JP2000083433A - Farm working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly avoid the thrusting of an operating part into the ground surface even in the case where the machine body posture is temporarily kept in a forward descending state when the machine body posture is kept in a forwardly ascending state and then returned to a horizontal state in a farm working vehicle capable of performing the height control for maintaining the ground height of the operating part installed on the front side of the machine body at the target height. SOLUTION: This farm working vehicle is capable of performing the height control for forward rising capable of operating a lifting/lowering means CY for an operating part so as to maintain the ground height of the operating part supported by the front side of a mobile machine body at a height in which the set value is added to the target height set by a target height setting means 40 when the forward rising state of the machine body in which the front side of the mobile machine body is located in the upper side of the rear side thereof is detected by a controlling means 101 and performing the height control for operating the lifting/lowering means CY for the operating part so as to maintain the ground height of the operating part at the target height set by the target height setting means 40 when the mobile machine body is changed from the forward rising state of the machine body into the horizontal state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working unit lifting / lowering means which is provided on a front side of a traveling body and is capable of moving up and down while being supported by the traveling body.
Height detecting means for detecting the height of the working part relative to the ground, target height setting means for setting a target height of the working part, based on each information of the height detecting means and the target height setting means. And a control means for performing height control for operating the work unit elevating means so that the ground height of the work unit is maintained at the target height.

[0002]

2. Description of the Related Art In a combine as an example of the above-mentioned agricultural work vehicle, as shown in, for example, Japanese Patent Application Laid-Open No. 8-37866, a cutting unit (corresponding to a working unit) for cutting planted grain culms in a field is used for cutting. The hydraulic cylinder or the like (corresponding to the working unit elevating means) is configured to be able to move up and down with respect to the traveling body, supported on the front side of the traveling body, and by height detecting means such as an ultrasonic sensor. The hydraulic cylinder is moved up and down so that the detected ground height of the mowing part is maintained at a target height set by a mowing height setting device such as a volume (corresponding to a target height setting means). Height control is being performed. Then, as illustrated in FIG. 7, the combine is moved along the longitudinal direction of the rectangular uncut work area by, for example, manually performing a speed change operation and a steering operation of the traveling speed, so that the appropriate cutting is performed by the height control. When performing the work and reaching the headland on the longitudinal end side of the work area and ending the mowing work, the vehicle travels to the next work start end position of the work area while changing its direction on the headland.

[0003]

In the above-mentioned combine, for example, after the headland running is completed, the cutting unit is lowered manually to maintain the height of the cutting unit above the ground at a target height. In the case of starting the harvesting work while activating the headland, in the headland traveling running at a relatively high speed, for example, by the action of a crawler type traveling device scraping mud to the rear side,
It is easy for the front side of the traveling aircraft to be in a front-up state in which the front side is located higher than the rear side, and if the traveling speed is reduced in order to shift from this state to harvesting traveling, the aircraft attitude will return to the horizontal state from the front-up state. However, at this time, there is a case where the momentum is momentarily increased and the vehicle temporarily falls forward. here,
As the condition of the field scene is softer, the degree of the forward rise of the body during headland traveling increases, and the degree of the forward descending state also increases. In such a case, in the related art, the ground height of the mowing part on the front side of the fuselage is height-controlled so as to be maintained at the target height for work set near the ground. When the attitude of the machine body is lowered forward, there is a possibility that a problem may occur such that the mowing part is damaged by being thrown into the field scene.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to reduce the height of the working unit provided on the front side of the fuselage to a target height in order to eliminate the disadvantages of the prior art. In an agricultural work vehicle that performs height control to maintain the aircraft attitude, when the aircraft attitude is going up and then the aircraft attitude is about to return to the horizontal state, when the momentum rises temporarily and the Another object of the present invention is to appropriately prevent the working unit from penetrating the ground.

[0005]

According to the first aspect of the present invention, the control means is arranged to detect the forward movement of the traveling body by detecting that the forward movement of the traveling body is higher than the rear side of the traveling body. Height for raising the working unit before and after raising and lowering the working unit so that the supported working unit is maintained at a height obtained by adding a set value to the target height set by the target height setting means. The control is executed, and when the traveling body is in the horizontal state from the state in which the body is raised, the ground height of the working section is adjusted so that the working section is maintained at the target height set by the target height setting means. Execute the height control for raising and lowering operation. Accordingly, when the forward rising state of the traveling body is detected, the ground height of the working unit is maintained at a higher level than the target height for work set near the ground. Regardless of the presence or absence of the forward movement of the aircraft, if the height of the working unit above the ground is maintained at the target height, the aircraft attitude is going forward and then the aircraft attitude is going to return to the horizontal state. In addition, in the case where the front part is temporarily lowered due to the momentum, it is possible to appropriately avoid the occurrence of such a defect as compared with the case where the working part on the front part of the fuselage may rush into the ground.

