JP2000060272A - Vehicle height control system for combine harvester - Google Patents

Abstract

(57) [Problem] To provide a combine which can quickly and automatically control an attitude of an airframe in response to a tilt when automatic attitude control is started. A vehicle height sensor for detecting the left and right support height of a vehicle body and a left and right of the vehicle body are provided with a pair of left and right elevation drive means for variably adjusting the left and right support height of the vehicle body supported by a pair of left and right traveling devices 7L and 7R. A combine provided with a horizontal sensor 16 for detecting an inclination angle and a control means for controlling the horizontal inclination angle of the body to a set inclination angle,
A switch 28 for detecting a non-working position and a changeover switch 26 for switching between automatic and manual attitude control are provided and connected to the control means 18 so that when the work clutch for stopping various operations is turned off or the automatic attitude control is turned off, the machine is turned off. The apparatus is configured to control the elevating and lowering of the aircraft to a position A that is higher than the lowermost position B by a fixed height H.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a pair of left and right traveling devices in a machine body, and an elevating and lowering drive means for vertically moving the traveling device with respect to the machine body and a horizontal sensor for detecting a left and right inclination angle. The present invention relates to a technique for improving stability by lowering the center of gravity of a combine when controlling the left and right tilt angles of the machine body to a set tilt angle when not in operation.

[0002]

2. Description of the Related Art Conventionally, a pair of left and right raising and lowering drive means for supporting a vehicle body on a pair of left and right traveling devices such as a crawler type traveling device and variably adjusting a left and right supporting height of the vehicle body, and a left and right supporting height of the vehicle body. There is known a combine that includes a vehicle height sensor that detects a vehicle height and a horizontal sensor that detects a horizontal tilt angle of the machine body, and that automatically controls the attitude so that the horizontal tilt angle of the machine body becomes a set tilt angle.

[0003] In this combine, when the machine body leans to the left or right during the work in the field, one of the traveling devices is moved up and down with respect to the machine body to maintain the machine body in a desired left-right tilted posture. There is. In particular, when the machine is set to be kept horizontal, the mowing heights on the left and right are the same during mowing work, reducing the variation in grain length and improving the mowing performance, as well as swing selection of the threshing device. It is possible to improve the sorting performance by reducing uneven distribution of the objects to be sorted in the section.

In addition, when traveling without moving,
That is, when traveling on the road or crossing the shore (hereinafter referred to as "non-working"), the traveling device is controlled to the closest position to the aircraft so that the supporting heights on the left and right sides of the aircraft are at the minimum. A combine harvester is also known in which the height of the center of gravity of the vehicle is lowered to secure traveling stability and prevent the vehicle from falling over. Further, a means for detecting whether or not various devices such as a threshing device are in operation is provided, and when the device is stopped, it is determined that the device is not in operation, and the low attitude control of the machine body as described above is automatically performed. Combines to be performed are also known.

[0005]

However, since the combine harvester as described above is controlled so that the left and right support heights of the machine body are set to the lower limit when not in operation, the combine machine is restarted after traveling on the road or over the shore. When the automatic control of the attitude is started, both of the elevating and lowering drive means can be driven only in the direction away from the machine body (that is, in the direction of increasing the support height of the machine body). Therefore, in this case, the lifting drive means on only one side is operated in the above-mentioned direction to control the attitude of the machine body to reach the set inclination angle, while the lifting drive means on the other side "plays". It was in a state. Therefore, it may take a long time from the start of the control of the body attitude until the body attitude is actually controlled to the set inclination angle because only one side of the elevating drive means can be operated. There was a case where the inclination followability of was not good.

[0006]

The problem to be solved by the present invention is as described above, and the means for solving this problem will be described below. According to a first aspect of the present invention, there is provided a pair of left and right elevating and lowering driving means for variably adjusting the left and right supporting heights of the body supported by the pair of left and right traveling devices, and a vehicle height sensor for detecting the left and right supporting heights of the body and a left and right inclination of the body. In a combine equipped with a horizontal sensor for detecting an angle and a control means for adjusting the left and right tilt angles of the machine body to a set tilt angle, a non-work position detection switch is provided to connect with the control means to perform non-work. At times, the aircraft is controlled to move up and down from its lowest position to a position higher by a certain height.

According to another aspect of the present invention, there is provided a pair of left and right elevating and lowering driving means for variably adjusting the left and right supporting heights of the body supported by the pair of left and right traveling devices, and a vehicle height sensor and a body for detecting the left and right supporting heights of the body. In addition to being equipped with a horizontal sensor that detects the left and right tilt angles of the aircraft and a control means that makes the left and right tilt angles of the machine body a set tilt angle, a changeover switch that switches between automatic and manual attitude control is provided. When the automatic attitude control is turned off, it is connected to a control means to control the machine body to move up and down by a certain height from its lowest limit position.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Next, embodiments of the present invention will be described. FIG. 1 is a side view showing an overall configuration of a combine according to an embodiment of the present invention, FIG. 2 is a configuration view showing an attitude control means of the combine, and FIG. 3 is a front view showing an example configuration of an operation panel. is there.

