SELF-PROPELLED COMBINE HARVESTER

Abstract

The present invention relates to a self-propelled combine harvester (32) comprising a feed chute (12) which is pivotably mounted on the combine harvester (32) about a horizontal axis (13) for height adjustment by means of linear actuators, and a belt cutter (1) arranged on the feed chute (12), which has a central segment (3) with a central frame segment (2) and two side segments (4) each with an outer frame segment (2A, 2B), wherein the respective side segment (4) is pivotably connected to the central segment (3) by a frame joint (15) comprising a pivot axis (14), wherein the respective side segment (4) can be positioned relative to the central segment (3) by means of a controllable actuator (16), wherein the combine harvester (32) comprises a control unit (20) which is designed and configured to control the actuators (16).to align the side segments (4) relative to the center segment (3) depending on the height adjustment of the feed channel (12) when raising the belt cutter (1).

Description

[0001] The present invention relates to a self-propelled combine harvester according to the preamble of claim 1. Furthermore, the present invention relates to a method for operating a self-propelled combine harvester according to the preamble of claim 9.

[0002] A self-propelled combine harvester with a multi-section draper header of the type mentioned above is known from EP 3 420 799 A1. The multi-section design of the draper headers, with side sections pivoting relative to the central section, allows wider headers to follow the ground contours more precisely during harvesting, thus cutting more crop. Upon reaching a headland, the draper header is raised, with the side sections generally being moved into a central position in which the side sections form an angle of approximately 180° with the central section, i.e., the side sections and the central section are essentially oriented in a horizontal plane.

[0003] In very hilly conditions, however, insufficient ground clearance may be present. This is particularly problematic for draper headers with a large working width. In such situations, it is helpful to utilize the flexible adjustability of the multi-section draper header to prevent it from bottoming out on the ground. Manually raising the draper header is usually achieved by activating a switch on a multifunction handle, which moves the side segments to the center position. However, manually extending the side segments beyond the center position requires considerable attention from the operator and necessitates additional interaction with a control unit that operates the draper header.To continue harvesting after passing the headland, the operator must interact with the control unit again to reset the settings that deviate from normal operation. If this is omitted, the side segments will swing out unnecessarily far upwards relative to the center segment. Unnecessarily wide swing of the side segments increases wear on the cutterbar.

[0004] Based on the aforementioned prior art, the invention aims to provide a self-propelled combine harvester and a method for operating a self-propelled combine harvester, thereby achieving simpler and more intuitive handling during manual control for lifting the side segments.

[0005] This problem is solved according to the invention by a self-propelled combine harvester with the features of claim 1 and a method for operating a self-propelled combine harvester with the features of claim 9. Advantageous embodiments are the subject of the dependent claims.

[0006] According to claim 1, a self-propelled combine harvester is proposed, comprising a feed chute which is pivotable about a horizontal axis for height adjustment by linear actuators, and a draper header arranged on the feed chute, which includes a central segment with a central frame segment and two side segments, each with an outer frame segment, wherein each side segment is pivotably connected to the central segment by a frame joint comprising a pivot axis, and wherein each side segment can be positioned relative to the central segment by a controllable actuator. According to the invention, the combine harvester includes a control unit designed and configured to control the actuators in order to align the side segments relative to the central segment as a function of the height adjustment of the feed chute when the draper header is raised.

[0007] The underlying principle is that handling during the manually controlled lifting of the belt cutter can be simplified and made more intuitive by aligning the side segments relative to the center segment when only one control element, which changes the height of the feed channel, is operated. This alignment depends on the current height of the feed channel. Thus, swinging the cutter beyond a central position is only possible by continuously operating this single control element.

[0008] For this purpose, at least one sensor is provided, which generates signals for the swivel angle of the feed channel and transmits them to the control unit. The control unit then evaluates the signals received from the sensor to determine the height adjustment of the feed channel. For example, a rotary potentiometer can be arranged on the axis around which the feed channel can swivel for height adjustment.

[0009] In particular, the control unit can, depending on a threshold value for the swivel angle stored or stored in the control unit, control the actuators to move the side segments into a deflected position in which the side segments are swiveled upwards at a specific angle relative to the center segment, particularly the maximum achievable angle. The operator can thus specify, when manually raising the belt cutter, whether the threshold value is exceeded, in order to move the outer ends of the side segments to a position with maximum clearance from the ground. This may be particularly necessary, for example, when lateral obstacles must be navigated when entering or exiting a field with the belt cutter mounted.When manually raising the belt cutter after exceeding the threshold value, the operator can interrupt the manual raising process and specify a deflection of the side segments with a value for the angle that is less than the angle that would occur when the side segments are in their maximum position away from the ground. This allows for a smaller deflection of the side segments.