According to a second aspect of the present invention, in the first aspect, the inclination angle of the traveling body with respect to the horizontal reference plane in the longitudinal direction of the body is detected, and the control means determines that the forward movement of the body has been detected. The height is maintained at the target height set by the target height setting means, and a height obtained by adding a larger set value as the inclination angle in the front-rear direction of the aircraft in the front-up state of the aircraft is larger. , The above-mentioned height control for rising is executed. Therefore, in the state in which the body is raised forward, the greater the degree of forward rise, the higher the ground height of the working unit is maintained as compared with the set target height.
Appropriately responding to the fact that the greater the degree of forward movement of the aircraft, the greater the degree of forward movement of the aircraft that occurs when the aircraft attitude attempts to return to the horizontal state from the forward movement of the aircraft,
It is possible to prevent the working part from squeezing into the ground, and thus the preferable means of claim 1 is obtained.

[0007] In claim 3, in claim 1 or 2,
When the control means is switched to the forward rising control mode,
When both the front-up height control and the height control are executed, and the mode is switched to the normal control mode, only the height control is executed. Therefore, for example, a changeover switch for manually switching between the above-mentioned forward control mode and the normal control mode is provided. Since the forward-lowering state is likely to occur together, the mode is switched to the forward-up control mode so as to appropriately prevent the working unit from squeezing into the ground. Since it is difficult for both the state and the forward-down state to occur, switch to the normal control mode,
Unnecessary front elevation control can be prevented from being performed, and the preferable means of claim 1 or 2 can be obtained.

[0008]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the construction of an embodiment of the present invention; As shown in FIG. 1, a traveling machine V including a pair of left and right crawler traveling devices 1, a threshing device 3 for threshing a harvested culm, a grain tank 4 for storing threshed grains, a boarding control section 2, and the like. Is provided on the front side of the harvesting section A for harvesting planted grain culms such as rice and wheat and supplying the harvested culm to the threshing apparatus 3 to constitute a combine.

The cutting section A as a working section is configured to be able to move up and down while being supported by the traveling machine body V. That is, the reaping unit A is swingably operated around the horizontal axis P1 by the hydraulic lifting cylinder CY, and the output value changes in the body part of the horizontal axis P1 with the swing of the reaping unit A. A potentiometer type elevation position sensor 24 is provided. Therefore, the working unit elevating means for operating the mowing unit A up and down is constituted by the elevating cylinder CY.

The cutting section A includes a weeding tool 6 provided at the tip, a raising device 5 for raising the planted grain culm weeded by the weeding tool 6, and a cutting side of the raised cereal stem. And a vertical transport device 8 for transporting the harvested culm to the rear side while gradually changing the cut culm to a sideways posture. The transport entrance of the vertical transport device 8 is provided with a contact-type stock sensor S0 that detects whether or not there is a harvested grain culm.

An ultrasonic sensor S1 as height detecting means for detecting the height of the cutting unit A with respect to the ground (ground height) is provided behind the weeding implement 6. The ultrasonic sensor S1 is composed of a transmitter 41 for transmitting ultrasonic waves downward and a receiver 42 for receiving ultrasonic waves reflected on the ground (see FIG. 3), and transmits ultrasonic waves. The non-contact type is configured so as to detect the height of the reaping unit A from the ground by measuring the time from reception to reception.

The power transmission system of the combine will be described. As shown in FIG. 2, the driving force of the engine E is transmitted to a continuously variable vehicle speed transmission 34 via a belt transmission,
The post-shift output of the vehicle speed transmission 34 is transmitted via a transmission case 35 to rotate the drive sprocket of the crawler traveling device 1. Although not shown, the transmission case 35 is provided with a pair of left and right steering clutches for turning on and off the transmission of the power after the speed change to the left and right crawler traveling devices 1 in order to perform a turning operation of the machine body V. .

The output of the vehicle speed change device 34 after shifting is:
After passing through the transmission case 35, the power is transmitted to the reaping unit A via the one-way clutch 36. Further, the driving force of the engine E is transmitted to the threshing device 3 via the threshing clutch 37.
The threshing clutch 37 is provided with a threshing switch 32 for detecting the on / off state of the clutch. A vehicle speed shift lever 26 for manually shifting the speed of the vehicle speed transmission device 34 is provided in the boarding operation unit 2.