First, the overall structure of the combine according to the embodiment of the present invention will be described with reference to FIG. That is,
The combine 1 is a harvesting unit 3 including a raising device at the front of the machine body 2, a reaping device for mowing grain culms caused by the raising device, and a rear transportation device for conveying the grain culm to a threshing device at the rear of the machine body. Is arranged. The reaping unit 3 is supported by the reaping frame 4.

A reaping section support shaft 5 is rotatably provided horizontally on the machine body 2 in the left-right direction, and the reaping frame 4 is fixed to the reaping section support shaft 5 so that the reaping section can be fixed. 3 is configured to be capable of swinging up and down around the mowing section support shaft 5. Further, a mowing height adjusting lift cylinder 6 is connected to the mowing frame 4, and the mowing section 3 is vertically moved up and down by the expansion and contraction operation of the cylinder 6.

A pair of left and right crawler type traveling devices 7L and 7R are arranged below the machine body 2 to support the left and right sides of the machine body 2, respectively. The crawler type traveling device 7
In the L · 7R, a track frame 8 is arranged in the front-rear direction of the machine body 2, a drive sprocket 10 is attached to the front end of the track frame 8, and a tension sprocket 11 is pivotally supported at the rear end. The track frame 8
A movable frame 9 is connected to the movable frame 9 so that the movable frame 9 can move up and down relatively.
・ Supports.

The front and rear portions of the track frame 8 are bell cranks 13a.1 each having a substantially L shape.
The middle part of 3b is pivotally supported, and both bell cranks 13a and 13c
The upper end of b is connected by a connecting rod 14. The movable frame 9 is pivotally supported at the other ends of the bell cranks 13a and 13b.

Attitude control elevating cylinders 15L and 15R, which are elevating and lowering driving means of the crawler type traveling devices 7L and 7R, are connected to the bell cranks 13b at the rear portions of the left and right track frames 8, and the attitude control elevating cylinders 15L and 15L.
R is provided with stroke sensors 17L and 17R that detect the expansion and contraction operation of the cylinder (not shown in FIG. 1). By the expansion / contraction operation of the attitude control lift cylinders 15L and 15R, the movable frame 9 is driven up and down relatively with respect to the track frame 8. By changing the relative height of the movable frame 9, one of the left and right sides of the machine body 2 is moved. The support height is adjusted.

Crawler type traveling devices 7L and 7R having the above structure
Are disposed on the left and right sides of the machine body 2 and are provided on the left and right crawler type traveling devices 7L and 7R for posture control lifting cylinders 15.
L and 15R can be controlled independently. Therefore, the left and right tilt postures of the machine body 2 can be controlled by controlling the expansion and contraction of the left and right cylinders 15L and 15R separately. In addition, the height of the body 2 with respect to the ground can be controlled by controlling the left and right posture control lift cylinders 15L and 15R to operate in the same direction.

Further, the horizontal sensor 1 is provided at an appropriate position on the machine body 2.
6 are arranged, and the horizontal sensor 16 detects the horizontal inclination angle of the machine body 2.

The stroke sensors 17L and 17R and the horizontal sensor 16 are connected to a control device 18 serving as control means arranged at an appropriate position of the machine body. The control configuration is shown in the block diagram of FIG. The control device 18 calculates the relative height of the machine body 2 with respect to the ground based on the detection values of the stroke sensors 17L and 17R that are respectively provided on the left and right lifting cylinders 15L and 15R. Then, in the automatic attitude control, the control device 18 sets the absolute height of the aircraft body 2 obtained from the detection value of the horizontal sensor 16 to a predetermined set value, and calculates the height of the aircraft body with respect to the ground. It is assumed that both attitude control lift cylinders 15L and 15R are controlled to expand and contract so that is a predetermined set value.

The operation panel 19 is provided on the operation unit 19 of this combine.
0 is provided, and a volume type vehicle height setting device 21 and a left and right inclination angle setting device 22 are arranged on the operation panel 20,
By rotating the knobs of these setting devices 21 and 22, the height of the machine body 2 and the left-right inclination posture can be set. A configuration example of the operation panel 20 is shown in FIG. Incidentally, 30
30 ... is an inclination display lamp showing the inclination state of the body,
Reference numerals 31 and 29 are alarm lamps indicating that the inclination angle and vehicle height deviate from the control range. The vehicle height setting device 2
1 and the left and right tilt angle setting device 22 are connected to the above-mentioned control device 18, and the control device 18 reads the set values of these set devices 21 and 22, and based on the set values, the attitude control lift cylinder 15L as described above.・ Control expansion and contraction of 15R.