[0010] In particular, a sensor array can be arranged at each of the frame joints to monitor the angle being set between the center segment and the side segments. This allows the control unit to display the current angle being set to the operator during the manual lifting process by evaluating the sensor signals from the sensor arrays. Preferably, the sensor arrays can be designed as rotary potentiometers.

[0011] Furthermore, the control unit can be designed and configured to control the actuators depending on the height adjustment of the feed channel only when the belt cutter is manually lifted.

[0012] According to further training, the control unit can be operated in an automatic mode in which a first and second setpoint for the swivel angle can be specified. Based on these setpoints, the side segments are automatically aligned relative to the center segment when the header is raised. The combine harvester operator can specify or set the two setpoints for the swivel angle, which are below the threshold value. This eliminates the need for manual control of the header's distance from the ground when driving through the field and for manually raising the header when crossing a headland. The automatic mode can be activated by the operator and is executed by the control unit, for example, based on signals from a route planning module when a headland is detected.Upon reaching a headland, the belt cutter is automatically moved to its center position according to the second setpoint, which is greater than the first setpoint, in which the side segments and the center segment are essentially at the same height.

[0013] Furthermore, the control unit can be configured to override the automatic mode for raising the draper header via manual input using a control unit. If the combine harvester operator recognizes a situation in which the automatic raising of the draper header, and the associated swinging of the side segments into the central position, is insufficient to prevent one or both side segments from colliding with the ground or another obstacle in the outer edge areas of the side segments, the operator can override the automatic raising of the draper header. For this purpose, a control element, which is part of the control unit and serves to actuate the linear actuators for adjusting the height of the intake channel, can be used.The control element used to manually adjust the height of the intake chute can be held continuously until the threshold value for the swivel angle stored in the control unit is exceeded. Preferably, the control unit is designed as a multifunction handle with several operating elements. The multifunction handle is typically located on an armrest of the driver's seat and allows for ergonomic operation of the combine harvester and the belt header without requiring the operator to change their seating position or reposition their grip.

[0014] Preferably, the actuators can be designed as hydraulic cylinders. Furthermore, the actuators designed as hydraulic cylinders can be connected to a pressure accumulator, so that they can be used as hydraulic springs.

[0015] The problem initially set out is further solved by a method for operating a self-propelled combine harvester with the features of dependent claim 9.

[0016] According to claim 9, a method for operating a self-propelled combine harvester is proposed, comprising a feed chute which is pivoted about a horizontal axis for height adjustment by linear actuators, and a belt cutter arranged on the feed chute, which has a central segment with a central frame segment and two side segments, each with an outer frame segment, wherein the respective side segment is pivotably connected to the central segment by a frame joint comprising a pivot axis, wherein the respective side segment is positioned relative to the central segment by a controllable actuator, wherein the combine harvester is controlled by a control unit by which the actuators are controlled to align the side segments relative to the central segment depending on the height adjustment of the feed chute when the belt cutter is raised.Reference may be made to the advantages of the combine harvester according to the invention.

[0017] In particular, at least one sensor can generate signals for a swivel angle of the feed channel and transmit them to the control unit, which evaluates the signals to determine the height adjustment of the feed channel.

[0018] Furthermore, depending on a threshold value for the swivel angle stored or configurable in the control unit, the side segments can be moved into a deflected position in which they are swiveled upwards at a specific angle relative to the center segment, particularly the maximum achievable angle. The outer ends of the side segments are thereby moved into a position extending beyond the center segment. When manually raising the belt cutter after exceeding the threshold value, the operator can interrupt the manual raising process to specify a deflection of the side segments with a value for the angle that is less than the angle that would be achieved when the side segments are in their maximum position away from the ground. This allows for a smaller deflection of the side segments.

[0019] Furthermore, the actuators can only be controlled based on the height adjustment of the intake channel when the header is manually raised. An active automatic mode can be overridden by manually raising the header. To do this, the combine harvester operator can continuously activate the control element for height adjustment until the current swivel angle of the intake channel exceeds the threshold value stored in the control unit.

[0020] The present invention is explained in more detail below with reference to an embodiment illustrated in the drawings.