As shown in FIG. 3, a control device 21 using a microcomputer is provided.
Each detection information of the stock sensor S0, the ultrasonic sensor S1, the elevation position sensor 24, and the threshing switch 32 is input. Further, a gravity type front-rear inclination sensor 23 for detecting an inclination angle of the traveling body V with respect to the horizontal reference plane in the longitudinal direction of the body is provided, and the detection information is also input to the control device 21. Here, the front-back inclination angle sensor 23 constitutes a body front-back inclination detection unit that detects a state of inclination of the traveling body V in the body front-rear direction with respect to the horizontal reference plane.

Next, the front-rear inclination angle sensor 23 will be described. As shown in FIG.
The upper end of the vertical bar 23b provided with is supported on the fuselage side so as to be swingable in the longitudinal direction of the fuselage, and the output value changes with the swinging operation of the vertical bar 23b along the longitudinal direction of the fuselage. 23a is provided, and based on the output value of the potentiometer 23a, the inclination angle θ of the traveling machine body V with respect to the horizontal reference plane in the longitudinal direction of the machine body is detected. In other words, when the front side of the vehicle body rises from the state where the attitude of the traveling body V is along the horizontal reference plane, the vertical bar 23b tries to maintain the downward state, so that the vertical bar 23b swings rearward with respect to the body. Conversely, when the front part of the fuselage lowers, the vertical bar 23b swings forward with respect to the fuselage, and the swing angle θ at this time becomes the inclination angle θ in the longitudinal direction of the fuselage. Is detected. Here, when the posture of the traveling body V is along the horizontal reference plane, the inclination angle θ becomes 0, θ increases in a positive direction when the front side of the body is raised, and θ when the front side of the body is lowered.
Increases in the negative direction.

As shown in FIG. 4, a volume-type cutting height setting device 4 for manually setting a target height of the cutting unit A with respect to the ground on an operation panel inside the boarding operation unit 2.
0, a cutting elevation auto switch SW3 for inputting on / off information of automatic height control of the cutting unit A, and a manually operated height control mode switching for switching a height control mode as described later. A switch SW4 is provided, and each piece of information is also input to the control device 21. Here, the cutting height setting device 40 constitutes a target height setting means for setting a target height of the cutting unit A.

Further, the boarding operation section 2 is provided with a mowing elevating lever 25 for manually moving the mowing section A up and down. Then, the mowing elevating lever 25 is moved from the neutral position to
When operated to the rear up position, the up switch SW1 is turned on. When operated to the front down position, the down switch SW1 is turned on.
2 is turned on, and the detection information of each switch is also transmitted to the control device 21.
Has been entered. On the other hand, the control device 21 outputs a drive signal to the control valve 30 for operating the elevating cylinder CY.

The mowing elevating lever 25 is also used as a steering lever for steering the fuselage. When the lever 25 is operated from the neutral position to the left, a left turning switch (not shown) is turned on, and the right turning switch (not shown) is turned on. , A right turn switch (not shown) is turned on, and the detection information of each switch is also input to the control device 21. When the left turning switch is turned on, the control device 21 turns off the left steering clutch in the transmission case 35 to turn the airframe V to the left. When the right turning switch is turned on, the control device 21 turns on the transmission case. A configuration is such that the steering clutch on the right side in 35 is disengaged and the body V turns right.

Then, using the control device 21, based on each information of the ultrasonic sensor S1 and the cutting height setting device 40,
A control unit 101 is configured to execute height control (hereinafter, referred to as normal height control) for operating the lifting cylinder CY so that the ground height of the mowing unit A is maintained at the target height. Specifically, the control device 21 eliminates the difference (deviation) between the cutting height setting value manually set by the cutting height setting device 40 and the cutting height detection value by the ultrasonic sensor S1. If the cutting height detection value is smaller than the cutting height set value (the cutting height is lower than the target height), the lifting cylinder CY
When the cutting height detection value is larger than the cutting height set value (the cutting height is higher than the target height), the lifting cylinder CY is lowered.

However, if the control means 101 detects that the front side of the traveling body V is located above the rear side based on the information of the front / rear inclination sensor 23, the reaping section is activated. A lifting cylinder CY so that the ground height of A is maintained at a height obtained by adding a set value to the target height.
Is executed, and when the traveling machine V is in the horizontal state from the machine body ascending state,
The normal height control is performed.
Here, as shown in FIG. 5, if the detection angle θ of the front-rear inclination angle sensor 23 is within a range of ± Δθ with θ = 0 as a center, it is determined that the traveling machine V is in a horizontal state, and the detection is performed. If the angle θ becomes larger than Δθ in the positive direction, it is determined that the aircraft is in a forward-lifted state.