Further, a mowing section elevating sensor 23 such as an angle sensor is provided at an appropriate position of the mowing section support shaft 5 to detect the height of the mowing section 3 relative to the machine body 2. In addition, a cutting height sensor 24 including an ultrasonic sensor or the like is provided at the center position of the machine body 2 in the front view and on the lower surface of the cutting device.
Is provided to detect the absolute height of the cutting device with respect to the ground (that is, the cutting height of the grain culm). The two sensors 23 and 24 and the cutting height adjusting lift cylinder 6 are connected to the control device 18, and the cutting height is adjusted so that the detection value of the cutting height sensor 24 becomes a predetermined set value. The elevating cylinder 6 is controlled to expand and contract.

The operating portion 19 is provided with a cutting height setting device 25, and the cutting height of the grain culms can be adjusted by turning this knob. The cutting height setting device 25 is connected to the control device 18 and
Controls the cutting height adjusting lift cylinder 6 based on the setting value of the cutting height setting device 25 as described above.

Further, the operation panel 20 is further provided with an automatic attitude control changeover switch 26 for switching between automatic and manual attitude control, and the changeover switch 26 is provided in the control unit 1.
8 is connected. The control device 18 detects ON / OFF of the changeover switch 26 and selects whether to perform automatic posture control or manual posture control based on the detection result.

With the above configuration, the lifting control of the left and right crawler type traveling devices 7L and 7R (that is, expansion and contraction control of the attitude control lifting cylinders 15L and 15R) is described based on the flowcharts of FIGS. 4 to 7. explain. FIG. 4 is a flowchart showing a main control flow relating to the attitude control of the combine, FIG. 5 is a flowchart showing an automatic attitude control flow of the combine, FIG. 6 is a flowchart showing a low attitude control flow of the combine, FIG. FIG. 7 is a flowchart showing a non-working position control flow on the left side of the machine body of the combine. In addition, FIG. 8 is a front view showing a position where the aircraft body is controlled in a low attitude during non-working, and FIG. 9 is a view when the automatic attitude control is started from a state in which the aircraft is in a non-working position.
It is explanatory drawing which showed a mode that the left-right support height of a body was controlled.

The main control flow of the control device 18 is the control flow shown in the flow chart of FIG. 4, and this control flow is first the automatic / manual control changeover switch 2
Select by 6. The changeover switch 26 is "automatic" (O
If it is on the N) side, then it is determined whether the threshing (working) switch 28 is ON or OFF. A threshing switch 28 for detecting ON / OFF (a working position or a non-working position) is provided near the threshing clutch lever, and the threshing switch 28 is connected to the control device 18. The control device 18 determines whether the threshing device 17 (work) is operated or not by detecting ON / OFF of the threshing switch 28.

When the threshing switch 28 is OFF, the low attitude control is performed and the flow ends. If it is ON, the automatic posture control is performed, and the flow ends. Changeover switch 26
If is on the "manual" side, the automatic posture control is stopped, the vehicle height control and the tilt angle control are manually performed, and then the flow is ended. However, as a configuration in which a switch for switching on / off of the automatic attitude control is separately provided, a control flow for performing low attitude control when the automatic attitude control is switched from on to off may be used.

Next, the control flow of the automatic attitude control will be described with reference to FIG. This control flow is based on a pair of left and right vehicle height sensors, which are stroke sensors 17L and 17R.
The vehicle height is detected by and compared with the vehicle height set by the vehicle height setter 21 of the operation panel 20. If it is different from the vehicle height,
Accordingly, the left and right posture control lifting cylinders 15L
-Activate (reduce) 15R via the control valve. Next, the horizontal sensor 16 attached to the machine body detects the horizontal inclination angle of the machine body, and the inclination angle setting device 2 of the operation panel 20 is detected.
Compare with the inclination angle set by 2. If the inclination angle is different, the posture control lift cylinders 15L and 15R on the left and right sides are separately expanded and contracted accordingly, and the control flow of the automatic posture control ends.

Next, the control flow of the low attitude control, which is an essential part of the present invention, will be described with reference to FIG. This control flow performs control for locating the left support height of the machine body 2 at the non-working position, and performs the same control for the right support height, and then ends (the non-working position will be described later). .

The control of the left supporting height will be described below with reference to FIG. 7. However, the control of the right supporting height may be applied with the left and right considered in completely opposite directions. The control flow for the left support height is a position where the target position of the left support height of the vehicle height is higher than the lower limit by a certain height H (hereinafter, this position is referred to as a "non-working position" for the support height). As a value, compare the current left support height with the height of the non-working position,
If the current left support height is high, the right attitude control lift cylinder is contracted to lower the left support height. On the contrary, when the current left support height is low, the left attitude control elevating cylinder is extended to raise the left support height. This is the end of the control of the left support height. This control is similarly performed for the right side support height, and the flow of low attitude control ends.

When the low attitude control as described above is performed on the left and right attitude control lift cylinders 15L and 15R,
The position of the machine body 2 is controlled so as to converge to the position shown in FIG. 8A (this position is referred to as “non-working position” of the machine body).
That). 8 and 9, only the lower frame of the machine body is schematically shown and replaced with the machine body 2. Here, B indicated by an imaginary line is the position of the machine body (that is, the non-working position of the conventional combine) when the support height of the machine body during non-working is set as the lower limit.

