6 rotates and comes within the range of θn, the automatic lowering switch is turned off and the reaping section 4 operates at this position.

On the other hand, when the reaping section 4 is on a convex surface of the ground.

The actuator 6 rotates within a range of θn, the automatic lift switch is turned on, and an automatic lift signal is sent out.Based on this, the hydraulic cylinder 7 is actuated to raise the reaping section 4.

When the actuator 6 rotates and returns to the range of θn, the automatic lift switch is turned off and the reaping section 4 operates at this position.

Therefore, even if the ground is uneven, the cutting section 4 performs automatic cutting height control and always cuts the culms at a constant height above the ground.

Note that when the reaping section 4 is raised or lowered by the hydraulic cylinder 7, the reaping section 4 is not operated all at once but is moved intermittently in pulses, that is, in steps, in order to do so at a fine adjustment speed.

That is, the amount of movement in one step is small, but the amount of movement is continuously increased.

Therefore, when the amount of movement of the reaping section 4 is small, the number of steps is small, and when the amount of movement is large, the number of steps is large.

In addition, when the automatic cutting height control is turned off, the operating rod 10 is used to rapidly raise the reaping section 4 by the hydraulic cylinder 7 only while it is pushed from N to U or D as shown in FIG. Or operate it downward.

When released, it returns to N and the raising or lowering operation stops at that position.

When the automatic cutting height control is on, the reaping unit 4 in the upper non-working position starts to descend continuously and rapidly at the overall lifting speed when the operating rod 10 is pushed from N to D. Even if 10 is released and returned to N, this downward state is maintained.

When the actuator 6 of the cutting height sensor 5 comes into contact with the ground, the lowered state is released and the cutting unit 4 stops, and at this working position, the automatic cutting height control of the intermittent movement described above is performed to maintain a constant height from the ground. Do the reaping work.

When the combine comes to the edge of the culm group and there are no more culms to harvest.

When the operating rod 10 is pushed from N to U, the automatic cutting height control state is canceled and the cutting section 4 rises rapidly.

If the falling state is maintained, the descending state is canceled and the rising occurs.

When the operating rod 10 is released, it returns from U to N, and the reaping section 4 stops rising and comes to the non-working position.

Next, this operation will be explained in detail with reference to FIG.

FIG. 3 is a circuit diagram of an embodiment of the present invention.

First, turn on the automatic switch SWa for automatic cutting height control, and then push the operating rod 10 from N to D to turn on the manual switch SW.
m turns on contact d.

When manual switch SWm turns on contact d, a downward movement signal is sent, the input of NOT circuit N1 goes to L level, its output goes to H level, and transistors Tr1. Tr2
is connected to conduction, and a relay (not shown) connected thereto operates to ground the falling output terminal DT.

This causes the hydraulic solenoid valve to operate and the hydraulic cylinder 7 to rapidly lower the reaping section 4 which was in the upper non-working position.

Note that when the reaping section 4 is in the non-working position, the actuator 6 of the cutting height sensor 5 is in the range θd, and the automatic lowering switch Kd is on.

At the same time, the flip-flop circuit 16 which acts as a memory circuit is set by the H level output of the NOT circuit N1, and even if the operating rod 10 is released and the manual switch SWm is turned off from the contact point d, that is, even if the transmission of the movement signal is instantaneous, the transistor TrttTr2 is continues to be in a conductive state, and the rapidly descending state of the reaping section 4 is maintained.

When the reaping section 4 eventually descends to the working position, the actuator 6 of the cutting height sensor 5 rotates from the range θd to the range θn, and the automatic lowering switch Kd is turned off.

As a result, the input of the NOT circuit N2 becomes H level and its output becomes L level, and both NOR circuits R1 become L level and its output becomes H level.

As a result, the flip-flop circuit 17 is set,
Transistor Tr3. Tr4 becomes conductive and lights up the indicator lamp (not shown) connected to the indicator terminal LT, indicating that the automatic cutting height control circuit is turned on, and also flips the
The flop circuit 16 is inverted and the transistor Tr1. Tr
2 is made non-conductive, the maintenance of the rapidly descending state of the reaping section 4 is released, and the reaping section 4 is stopped.