The control means 101 increases the set value in the above-described height control for front-up as the inclination angle θ in the front-to-rear direction of the body in the front-up state of the body detected by the front-to-back inclination sensor 23 increases. The lifting cylinder is moved so as to eliminate the difference (deviation) between the value obtained by adding the set value to the cut height set value set by the cut height setting device 40 and the cut height detected by the ultrasonic sensor S1. Activate CY. In other words, when the cutting height detection value is smaller than the value obtained by adding the above setting value to the cutting height setting value, the lifting cylinder CY is raised, and the cutting height detection value becomes the cutting height setting value. If the value is larger than the value obtained by adding the set value, the lifting cylinder CY is lowered.

Further, the control means 101 is capable of switching between a forward rise control mode in which the forward rise height control and the normal height control are executed and a normal control mode in which only the normal height control is executed. Is configured. Specifically, as shown in FIG. 4, if the height control mode changeover switch SW4 is operated to the front upward side, the control means 10
The control unit 101 is switched to the normal control mode when the height control mode changeover switch SW4 is operated to the normal control side.

Next, the elevation control of the cutting unit A by the controller 21 will be described with reference to the flowchart shown in FIG. In a main flow (not shown), the state of the threshing switch 32 and the cutting and raising / lowering auto switch SW3 are checked, and if both switches are on, the ground height of the cutting unit A detected by the ultrasonic sensor S1 is detected. When the height is equal to or less than the predetermined height, the automatic cutting height control is executed. On the other hand, when the ground height of the cutting unit A is higher than the predetermined height,
Stop automatic cutting height control. Note that even during the execution of the automatic height control, if the mowing elevating lever 25 is operated, the mowing elevating operation based on the manual operation is executed with priority. In the cutting height control, first, the height control mode is determined based on the state of the height control mode changeover switch SW4.
Height difference (cutting height setting value-cutting height detection value), which is the difference between the cutting height setting value obtained by the ultrasonic sensor S1 and the cutting height detection value obtained by the ultrasonic sensor S1, is obtained when the cutting height deviation is not within the dead zone. Is (+)
In this case, the cutting unit A is raised, while the deviation is (-), the cutting unit A is lowered, and when the cutting height deviation is within the dead zone, the lifting cylinder CY is driven so as to stop the lifting operation. Only normal height control is performed.

On the other hand, if the mode has been switched to the forward rise control mode, it is determined whether or not the aircraft is in the forward rise state.
If the aircraft is not rising forward, the normal height control is performed.If the aircraft is rising forward, a set value corresponding to the aircraft front-back inclination angle is calculated so as to increase as the aircraft front-back inclination angle increases. The calculated setting value is applied to the cutting height setting device 40.
And a cutting height deviation [(cutting height setting value + setting value) −cutting height detection value] which is a difference between a value added to the cutting height setting value obtained by the above and a cutting height detection value obtained by the ultrasonic sensor S1. When the deviation is (+), the reaping unit A is raised when the deviation is (+), the reaping unit A is lowered when the deviation is (-), and the lifting / lowering operation is stopped when the deviation is within the dead zone. Next, a pre-up control for driving the lift cylinder CY is performed. In the harvesting raising / lowering operation by manual operation, when the raising switch SW1 is on, the raising / lowering cylinder CY is raised, and when the lowering switch SW2 is on, the raising / lowering cylinder CY is lowered and both switches SW1, SW1 are turned on. When both of the switches SW2 are off, the operation of the lifting cylinder CY is stopped.

Next, a description will be given of a case where the harvesting operation is performed while the combine is reciprocated along the longitudinal direction of the rectangular uncut operation area by manual operation, with reference to FIG.
The harvester runs while performing the automatic height control from the one end in the longitudinal direction of the work area along the longitudinal direction of the area, and reaches the headland at the end of the area. The cutting section A is raised to finish the cutting operation, and the automatic height control is stopped (a in the figure). Then, the body is moved to 9 by manual steering operation.
While turning the vehicle 0 degrees, the traveling speed is increased by the vehicle speed shift lever 26, the headland is moved along the short side direction of the work area, and when the vehicle is moved to the next work start position, the vehicle body is moved 90 degrees.
And then run toward the work start end of the work area (b in the figure). Then, when approaching the work start end, the mowing unit A is lowered to activate the automatic height control, and then the mowing work for the work area is started while the traveling speed is reduced by the vehicle speed shift lever 26. (C in the figure). Here, the height control mode changeover switch SW4
Is operated to the forward rise control side, and when the body forward rise state is detected, the above-described forward rise height control is executed in the automatic height control, and the aircraft body is moved along with the traveling speed deceleration operation. Even if the posture is lowered forward, it is possible to prevent the reaping unit A from sticking into the ground.