That is, as shown in FIG. 8, the machine body 2 is controlled to a position higher by H than the non-working position of the conventional combine. This H can theoretically be set to any value larger than 0 and smaller than the variable height of the aircraft, but if H is large, the center of gravity becomes high and an unexpected situation such as a fall may occur, so consider the balance. It should be set to an appropriate value.

Next, the left and right attitude control lift cylinders 15L, which are located on the left and right sides when the automatic attitude control is started again after the cruising and the like are completed from the state where the machine body is in the low position control and is in the non-working position A, The operating state of the 15R is shown in FIG. That is, when the automatic attitude control is started from the state where the machine body is in the non-working position indicated by A and the control is performed so as to be the position and attitude of C indicated by the imaginary line, the machine body is indicated by the white arrow. The left and right tilt angles of the machine body 2 are increased by simultaneously operating the left and right posture control lifting cylinders 15L and 15R in opposite directions such that the left support height of 2 and the right support height are simultaneously lowered. Can be controlled.
(On the other hand, when starting the automatic attitude control from the non-working position B of the conventional combine, for example, in FIG. 9, it is only possible to raise the left support height of the machine body 2,
It is not possible to lower the right support height at the same time. ) Therefore, the lifting cylinders 15L and 15L for controlling both left and right postures
The aircraft is controlled to the target position indicated by C earlier by the amount of simultaneous control of R in opposite directions.

[0030]

Since the present invention is constructed as described above,
The following effects are achieved. That is, as described in claim 1, a vehicle height sensor and a vehicle body for detecting the left and right support height of the vehicle body, which are provided with a pair of left and right lifting drive means for variably adjusting the left and right support height of the vehicle body supported by the pair of left and right traveling devices. With a horizontal sensor that detects the left and right tilt angle of
In a combine equipped with a control means for adjusting the left and right tilt angles of the machine body to a set tilt angle, a non-working position detection switch is provided and connected to the control means, and the machine body is kept constant from its lowest position when not working. Since the aircraft is controlled to move up and down to a height higher, when climbing over ridges or on the road, you can climb over ridges at a position where the center of gravity is relatively low, and you can run stably on the road. By simultaneously operating both the elevating and lowering driving means in opposite directions, the lateral inclination angle of the machine body can be controlled.
Therefore, the airframe is quickly controlled to the target position and posture by the amount of simultaneous control of the left and right lifting drive means in opposite directions. Therefore, since the initial inclination followability is high, the body posture can be smoothly switched from the non-working time to the working time, and as a result, the combine having high operability can be provided.

According to a second aspect of the present invention, there is provided a pair of left and right elevating and lowering driving means for variably adjusting the left and right supporting heights of the body supported by the pair of left and right traveling devices, and a vehicle height sensor for detecting the left and right supporting heights of the body. In addition to having a horizontal sensor for detecting the horizontal tilt angle of the machine body and a control means for making the horizontal tilt angle of the machine body a set tilt angle, a changeover switch for switching between automatic and manual attitude control is provided. It is provided and connected to the control means, and when automatic posture control is off,
Since the aircraft is controlled to move up and down by a certain height from its lowest limit position, it is possible to work in a relatively low stable state when working without posture control, and when returning to automatic control, Similarly, the airframe is quickly controlled to the target position and orientation by the amount of simultaneous control of the left and right lifting drive means in opposite directions.

[Brief description of drawings]

FIG. 1 is a side view showing an overall configuration of a combine according to an embodiment of the present invention.

FIG. 2 is a configuration diagram showing an attitude control unit of the combine.

FIG. 3 is a front view showing a configuration example of an operation panel.

FIG. 4 is a flowchart showing a main control flow relating to combine attitude control.

FIG. 5 is a flowchart showing an automatic posture control flow of the combine.

FIG. 6 is a flowchart showing a low attitude control flow of the combine.

FIG. 7 is a flowchart showing a non-working position control flow on the left side of the machine body of the combine.

FIG. 8 is a front view showing a position where the aircraft body is controlled in a low posture when not working.

FIG. 9 is an explanatory diagram showing how the left and right support heights of the machine body are controlled when the automatic attitude control is started from the state where the machine body is in the non-working position.

[Explanation of symbols]

1 combine 2 aircraft 7L / 7R crawler type traveling device 15L ・ 15R Lifting cylinder for posture control 17L / 17R stroke sensor 18 Control device 19 Operation part 20 Operation panel 26 Changeover switch A. Non-working position of airframe H Height from lower limit of non-working position

[Procedure amendment]

[Submission date] August 31, 1998 (1998.8.3)
1)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction content]

[Document name] Statement

[Title of Invention] Combine height control device

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a pair of left and right traveling devices in a machine body, and an elevating and lowering drive means for vertically moving the traveling device with respect to the machine body and a horizontal sensor for detecting a left and right inclination angle. The present invention relates to a technique for improving stability by lowering the center of gravity of a combine when controlling the left and right tilt angles of the machine body to a set tilt angle when not in operation.