At the same time, an L level is output from the flip-flop circuit 17 and input to the OR circuit R2°R3, and the automatic cutting height control circuit is put into operation.

After entering the automatic cutting height control state, control is performed by turning on and off the cutting height sensor 5 as described above.

That is, when the reaping section 4 enters the depression, the automatic lowering switch Kd
turns on and L level is input to NAND circuit A and NOR circuit.

The output of NAND circuit A goes to H level, and the output of NAND circuit A3 to which this output is input goes to H level, so the output goes to L level, which causes the reset terminal R to go to L level. The reset is released and the pulse counter 18 counts cross pulses from the pulse terminal CP.

When 32 pulses are counted, the output shaft Q6 becomes H level and the output of the NOT circuit N3 becomes L level.

Therefore, all the inputs of the NOR circuit R2 go to L level and the output goes to H level, so transistor Tr1. T
r2 becomes conductive, and the reaping section 4 starts descending.

However, when the pulse counter 18 counts two more pulses, the output terminal Q2 becomes H level, and the NAND circuit A
3, both inputs are at H level, so the output is at L level.

As a result, the output of NAND circuit A2 becomes H level, the pulse counter 18 is reset, and both output terminals Q2 and Q6 become L level, but at the same time, the output of NAND circuit A3 becomes H level, and the output of NAND circuit A2 becomes L level, the reset of the pulse counter 18 is released again, and the pulse counter 18 starts counting.

Similarly, while the automatic lowering switch Kd is on,
The pulse counter 18 sends out a repetitive pulse signal having a waveform of 32 pulses at L level and 2 pulses at H level.

A time chart of this state is shown in FIG.

The reaping section 4 is intermittently lowered little by little in response to this pulse number.

When the reaping section 4 is lowered to a certain height from the ground, the actuator 6 of the reaping height sensor 5 enters the range θn, the automatic lowering switch Kd is turned off, the first circuit returns to the previous state, and the lowering stops.

On the other hand, when the reaping section 4 enters the 6th place, the automatic lift switch Ku
turns on and the level is input to the NAND circuit A1 and NOR circuit R3.

The output of NAND circuit A1 becomes H level, and as a result,
Since the output of the NAND circuit A3 is also at H level, the output of NAND circuit A2 becomes L level, and the pulse counter 18 is released from reset and starts counting clock pulses.

As before, if only 32 pulses are counted, the output terminal Q
6 goes to H level, the output of NOT circuit N3 goes to L level, and all the inputs of NOR circuit R3 go to L level, so the output goes to H level and transistors Tr and Tr6 become conductive.

As a result, a relay (not shown) connected to the lift output terminal UT is actuated, thereby operating the hydraulic solenoid valve and causing the hydraulic cylinder 7 to start lifting the reaping section 4.

As mentioned above, the pulse counter 18 sends out a pulse signal with 32 pulses at the L level and 2 pulses at the H level, so the reaping section 4 intermittently rises little by little, and when it rises to a certain height from the ground, it automatically rises. Switch Ku is turned off and the circuit returns to its original state.

In this manner, while the automatic reaping height control circuit is operating, the combine harvester reaps the culm while performing automatic reaping height control by intermittently moving the reaping section 4 upward or downward little by little.

Next, when the reaping operation is finished and the reaping section 4 is to be raised to a non-operating position for turning, etc., when the operating rod 10 is pushed from N to U, the contact point U of the manual switch SWn is turned on.

As a result, the input of the NOT circuit N4 becomes L level and its output becomes H level. Tr
6 becomes conductive, and the reaping section 4 rises rapidly.

At the same time, an L level is input to the NAND circuit A4.

Note that the automatic switch SWa is first turned on and the NOR circuit R
The L level is input to the power input terminal BT, and the H level is input to the power supply terminal BT when the power is turned on.
The flop circuit is reset, but after that it is at L level, so the output of NOR circuit MR4 is at H level.

