JPS5951967B2 - Automatic attitude control device for mobile harvesters - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention, such as a combine harvester or an onion harvester, has a ground harvesting device in the front part of a traveling device, and processes the crops harvested by the ground harvesting device in the upper part. The present invention relates to a mobile harvester in which a processing device is arranged.

In general, the automatic attitude control device in this type of mobile harvester has a front ground plane relative to the rear processing device. It was configured to control the height of ground-based harvesting work by raising and lowering the harvesting device, but in this case, the relative posture of the front ground-harvesting device and the rear processing device would change due to the control of the height of ground-based harvesting. Due to the In addition, when one of the traveling gears runs over an uneven surface and the machine tilts to the left or right, this causes the front ground-to-ground harvesting device to tilt to the left or right. There was a problem that the working height above the ground in the lateral direction fluctuated.

In view of the above-mentioned circumstances, the present invention has been developed to adjust the height of the front ground harvesting work device above the ground, and to keep the harvested crop holder from the front ground harvesting work device to the rear processing device in the best possible condition for passing the crop. However, the purpose is to ensure that work can be carried out reliably and well without any variation in the height above the ground in the left and right directions, and in the above-mentioned items, The front ground harvesting device is configured to be movable up and down with respect to the rear processing device, and a drive mechanism is provided to move the rear processing device up and down separately to the left and right with respect to the traveling device, and the front ground harvesting device is configured to be movable up and down relative to the rear processing device. The ground height detection sensors provided on the left and right sides of the working device and the left and right drive mechanism are linked so that the drive mechanism on the detection activation sensor side operates to control the ground posture of the ground harvesting device. The special feature is that, in response to small forward/backward tilting or left/right tilting of the machine body, the corresponding drive mechanism By activating the front ground harvesting device, the front ground harvesting device can be automatically adjusted to a predetermined working height above the ground while maintaining a constant relative posture between the front ground harvesting device and the rear processing device. In addition, for large forward and backward tilting of the aircraft, the rear.

By vertically moving the front ground harvesting device relative to the section processing device and vertically moving the rear processing device relative to the traveling device, collisions with the ground and poor harvesting caused by insufficient vertical movement of the front ground harvesting device are avoided. be able to.

Therefore, the ground working height adjustment of the front ground harvesting device is
The harvested crop receiver from the front ground harvesting device to the rear processing device maintains the transfer action as well as possible, and also ensures that there is no variation in the height of ground work in the left and right lateral directions. I was able to do it well.

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

Fig. 1 shows a combine harvester, which is one type of mobile harvester, and a threshing device 2 having a threshing feed chain 2A is mounted on the top of a traveling device 1 consisting of a pair of right and left crawlers IA, IA'. The fuselage frame 2B and the track frame 1B on the side of the traveling device 1 are equipped to be movable up and down via links 3 and 3' that constitute a 1,000-row four-link mechanism, and in front of these devices 1 and 2, Raising device 4A
, a reaping device 4 consisting of a clipper-type cutting blade 4B, a vertical conveying device 40, etc., which changes the reaped husk culm to a sideways posture and conveys and supplies it to the threshing feed chain 2A, is moved to the conveying end of the vertical conveying device 4C. They are connected so that they can move up and down around the horizontal axis P near the section.

Further, as shown in FIG. 2, a first drive mechanism 5 that moves the threshing device 2 up and down separately to the left and right with respect to the traveling device 1;
5' and a second drive mechanism 6 for moving the reaping device 4 up and down with respect to the threshing device 2.
A ground height detection sensor 7.7' is provided on both left and right sides near the cutting blade 4B, and the left and right sensors 7.7'
and the first drive mechanism 5, 5' are detected by a detection operation sensor 7.
Or the drive mechanism 5 or 5' on the 7' side operates and the reaping device 4
The reaping device 4 is linked to control the ground attitude of the threshing device 2, and the reaping device 4 can be raised relative to the threshing device 2 when the limit of upward movement by the drive mechanism 5 is reached based on the detection results of the sensors 7, 7'. , and is configured to operate the second drive mechanism 6 based on the detection results of the sensors 7, 7'.

The first drive mechanism 5, 5' has four points and three positions that control the telescopic operation of hydraulic cylinders 5A, 5A' interposed between the track frame 1B of the traveling device 1 and the rear links 3, 3'. A switch SW1. has a switching type control valve 5B, 5B' and detects when the left and right hydraulic cylinders 5A, 5A' are extended or contracted to the maximum raised position or the maximum lowered position. SW8 and SW3. SW4 is provided.

The second drive mechanism 6 includes a hydraulic cylinder 6A interposed between the reaping frame 4D of the reaping device 4 and the body frame 2B of the threshing device 2, and four points 3 that control the expansion and contraction operation of the hydraulic cylinder 6A. a switch S having a position-switchable control valve 6B and detecting that the hydraulic cylinder 6A has expanded and contracted to the maximum upward position and the maximum downward position;
W5°SW6 is provided.