[0002]

2. Description of the Related Art Conventionally, a pair of left and right raising and lowering drive means for supporting a vehicle body on a pair of left and right traveling devices such as a crawler type traveling device and variably adjusting a left and right supporting height of the vehicle body, and a left and right supporting height of the vehicle body. There is known a combine that includes a vehicle height sensor that detects a vehicle height and a horizontal sensor that detects a horizontal tilt angle of the machine body, and that automatically controls the attitude so that the horizontal tilt angle of the machine body becomes a set tilt angle.

[0003] In this combine, when the machine body leans to the left or right during the work in the field, one of the traveling devices is moved up and down with respect to the machine body to maintain the machine body in a desired left-right tilted posture. There is. In particular, when the machine is set to be kept horizontal, the mowing heights on the left and right are the same during mowing work, reducing the variation in grain length and improving the mowing performance, as well as swing selection of the threshing device. It is possible to improve the sorting performance by reducing uneven distribution of the objects to be sorted in the section.

In addition, when traveling without moving,
That is, when traveling on the road or crossing the shore (hereinafter referred to as "non-working"), the traveling device is controlled to the closest position to the aircraft so that the supporting heights on the left and right sides of the aircraft are at the minimum. A combine harvester is also known in which the height of the center of gravity of the vehicle is lowered to secure traveling stability and prevent the vehicle from falling over. Further, a means for detecting whether or not various devices such as a threshing device are in operation is provided, and when the device is stopped, it is determined that the device is not in operation, and the low attitude control of the machine body as described above is automatically performed. Combines to be performed are also known.

[0005]

However, since the combine harvester as described above is controlled so that the left and right support heights of the machine body are set to the lower limit when not in operation, the combine machine is restarted after traveling on the road or over the shore. When the automatic control of the attitude is started, both of the elevating and lowering drive means can be driven only in the direction away from the machine body (that is, in the direction of increasing the support height of the machine body). Therefore, in this case, the lifting drive means on only one side is operated in the above-mentioned direction to control the attitude of the machine body to reach the set inclination angle, while the lifting drive means on the other side "plays". It was in a state. Therefore, it may take a long time from the start of the control of the body attitude until the body attitude is actually controlled to the set inclination angle because only one side of the elevating drive means can be operated. There was a case where the inclination followability of was not good.

[0006]

The problem to be solved by the present invention is as described above, and the means for solving this problem will be described below. According to a first aspect of the present invention, there is provided a pair of left and right elevating and lowering driving means for variably adjusting the left and right supporting heights of the body supported by the pair of left and right traveling devices, and a vehicle height sensor for detecting the left and right supporting heights of the body and a left and right inclination of the body. In a combine equipped with a horizontal sensor for detecting an angle and a control means for adjusting the left and right tilt angles of the machine body to a set tilt angle, a non-work position detection switch is provided to connect with the control means to perform non-work. At times, the aircraft is controlled to move up and down from its lowest position to a position higher by a certain height.

According to another aspect of the present invention, there is provided a pair of left and right elevating and lowering driving means for variably adjusting the left and right supporting heights of the body supported by the pair of left and right traveling devices, and a vehicle height sensor and a body for detecting the left and right supporting heights of the body. In addition to being equipped with a horizontal sensor that detects the left and right tilt angles of the aircraft and a control means that makes the left and right tilt angles of the machine body a set tilt angle, a changeover switch that switches between automatic and manual attitude control is provided. When the automatic attitude control is turned off, it is connected to a control means to control the machine body to move up and down by a certain height from its lowest limit position.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION Next, embodiments of the present invention will be described. FIG. 1 is a side view showing an overall configuration of a combine according to an embodiment of the present invention, FIG. 2 is a configuration view showing an attitude control means of the combine, and FIG. 3 is a front view showing an example configuration of an operation panel. is there.

First, the overall structure of the combine according to the embodiment of the present invention will be described with reference to FIG. That is,
The combine 1 is a harvesting unit 3 including a raising device at the front of the machine body 2, a reaping device for mowing grain culms caused by the raising device, and a rear transportation device for conveying the grain culm to a threshing device at the rear of the machine body. Is arranged. The reaping unit 3 is supported by the reaping frame 4.

A reaping section support shaft 5 is rotatably provided horizontally on the machine body 2 in the left-right direction, and the reaping frame 4 is fixed to the reaping section support shaft 5 so that the reaping section can be fixed. 3 is configured to be capable of swinging up and down around the mowing section support shaft 5. Further, a mowing height adjusting lift cylinder 6 is connected to the mowing frame 4, and the mowing section 3 is vertically moved up and down by the expansion and contraction operation of the cylinder 6.