[0021] They show: Fig. 1 a front view of a combine harvester with a belt header attached; Fig. 2 a schematic view of the belt header; Fig. 3 a partial view of the belt header according to Fig. 2from the rear; Fig. 4 in view (A) schematically a central position of the belt cutter and in view (B) a deflected position of the belt cutter; and Fig. 5 schematically and by way of example a partial representation of an operating display of the combine harvester.

[0022] In Fig. 1 Figure 1 shows a frontal view of a combine harvester 32 with a belt header 1 attached to it. The belt header 1 is in a raised position by a feed chute 12 of the combine harvester 32, i.e., a position spaced away from the ground 5. The feed chute 12 is pivotally mounted to the combine harvester 32 about a horizontal axis 13 by means of linear actuators (not shown) for height adjustment.

[0023] The belt cutter 1 has a segmented frame. The belt cutter 1 has a central segment 3 with a central frame segment 2 and two side segments 4, each with an outer frame segment 2A, 2B. The side segments 4 are arranged adjacent to the central segment 3. A ground-following cutter bar 6 is arranged on the front side of the belt cutter 1 opposite the segmented frame, attached to the central segment 3 and the side segments 4. This cutter bar extends substantially across the entire width of the belt cutter 1. A segmented reel 7 is also provided, extending substantially across the entire width of the belt cutter 1.

[0024] The representation in Fig. 2Figure 1 shows a schematic view of the belt cutter 1. Crop cut by the cutter bar 6 is fed to a conveying device located behind the cutter bar 6, which is designed as an endlessly circulating conveyor belt 8 on the respective side segments 4. The endlessly circulating conveyor belts 8 are arranged adjacent to the central segment 3 to transport crop cut by the cutter bar 6 laterally, i.e., transversely to the direction of travel of the combine harvester 32, towards the central segment 3 and to feed it to a feed device of the belt cutter 1, designed as a driven feed roller 10. The central segment 3 also includes an endlessly circulating conveyor belt 9. The conveyor belt 9 of the central segment 3 conveys transversely to the conveying direction of the laterally conveying conveyor belts 8 of the side segments 4. The feed roller 10 guides the crop from the endlessly circulating conveyor belts 8 and 9 of the side segments 4.9. Crop material fed laterally to the central section 3 is directed to an opening 11 located behind the intake roller 10 in the central frame segment 2. Through the opening 11, the crop is fed to the combine harvester 32 via the intake channel 12, to which the belt cutter 1 is detachably attached, for further processing. A conveying device is arranged in the intake channel 12, which receives the crop material fed by the intake roller 10 and conveys it to the combine harvester 32 for further processing.

[0025] In Fig. 3 is a partial view of the belt cutting unit 1 according to Fig. 2Shown from the rear. Each side segment 4 is pivotably connected to the center segment 3 by a frame joint 15 encompassing a pivot axis 14. Each side segment 4 can be positioned relative to the center segment 3 by means of a controllable actuator 16 by pivoting about the pivot axis 14. The actuator 16 is here, and preferably, designed as a double-acting hydraulic cylinder 17.

[0026] The combine harvester 32 includes a control unit 20, which is configured to control the linear actuators for adjusting the height of the intake channel 12 and the actuators 16 on the belt cutter 1. At least one sensor 19 is provided on the intake channel, which generates signals for a swivel angle 18 of the intake channel 12 and transmits them to the control unit 20. The control unit 20 evaluates the signals received from the at least one sensor 19 to determine the height adjustment of the intake channel 12.

[0027] Furthermore, the control unit 20 is connected to an operating unit 21 located in the cab of the combine harvester 32. The operating unit 21 is preferably designed as a multifunction handle 22, which is equipped with several operating elements 23. One of the operating elements 23 is used for manually adjusting the height of the intake chute 12. By continuously manually operating the operating element 23, the intake chute 12 can be raised or lowered. The multifunction handle is typically located on an armrest of the driver's seat and enables ergonomic operation of the combine harvester 32 and the belt header 1 without requiring the operator to change their seating position or reposition their hand.

[0028] Fig. 4Figure (A) schematically shows a central position of the belt cutter 1, and Figure (B) shows an upwardly deflected position of the belt cutter 1. In the central position of the belt cutter 1, the side segments 4 and the central segment 3 are oriented essentially in a horizontal plane. An angle 24 of approximately 180° is formed between each side segment 4 and the central segment 3 on the upper surface facing away from the ground 5.

[0029] Upon reaching a headland, the belt cutter 1 is raised by controlling the linear actuators on the intake channel 12, with the side segments 4 generally moving into the Fig. 4 View (A) shows the center position in which the angle 24 is enclosed between the respective side segment 4 and the center segment 3.