The left and right sensors 7 and 7' detect bridge-shaped sensor pars 7A and 7A' that are vertically swingable around the horizontal axis, and detect when the sensor pars 7A and 7A' are displaced above a certain level in the vertical direction. switch SL1. SL2 and SR1,
SR2 is configured.

Next, an example of the operation of the automatic attitude control system configured as described above will be explained.

(1) When the overall cutting height of the reaping device 4 becomes lower than the set cutting height due to irregularities in the field, the left and right sensors 7.
7' rising switch SL1. Both SR1 are turned on, and switches SW1. The first drive mechanism 5, 5 via SW3
control valves 5B and 5B' which are the constituent members of '.

5a' is energized, and the control valves 5B and 5B' are switched to the rising state.

The accompanying extension of the hydraulic cylinders 5A, 5A' causes the threshing device 2 including the reaping device 4 to rise relative to the traveling device 1, and the cutting height is corrected to within the set allowable range.

If the lifting height of the reaping device 4 is still low when the upward movement by the first drive mechanism 5, 5' reaches its limit, the switch SW1. The circuit is switched by SW3, and the second
The rising solenoid 6a of the control valve 6B, which is a component of the drive mechanism 6, is energized, and the control valve 6B is switched to the rising state.

The accompanying extension of the hydraulic cylinder 6A causes the reaping device 4 to rise relative to the threshing device 1, and the cutting height is automatically corrected within the set allowable range.

(2) When the overall cutting height of the reaping device 4 becomes higher than the set cutting height, the lowering switch SL of the left and right sensors 7 and 7'
2. Both SR2 are turned on, and the control valve 5B, which is a component of the first drive mechanism 5, 5', is turned on via the switch SW6.
, 5B' lowering solenoids 5b, 5b' are energized,
The control valves 5B, 5B' are switched to the lower drop state.

The accompanying contraction of the hydraulic cylinders 5A, 5A' causes the threshing device 2 including the reaping device 4 to be lowered relative to the traveling device 1, and the cutting height is automatically corrected within the set allowable range.

(3) When the cutting height on the left or right side of the reaping device 4 becomes lower than the set cutting height, the rise switch SL1 or SR1 of the left or right sensor 7 or 7' is turned on, and the switch SW
1 or SW3, the raising solenoid 5a or 5a' of the control valve 5B or 5B' is energized, and the control valve 5
B or 5B' is switched to the rising state.

As a result of the extension of the hydraulic cylinder 5A or 5A', the left or right side of the threshing device 2 including the reaping device 4 rises with respect to the traveling device 1, and the cutting height in the left and right lateral directions is within the set allowable range. will be automatically corrected within.

(4) When the cutting height on the left or right side of the reaping device 4 becomes higher than the set cutting height, the lowering switch SL2 or SR2 of the left or right sensor 7 or 7' is turned on, and the switch SW
6, the lowering solenoid 5b or 5b' of the control valve 5B or 5B' is energized, and the lowering solenoid 5b or 5b' of the control valve 5B or 5B is energized.
' is switched to the lowering state.

Due to the accompanying contraction of the hydraulic cylinder 5A or 5A', the left or right side of the threshing device 2 including the reaping device 4 is lowered with respect to the traveling device 1, and the cutting height in the left and right lateral directions is within the set allowable range. will be automatically corrected within.

[Brief explanation of the drawing]

The drawings illustrate an embodiment of the automatic attitude control device in a mobile harvester according to the present invention, and FIG. 1 is a side view of the entire combine, and FIG. 2 is a hydraulic circuit diagram. 1... Traveling device, 2... Rear processing device, 4... Front ground harvesting device, 5, 5'...
...Drive mechanism, 7.7'...Sensor for detecting height above ground.

Claims (1)

[Claims] 1. A ground harvesting device 4 is provided at the front of the traveling device 1, and
In a mobile harvester in which a processing device 2 for processing crops harvested by the ground harvesting device 4 is disposed in the upper part, the front ground harvesting device 4 is configured to be movable up and down with respect to the rear processing device 2. At the same time, drive mechanisms 5 and 5' are provided to move the rear processing device 2 up and down on the left and right sides with respect to the traveling device 1, and drive mechanisms 5 and 5' are provided on the left and right sides of the front ground harvesting device 4 for detecting the height above the ground. The sensor 7, 7' and the left and right drive mechanisms 5, 5' are linked so that the drive mechanism on the detection activation sensor side operates to control the ground attitude of the ground harvesting device 4. Automatic attitude control device for mobile harvesters. 2. Automatic posture control in a mobile harvester according to claim 1, which is a reaping device equipped with the ground harvesting device 4-power bow 1 raising device 4A, and the rear processing device 2 is a threshing device. Device. 3. The entire front ground harvesting device 4 is configured to be able to move up and down relative to the rear processing device 2 when the vertical movement limit of the drive mechanisms 5, 5' is reached based on the detection results of the sensors 7 and 7'. An automatic attitude control device for a mobile harvester according to claim 1 or 2.