A pair of left and right crawler type traveling devices 7L and 7R are arranged below the machine body 2 to support the left and right sides of the machine body 2, respectively. The crawler type traveling device 7
In the L · 7R, a track frame 8 is arranged in the front-rear direction of the machine body 2, a drive sprocket 10 is attached to the front end of the track frame 8, and a tension sprocket 11 is pivotally supported at the rear end. The track frame 8
A movable frame 9 is connected to the movable frame 9 so that the movable frame 9 can move up and down relatively.
・ Supports.

The front and rear portions of the track frame 8 are bell cranks 13a.1 each having a substantially L shape.
The middle part of 3b is pivotally supported, and both bell cranks 13a and 13c
The upper end of b is connected by a connecting rod 14. The movable frame 9 is pivotally supported at the other ends of the bell cranks 13a and 13b.

Attitude control elevating cylinders 15L and 15R, which are elevating and lowering driving means of the crawler type traveling devices 7L and 7R, are connected to the bell cranks 13b at the rear portions of the left and right track frames 8, and the attitude control elevating cylinders 15L and 15L.
R is provided with stroke sensors 17L and 17R that detect the expansion and contraction operation of the cylinder (not shown in FIG. 1). By the expansion / contraction operation of the attitude control lift cylinders 15L and 15R, the movable frame 9 is driven up and down relatively with respect to the track frame 8. By changing the relative height of the movable frame 9, one of the left and right sides of the machine body 2 is moved. The support height is adjusted.

Crawler type traveling devices 7L and 7R having the above structure
Are disposed on the left and right sides of the machine body 2 and are provided on the left and right crawler type traveling devices 7L and 7R for posture control lifting cylinders 15.
L and 15R can be controlled independently. Therefore, the left and right tilt postures of the machine body 2 can be controlled by controlling the expansion and contraction of the left and right cylinders 15L and 15R separately. In addition, the height of the body 2 with respect to the ground can be controlled by controlling the left and right posture control lift cylinders 15L and 15R to operate in the same direction.

Further, the horizontal sensor 1 is provided at an appropriate position on the machine body 2.
6 are arranged, and the horizontal sensor 16 detects the horizontal inclination angle of the machine body 2.

The stroke sensors 17L and 17R and the horizontal sensor 16 are connected to a control device 18 serving as control means arranged at an appropriate position of the machine body. The control configuration is shown in the block diagram of FIG. The control device 18 calculates the relative height of the machine body 2 with respect to the ground based on the detection values of the stroke sensors 17L and 17R that are respectively provided on the left and right lifting cylinders 15L and 15R. Then, in the automatic attitude control, the control device 18 sets the absolute height of the aircraft body 2 obtained from the detection value of the horizontal sensor 16 to a predetermined set value, and calculates the height of the aircraft body with respect to the ground. It is assumed that both attitude control lift cylinders 15L and 15R are controlled to expand and contract so that is a predetermined set value.

The operation panel 19 is provided on the operation unit 19 of this combine.
0 is provided, and a volume type vehicle height setting device 21 and a left and right inclination angle setting device 22 are arranged on the operation panel 20,
By rotating the knobs of these setting devices 21 and 22, the height of the machine body 2 and the left-right inclination posture can be set. A configuration example of the operation panel 20 is shown in FIG. Incidentally, 30
30 ... is an inclination display lamp showing the inclination state of the body,
Reference numerals 31 and 29 are alarm lamps indicating that the inclination angle and vehicle height deviate from the control range. The vehicle height setting device 2
1 and the left and right tilt angle setting device 22 are connected to the above-mentioned control device 18, and the control device 18 reads the set values of these set devices 21 and 22, and based on the set values, the attitude control lift cylinder 15L as described above.・ Control expansion and contraction of 15R.

Further, a mowing section elevating sensor 23 such as an angle sensor is provided at an appropriate position of the mowing section support shaft 5 to detect the height of the mowing section 3 relative to the machine body 2. In addition, a cutting height sensor 24 including an ultrasonic sensor or the like is provided at the center position of the machine body 2 in the front view and on the lower surface of the cutting device.
Is provided to detect the absolute height of the cutting device with respect to the ground (that is, the cutting height of the grain culm). The two sensors 23 and 24 and the cutting height adjusting lift cylinder 6 are connected to the control device 18, and the cutting height is adjusted so that the detection value of the cutting height sensor 24 becomes a predetermined set value. The elevating cylinder 6 is controlled to expand and contract.

The operating portion 19 is provided with a cutting height setting device 25, and the cutting height of the grain culms can be adjusted by turning this knob. The cutting height setting device 25 is connected to the control device 18 and
Controls the cutting height adjusting lift cylinder 6 based on the setting value of the cutting height setting device 25 as described above.

Further, the operation panel 20 is further provided with an automatic attitude control changeover switch 26 for switching between automatic and manual attitude control, and the changeover switch 26 is provided in the control unit 1.
8 is connected. The control device 18 detects ON / OFF of the changeover switch 26 and selects whether to perform automatic posture control or manual posture control based on the detection result.