[0030] Due to the working width of the draper header 1, situations may arise in which moving the raised draper header 1 to the center position is insufficient to allow the side segments 4, which are in the center position, to traverse a headland without collision. Other situations in which the center position may be insufficient include repositioning or changing fields with the combine harvester 32.

[0031] Fig. 4Figure (B) shows the deflected position of the belt cutter 1. The control unit 20 is configured to actuate the actuators 16, depending on a threshold value 31 for the swivel angle 18 stored or storable in the control unit 20, in order to move the side segments 4 into a deflected position in which the side segments 4 are pivoted upwards at an angle 25 relative to the center segment 3, in particular the maximum achievable angle. The angle 25, which the side segments 4 and the center segment 3 enclose on their underside facing the ground 5, is greater than 180°. In particular, the control unit 20 is designed and configured to actuate the actuators 16, depending on the height adjustment of the feed channel 12, only when the belt cutter 1 is manually raised.

[0032] In Fig. 5A partial representation of an operating display 26 of the combine harvester 32 is shown schematically and exemplarily. The current position based on the set swivel angle 18 of the intake channel 12 is illustrated as the actual value 28 by means of a scale 27. The control unit 20 can be operated in an automatic mode in which a first setpoint value 29 and a second setpoint value 30 for the swivel angle 18 are specified or can be specified in order to automatically align the side segments 4 relative to the center segment 3 when the belt header 1 is raised, depending on these setpoint values ​​29, 30.

[0033] The adjustable first setpoint 29 specifies the position of the belt cutter 1, or the swivel angle 18 of the intake channel 12, to be set when crop is to be picked up by the belt cutter 1. The adjustable second setpoint 30, which is greater than the first setpoint 29, specifies the position of the belt cutter 1, or the swivel angle 18 of the intake channel 12, when the belt cutter 1 is to be automatically raised upon reaching a headland in automatic mode.

[0034] In a situation where the operator recognizes that the transfer of the side segments 4 to their center position when raising the belt cutter 1 in automatic mode, as in Fig. 4 (A)If the indicated is insufficient to compensate for an obstacle or unevenness of the ground 5 in the outer edge areas of one or both side segments 4, the operator can override the automatic mode by continuously operating the control element 23.

[0035] For this purpose, the control unit 20, depending on a threshold value 31 for the swivel angle 18 stored or storable in the control unit 20, controls the actuators to move the side segments 4 into a deflected position in which the side segments 4 are swivelled upwards at the maximum achievable angle 25 relative to the center segment 3, as in Fig. 4 (B) depicted.

[0036] During the manual lifting process of the belt cutter 1 after exceeding the threshold value 31, the deflection of the side segments 4 can be interrupted by setting a value for the angle 25 that is below the value for the maximum achievable angle 25, which is determined by the side segments 4 being at their maximum distance from the ground 5. After exceeding the threshold value 31 during manual lifting, the deflection of the side segments 4 is initiated. By interrupting the manual lifting process of the belt cutter 1, the angle 25 by which the side segments 4 are pivoted upwards relative to the center segment 3 can be set.

[0037] For this purpose, a sensor arrangement can be positioned at each of the frame joints 15 to monitor the angle 25 being set between the center segment 3 and the side segments 4. Sensor signals generated by the sensor arrangements can be evaluated by the control unit 20 to display the currently set angle 25 to the operator during the manual lifting process. Preferably, the sensor arrangements can be designed as rotary potentiometers.

[0038] The control unit 20 is designed and configured to control the actuators 16, depending on the height adjustment of the feed channel 12, only when the belt cutter 1 is manually raised. If the threshold value 31 for the swivel angle 18 is exceeded during simultaneous manual operation, the control unit 20 temporarily overrides the automatic mode in order to move the side segments 4 into their, in particular, maximum upward deflected position. Reference symbol list

[0039] 1 Belt cutting unit 31 threshold 2 Mid-range frame segment 32 combine harvester 2A Outer frame segment 2B Outer frame segment 3 mid-segment 4 Side segment 5 Floor 6 Knife bar 7 reel 8 conveyor belt 9 conveyor belt 10 feed roller 11 opening 12 Intake channel 13 axis 14 Swivel axis 15 Frame joint 16 actuator 17 hydraulic cylinder 18 Swivel angle 19 sensor 20 control unit 21 Control unit 22 Multifunctional handle 23 Control element 24 angle 25 angle 26 Control panel 27 scale 28 Actual value 29 First target value 30 Second target value