Therefore, when the contact U of the manual switch SWm is turned on, the output of the NAND circuit A4 goes from L level to H level, the flip-flop circuit 17 is inverted, and the transistor Tr3
2Tr4 is made non-conductive to turn off the indicator lamp, and an H level is output to the NOR circuits R2 and R3 to put the automatic cutting height control circuit into a non-operating state.

if. At this time, even if the flip-flop circuit 16 outputs an H level and maintains the rapid descending state, it is reversed by the operation of the flip-flop circuit 17, the descending state is canceled, and the reaping section 4 rapidly ascends.

The reaping section 4 rises to the non-working position. When the operation lever 10 is released, the position returns from U to N and the reaping section 4 stops.

In this way, the movement of the reaping unit 4 between the working position and the non-working position takes place rapidly at the overall lifting speed.

At the working position, the mowing section 4 is moved intermittently in small steps to perform automatic cutting height control at a fine adjustment speed.Moreover, when moving down to the working position, the reaping section 4 only needs to be lowered and instantaneously sends a movement signal. It moves downward and is automatically set to the appropriate height.

In the above embodiment, the waveform of the pulse output is set to 32 pulses at the L level and 2 pulses at the H level, or can be freely set according to the characteristics of the working machine such as the reaping section by rearranging the gates of the pulse counter.

Although the clock pulses were obtained from an oscillator with a constant frequency, they may also be proportional to the traveling speed of a mobile agricultural machine such as a combine harvester.

According to this, the traveling speed corresponds to the moving speed during automatic control of the working machine, which improves work efficiency.

Also, I operated the manual switch by manually moving the control lever, but
Inputs from other control circuits can also be used in cases such as fully automatic unmanned operation.

Further, in the above embodiment, the reaping section of a combine harvester has been described, but it goes without saying that the present invention can be used for other working machines such as mobile agricultural machinery.

As described above, according to the work machine height control device for a mobile agricultural machine of the present invention, the work machine height control device for a mobile agricultural machine automatically controls the height of one work machine in a working position. When moving from the machine to the working position, if a movement signal is sent even momentarily, the working machine automatically maintains its moving state and moves to the working position by the action of the memory circuit.

At the above-mentioned working position, automatic height control is performed by intermittently moving small amounts at a time, thereby providing the advantage of easy operation, good work efficiency, and stable automatic height control.

[Brief explanation of drawings]

FIG. 1 is a side view of a combine harvester using an embodiment of the present invention, FIG. 2 is an explanatory diagram of the actuator of the cutting height sensor, FIG. 3 is a circuit diagram of an embodiment of the invention, and FIG. The figure is a time chart of the operation of the switch of the cutting height sensor and the waveform of the pulse signal. 4... Reaping unit, 5... Cutting height sensor, 6... Actuator, 7... Hydraulic cylinder, 10... Operating rod, 16, 17
...Flip-flop circuit. 18...Pulse counter, SWa...Automatic switch. SWm...manual switch, Ku...automatic lift switch,
Kd...Automatic down switch, A1-A4...NAND circuit, R1-R4...NOR circuit, N1-N4...NOT circuit, Tr1-Tr6...Transistor, UT...Up output terminal, DT...Down output Terminal, LT...display terminal.

Claims (1)

[Claims] 1. A working machine height control device for a mobile agricultural machine that automatically controls the height of a working machine in a working position includes a switch that operates when the working machine is moved from a non-working position to the working position, and a switch that is set by the operation of this switch. A memory circuit that maintains this set state even if the switch is in the set state and then deactivates the switch, and resets the set state when the work equipment is in the work position, and a memory circuit that resets the set state when the work equipment is in the set state. The present invention is characterized by comprising a driving means for moving the machine from the non-working position to the working position, and an automatic control means for intermittently moving the working machine in small amounts at the working position to perform automatic height control. Work bulk control device for mobile agricultural machinery.