With the above configuration, the lifting control of the left and right crawler type traveling devices 7L and 7R (that is, expansion and contraction control of the attitude control lifting cylinders 15L and 15R) is described based on the flowcharts of FIGS. 4 to 7. explain. FIG. 4 is a flowchart showing a main control flow relating to the attitude control of the combine, FIG. 5 is a flowchart showing an automatic attitude control flow of the combine, FIG. 6 is a flowchart showing a low attitude control flow of the combine, FIG. FIG. 7 is a flowchart showing a non-working position control flow on the left side of the machine body of the combine. In addition, FIG. 8 is a front view showing a position where the aircraft body is controlled in a low attitude during non-working, and FIG. 9 is a view when the automatic attitude control is started from a state in which the aircraft is in a non-working position.
It is explanatory drawing which showed a mode that the left-right support height of a body was controlled.

The main control flow of the control device 18 is the control flow shown in the flow chart of FIG. 4, and this control flow is first the automatic / manual control changeover switch 2
Select by 6. The changeover switch 26 is "automatic" (O
If it is on the N) side, then it is determined whether the threshing (working) switch 28 is ON or OFF. A threshing switch 28 for detecting ON / OFF (a working position or a non-working position) is provided near the threshing clutch lever, and the threshing switch 28 is connected to the control device 18. The control device 18 determines whether the threshing device 17 (work) is operated or not by detecting ON / OFF of the threshing switch 28.

When the threshing switch 28 is OFF, the low attitude control is performed and the flow ends. If it is ON, the automatic posture control is performed, and the flow ends. Changeover switch 26
If is on the "manual" side, the automatic posture control is stopped, the vehicle height control and the tilt angle control are manually performed, and then the flow is ended. However, as a configuration in which a switch for switching on / off of the automatic attitude control is separately provided, a control flow for performing low attitude control when the automatic attitude control is switched from on to off may be used.

Next, the control flow of the automatic attitude control will be described with reference to FIG. This control flow is based on a pair of left and right vehicle height sensors, which are stroke sensors 17L and 17R.
The vehicle height is detected by and compared with the vehicle height set by the vehicle height setter 21 of the operation panel 20. If it is different from the vehicle height,
Accordingly, the left and right posture control lifting cylinders 15L
-Activate (reduce) 15R via the control valve. Next, the horizontal sensor 16 attached to the machine body detects the horizontal inclination angle of the machine body, and the inclination angle setting device 2 of the operation panel 20 is detected.
Compare with the inclination angle set by 2. If the inclination angle is different, the posture control lift cylinders 15L and 15R on the left and right sides are separately expanded and contracted accordingly, and the control flow of the automatic posture control ends.

Next, the control flow of the low attitude control, which is an essential part of the present invention, will be described with reference to FIG. This control flow performs control for locating the left support height of the machine body 2 at the non-working position, and performs the same control for the right support height, and then ends (the non-working position will be described later). .

The control of the left supporting height will be described below with reference to FIG. 7. However, the control of the right supporting height may be applied with the left and right considered in completely opposite directions. The control flow for the left support height is a position where the target position of the left support height of the vehicle height is higher than the lower limit by a certain height H (hereinafter, this position is referred to as a "non-working position" for the support height). As a value, compare the current left support height with the height of the non-working position,
If the current left support height is high, the right attitude control lift cylinder is contracted to lower the left support height. On the contrary, when the current left support height is low, the left attitude control elevating cylinder is extended to raise the left support height. This is the end of the control of the left support height. This control is similarly performed for the right side support height, and the flow of low attitude control ends.

When the low attitude control as described above is performed on the left and right attitude control lift cylinders 15L and 15R,
The position of the machine body 2 is controlled so as to converge to the position shown in FIG. 8A (this position is referred to as “non-working position” of the machine body).
That). 8 and 9, only the lower frame of the machine body is schematically shown and replaced with the machine body 2. Here, B indicated by an imaginary line is the position of the machine body (that is, the non-working position of the conventional combine) when the support height of the machine body during non-working is set as the lower limit.

That is, as shown in FIG. 8, the machine body 2 is controlled to a position higher by H than the non-working position of the conventional combine. This H can theoretically be set to any value larger than 0 and smaller than the variable height of the aircraft, but if H is large, the center of gravity becomes high and an unexpected situation such as a fall may occur, so consider the balance. It should be set to an appropriate value.