Claims

1. A self-propelled combine harvester (32), comprising an intake chute (12) which is pivotably connected to the combine harvester (32) about a horizontally extending axis (13) by linear actuators for height adjustment, and a belt cutting unit (1) arranged on the intake chute (12), which has a center segment (3) with a center frame segment (2) and two side segments (4), each with an outer frame segment (2A, 2B), wherein the respective side segment (4) is pivotally connected to the center segment (3) by a frame joint (15) comprising a pivot axis (14), wherein the respective side segment (4) is positionable relative to the center segment (3) by a controllable actuator (16), characterized in thatthe combine harvester (32) comprises a control unit (20) which is designed and configured to control the actuators (16) in order to align the side segments (4) relative to the central segment (3) as a function of the height adjustment of the intake channel (12) when the belt cutting unit (1) is raised.

2. Combine harvester (32) according to claim 1, characterized in that at least one sensor (19) is provided which generates signals for a pivoting angle (18) of the intake channel (12) and transmits them to the control unit (20), which evaluates the signals received by the at least one sensor (19) to determine the height adjustment of the intake channel (12).

3. Combine harvester (32) according to claim 2, characterized in thatthe control unit (20) controls the actuators (16) as a function of a threshold value (31) for the pivot angle (18) stored or capable of being stored in the control unit (20) in order to transfer the side segments (4) into a deflected position in which the side segments (4) are pivoted upwards at an angle (25), in particular a maximum achievable angle, relative to the central segment (3).

4. Combine harvester (32) according to claim 3, characterized in that a sensor arrangement is arranged on each of the frame joints (15) to monitor the angle (25) that is established between the central segment (3) and the side segments (4).

5. Combine harvester (32) according to claim 2 to 4, characterized in that the control unit (20) is designed and configured to control the actuators (16) as a function of the height adjustment of the intake channel (12) only when the belt cutting unit (1) is raised manually.

6. Combine harvester (32) according to one of claims 1 to 5, characterized in that the control unit (20) can be operated in an automatic mode in which a first setpoint value (29) and a second setpoint value (30) for the pivot angle (18) can be predetermined in order to automatically align the side segments (4) relative to the center segment (3) when the belt cutting unit (1) is lifted out as a function of these setpoint values ​​(29, 30).

7. Combine harvester (32) according to claim 6, characterized in that the control unit (20) is designed to override the automatic mode when lifting the belt cutting unit (1) by a manual input by means of an operating unit (22).

8. Combine harvester (32) according to one of claims 1 to 7, characterized in that the actuators (16) are designed as hydraulic cylinders (17).

9. A method for operating a self-propelled combine harvester (32), comprising an intake channel (12) which is pivoted about a horizontal axis (13) by linear actuators for height adjustment, and a belt cutting unit (1) arranged on the intake channel (12), which has a center segment (3) with a middle frame segment (2) and two side segments (4), each with an outer frame segment (2A, 2B), wherein the respective side segment (4) is pivotally connected to the center segment (3) by a frame joint (15) comprising a pivot axis (14), wherein the respective side segment (4) is positioned relative to the center segment (3) by a controllable actuator (16), characterized in thatthe combine harvester (32) is controlled by a control unit (20) by which the actuators (16) are controlled in order to align the side segments (4) relative to the central segment (3) as a function of the height adjustment of the intake channel (12) when the belt cutting unit (1) is lifted out.

10. Method according to claim 9, characterized in that signals for a pivoting angle (18) of the intake channel (12) are generated by at least one sensor (19) and transmitted to the control unit (20), by which the signals are evaluated to determine the height adjustment of the intake channel (12).

11. Method according to claim 10, characterized in thatdepending on a threshold value (31) for the pivot angle (18) stored or capable of being stored in the control unit (20), the side segments (4) are transferred into a deflected position in which the side segments (4) are pivoted upwards at an angle (25), in particular a maximum achievable angle, relative to the central segment (3).

12. Method according to claim 11, characterized in that when manually lifting the band cutting device (1) after exceeding the threshold value (31), by interrupting the manual lifting process, a deflection of the side segments (4) is specified at the angle (25) which is below the maximum angle that can be taken into account, which is set in the position of the side segments (4) at the maximum distance from the ground (5).

13. Method according to one of claims 9 to 12, characterized in thatthe control of the actuators (16) depending on the height adjustment of the intake channel (12) is only carried out when the belt cutting unit (1) is raised manually.