[Alternative Embodiment] In the above embodiment, when the control means 101 executes the forward ascent height control, the inclination angle θ in the longitudinal direction of the fuselage in the forwardly rising state of the fuselage.
The larger the (detection angle of the front-back tilt angle sensor 23) is,
The set value to be added to the target height is increased, but in addition to this, if, for example, the forward-upward state of the aircraft is detected, the above-mentioned set value is set regardless of the inclination angle θ in the longitudinal direction of the aircraft at that time. You may make it.

In the above embodiment, the working unit (the reaping unit A) is configured to be able to move up and down while being supported by the traveling machine body V.
Although the configuration is such that the machine body is raised and lowered with respect to the traveling machine body V, it is also possible to adopt a configuration in which, for example, the machine body part supporting the working unit is moved up and down with respect to the machine body part having the grounding part.

In the above-described embodiment, the working unit lifting / lowering means is constituted by the hydraulic lifting / lowering cylinder CY for lifting / lowering the working unit (the reaping unit A) with respect to the traveling machine body V. You may comprise with a motor etc.
When the body part supporting the working part (the reaping part A) is configured to be moved up and down with respect to the body part provided with the grounding part, the working part elevating means is provided by a hydraulic cylinder for elevating the body. Be composed.

In the above embodiment, the height detecting means is constituted by the non-contact type ultrasonic sensor S1, but it is not limited to this. For example, a contact type height detecting sensor may be used.

In the above embodiment, the target height setting means 40
Is configured by the volume-type setting device 40 by manual operation, but is not limited thereto, and may be a setting device that is stored in the control device 21 as a control target value in advance.

In the above embodiment, the body inclination detecting means is constituted by the gravity-type inclination angle sensor 23, but may be an inclination-angle detection sensor other than the gravity type.

In the above embodiment, the agricultural work vehicle is constituted by a combine having a mowing part as a working part on the front side of the machine body. However, another agricultural work vehicle (such as a tractor) may be used.
The working unit provided on the front side of the machine body is appropriately changed according to the type of the agricultural work vehicle.

[Brief description of the drawings]

FIG. 1 is a side view showing a front part of a combine.

FIG. 2 Power system diagram of the combine

FIG. 3 is a block diagram showing a control configuration.

FIG. 4 is a front view showing an operation panel.

FIG. 5 is a side view showing a configuration of the body longitudinal inclination detecting means.

FIG. 6 is a flowchart showing a control operation.

FIG. 7 is a plan view for explaining a harvesting operation by a combine.

[Explanation of symbols]

 23 Aircraft front-back inclination detecting means 40 Target height setting means 101 Control means A Working part CY Working part elevating means S1 Height detecting means V Traveling body

Claims (3)

[Claims] A work unit supported on the traveling body and capable of ascending and descending is provided on a front side of the traveling body, a working unit elevating means for elevating and lowering the working unit, and a height above the ground of the working unit. A height detecting means for detecting a height of the working unit, a target height setting means for setting a target height of the working unit, and a ground of the working unit based on each information of the height detecting means and the target height setting means. A control means for performing height control for operating the work unit elevating means so that the height is maintained at the target height. A body front-rear inclination detecting means for detecting a state of inclination of the vehicle direction is provided, and the control means is configured to control the front of the traveling body based on information of the body front-rear inclination detecting means so that a front side of the traveling body is located above a rear side. If a rising condition is detected, The work unit elevates height control for operating the work unit elevating means so that the ground height of the work unit is maintained at a height obtained by adding a set value to the target height, and A farm work vehicle configured to execute the height control when the machine body is raised from the front-up state to the horizontal state. 2. The vehicle longitudinal inclination detecting means is configured to detect an inclination angle of the traveling aircraft in a longitudinal direction with respect to a horizontal reference plane, and the control means is detected by the aircraft longitudinal inclination detecting means. 2. The agricultural work vehicle according to claim 1, wherein the setting value is configured to increase as the inclination angle in the longitudinal direction of the fuselage in the forward rising state of the fuselage increases. 3. The control device according to claim 1, wherein the control unit is configured to execute the height control for rising and a rising control mode for executing the height control.
The agricultural work vehicle according to claim 1, wherein the agricultural work vehicle is configured to be freely switchable to a normal control mode in which only the height control is performed.