Next, the left and right attitude control lift cylinders 15L, which are located on the left and right sides when the automatic attitude control is started again after the cruising and the like are completed from the state where the machine body is in the low position control and is in the non-working position A, The operating state of the 15R is shown in FIG. That is, when the automatic attitude control is started from the state where the machine body is in the non-working position indicated by A and the control is performed so as to be the position and attitude of C indicated by the imaginary line, the machine body is indicated by the white arrow. The left and right tilt angles of the machine body 2 are increased by simultaneously operating the left and right posture control lifting cylinders 15L and 15R in opposite directions such that the left support height of 2 and the right support height are simultaneously lowered. Can be controlled.
(On the other hand, when starting the automatic attitude control from the non-working position B of the conventional combine, for example, in FIG. 9, it is only possible to raise the left support height of the machine body 2,
It is not possible to lower the right support height at the same time. ) Therefore, the lifting cylinders 15L and 15L for controlling both left and right postures
The aircraft is controlled to the target position indicated by C earlier by the amount of simultaneous control of R in opposite directions.

[0030]

Since the present invention is constructed as described above,
The following effects are achieved. That is, as described in claim 1, a vehicle height sensor and a vehicle body for detecting the left and right support height of the vehicle body, which are provided with a pair of left and right lifting drive means for variably adjusting the left and right support height of the vehicle body supported by the pair of left and right traveling devices. With a horizontal sensor that detects the left and right tilt angle of
In a combine equipped with a control means for adjusting the left and right tilt angles of the machine body to a set tilt angle, a non-working position detection switch is provided and connected to the control means, and the machine body is kept constant from its lowest position when not working. Since the aircraft is controlled to move up and down to a height higher, when climbing over ridges or on the road, you can climb over ridges at a position where the center of gravity is relatively low, and you can run stably on the road. By simultaneously operating both the elevating and lowering driving means in opposite directions, the lateral inclination angle of the machine body can be controlled.
Therefore, the airframe is quickly controlled to the target position and posture by the amount of simultaneous control of the left and right lifting drive means in opposite directions. Therefore, since the initial inclination followability is high, the body posture can be smoothly switched from the non-working time to the working time, and as a result, the combine having high operability can be provided.

According to a second aspect of the present invention, there is provided a pair of left and right elevating and lowering driving means for variably adjusting the left and right supporting heights of the body supported by the pair of left and right traveling devices, and a vehicle height sensor for detecting the left and right supporting heights of the body. In addition to having a horizontal sensor for detecting the horizontal tilt angle of the machine body and a control means for making the horizontal tilt angle of the machine body a set tilt angle, a changeover switch for switching between automatic and manual attitude control is provided. It is provided and connected to the control means, and when automatic posture control is off,
Since the aircraft is controlled to move up and down by a certain height from its lowest limit position, it is possible to work in a relatively low stable state when working without posture control, and when returning to automatic control, Similarly, the airframe is quickly controlled to the target position and orientation by the amount of simultaneous control of the left and right lifting drive means in opposite directions.

[Brief description of drawings]

FIG. 1 is a side view showing an overall configuration of a combine according to an embodiment of the present invention.

FIG. 2 is a configuration diagram showing an attitude control unit of the combine.

FIG. 3 is a front view showing a configuration example of an operation panel.

FIG. 4 is a flowchart showing a main control flow relating to combine attitude control.

FIG. 5 is a flowchart showing an automatic posture control flow of the combine.

FIG. 6 is a flowchart showing a low attitude control flow of the combine.

FIG. 7 is a flowchart showing a non-working position control flow on the left side of the machine body of the combine.

FIG. 8 is a front view showing a position where the aircraft body is controlled in a low posture when not working.

FIG. 9 is an explanatory diagram showing how the left and right support heights of the machine body are controlled when the automatic attitude control is started from the state where the machine body is in the non-working position.

[Explanation of symbols] 1 combine 2 aircraft 7L / 7R crawler type traveling device 15L ・ 15R Lifting cylinder for posture control 17L / 17R stroke sensor 18 Control device 19 Operation part 20 Operation panel 26 Changeover switch A. Non-working position of airframe H Height from lower limit of non-working position

Claims (2)

[Claims] 1. A vehicle height sensor for detecting a lateral support height of a vehicle body, and a lateral inclination angle of the vehicle body, comprising a pair of left and right lifting drive means for variably adjusting a lateral support height of a vehicle body supported by a pair of left and right traveling devices. With a horizontal sensor to detect
In a combine equipped with a control means for adjusting the left and right tilt angles of the machine body to a set tilt angle, a non-working position detection switch is provided and connected to the control means, and the machine body is kept constant from its lowest position when not working. A combine vehicle height control device that raises and lowers the aircraft to a height higher position. 2. A vehicle height sensor for detecting the left-right support height of the machine body, and a left-right inclination angle of the machine body, which are provided with a pair of left and right raising and lowering drive means for variably adjusting the left-right support height of the machine body supported by the pair of left and right traveling devices. With a horizontal sensor to detect
In a combine equipped with a control means for adjusting the left and right tilt angles of the aircraft to a set tilt angle, a changeover switch for switching between automatic and manual attitude control is provided and connected to the control means, and when the automatic attitude control is off, A vehicle height control device for a combine, wherein the vehicle height is controlled so that the vehicle body is elevated from a lowermost position thereof by a certain height.