JP2000295905A - Attitude controller for combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an attitude controller for a combine harvester that can promptly and exactly shift to the automatic level control even while manual operation means are operated. SOLUTION: This attitude controller is equipped with means for setting the height of a machine body 22, horizontal setting means 26 for shifting to the automatic horizontal setting in order to keep the machine body 22 horizontal, manual operating means 34 that can separately or simultaneously drive vertically driving means 15L, 15R for changing the transverse inclination angle and the machine height, and memory means 17 for memorizing the detected values. Except the manual control of the transverse inclination angle and the machine height and the manual attitude control, the automatic horizontal control of the automatic inclination angle control is performed and these controls are followed by automatic machine height control to a height set by the machine height setting means. In this case, the transverse inclination angle at the time when the manual operation is completed is memorized as a standard angle in the memory means 17. While the manual operation means is operated, the manual inclination angle is controlled according to the standard inclination angle, corresponding to the operation amount of the manual operation means 34, and a level control restoration means is provided to facilitate the shift to automatic level control even while the manual inclination angle control is operated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a combine which can control a right and left inclination angle and a supporting height, and can shift to an automatic level control by a simple operation even during a manual attitude control.
In addition, the present invention relates to a technology that enables the omission of vehicle height adjustment before the next operation.

[0002]

2. Description of the Related Art In a conventional combine control, in automatic attitude control for automatically controlling a left-right inclination angle and a vehicle height, a volume-type inclination angle setting device and a vehicle height setting device are arranged, and these dials are turned. Since the left and right inclination angles and the vehicle height are set, and the left and right lifting drive means are automatically extended and retracted so that the set values are maintained, the operator wants to change each set value during the automatic attitude control. Even in such a case, it is necessary to perform a dial operation, and it is difficult to quickly change the attitude of the aircraft. In addition, the accuracy of setting the dial itself is not high at all, and fine adjustment of the attitude of the aircraft cannot be said to be easy. In particular,
By setting the machine to be kept horizontal, the cutting height at the left and right sides is the same during the mowing operation, the variation in the grain stalk length is reduced, the mowing performance is improved, and the rocking and sorting unit of the threshing device is used. In spite of improving the sorting performance by reducing the uneven distribution of the sorting object, conventionally,
There was no means capable of directly shifting to the horizontal state.

To solve such a problem, the following means can be considered. That is, the horizontal set which eliminates the volume-type tilt angle setting device, has manual operation means capable of freely setting the vehicle height and the right and left tilt angles manually with a simple operation, and is capable of adjusting the aircraft horizontally by one operation. When the horizontal setting means is turned on when the manual operation means is not operated, the operation immediately shifts to automatic level control. When the horizontal setting means is off, the automatic control is always performed to a specific horizontal inclination angle. The vehicle is automatically controlled to the set vehicle height only when the left-right inclination angle becomes horizontal or at a specific left-right inclination angle. That is,
Normally, the aircraft is automatically controlled to a fixed attitude, and only when the operator wants to change the aircraft attitude to a field attitude or work content suitable for the work content, operate the manual operation means or turn on the horizontal setting means. Thus, the desired posture can be changed quickly and reliably.

[0004]

However, in such a combine, it is necessary to turn on the horizontal setting means if it is desired to level the aircraft during manual tilt angle control by the manual operation means. During actual driving, one hand is usually used for operating the driving handle, and the other hand holding the manual operation means must be temporarily released before operating the horizontal setting means, During that time, there has been a problem that an operation trouble is likely to occur because the manual operation means is deviated from the set position. In particular,
There is a difficulty in the operation of shifting to the automatic level control while turning the aircraft, and in this case, there is a problem that the abnormal inclination of the aircraft may cause damage to the aircraft.

Further, the manual inclination angle control and the automatic horizontal control are performed by simply raising and lowering both the left and right of the lifting drive means simultaneously and reciprocally, as in a conventional combine, to maintain the body in a desired posture. With this configuration, there is a problem that the required horsepower must be increased in order to perform quick attitude control since the actuators are driven simultaneously on the left and right sides.

[0006] In the conventional combine, when the vehicle travels without performing the harvesting operation, that is, when the threshing operation or the like is completed and the vehicle travels on a road or crosses a ridge (hereinafter, referred to as “operation end”), The aircraft is lowered so that the support height on the left and right sides of the aircraft is at the lowest level, and the height of the center of gravity is lowered to ensure running stability and prevent falls. When lowering the aircraft, if the aircraft is lowered while one of the aircraft rides on the ridge at the ridge, if the lower body collides with the ground and is damaged, or if the field is too soft in the wetland, There was a problem that the aircraft lowered to the lower limit was buried in mud and could not run.

[0007]

The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described. That is, in claim 1, a pair of left and right lifting drive means capable of independently changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height, and a left and right inclination angle of the body with respect to a horizontal plane are set. A vehicle height setting means for setting a vehicle height of the body, a horizontal setting means for shifting to automatic level control for holding the body horizontally, and a left and right inclination angle and a vehicle height for changing the vehicle height. By providing a manual operation means capable of driving the lifting drive means separately or simultaneously by a simple operation and a storage means for storing the detected value, the left-right inclination angle and the vehicle height are manually controlled, and the manual attitude control is performed. In other cases, the automatic horizontal control or the automatic inclination angle control is performed, and after the control, in the combine for controlling the vehicle height to the vehicle height set by the vehicle height setting device, the right and left of the time when the operation of the manual operation device is terminated. Inclination The angle is stored in the storage means as the reference inclination angle, and during the operation of the manual operation means, a manual inclination angle control according to the operation amount of the manual operation means is performed according to the reference inclination angle, and the manual inclination angle control is performed. A posture control device for a combine, further comprising a horizontal control returning means for easily shifting to the automatic horizontal control.

According to a second aspect of the present invention, the manual operation means is also used as the horizontal control return means according to the first aspect of the present invention, and a transition to the automatic horizontal control is enabled by a specific operation of the manual operation means. .

According to a third aspect of the present invention, in the manual tilt angle control according to the first aspect, one of the right and left sides of the body is set as a reference side, and a specific support height on the reference side is stored in the storage unit as a reference height. While the reference side is held at the reference height, the right and left inclination angles are changed to the inclination angles corresponding to the operation amounts of the manual operation means by raising and lowering the opposite reference side.

According to a fourth aspect of the present invention, in the automatic horizontal control according to the first aspect, one of the right and left sides of the body is set as a reference side, and a specific support height on the reference side is stored in the storage means as a reference height. While holding the reference side at the reference height,
The aircraft is set horizontally by raising and lowering the opposite anti-reference side.

According to a fifth aspect of the present invention, when the support height on the opposite side to the reference side according to the third or fourth aspect reaches the limit height, the opposite side is held at the limit height. ,
The reference side is moved up and down.

According to a sixth aspect of the present invention, in the automatic horizontal control according to the first aspect, the support body is set to be horizontal by preferentially increasing the supporting height on the lower left and right sides of the body.

According to a seventh aspect of the present invention, in the automatic horizontal control according to the first aspect, a drive output is obtained in accordance with a specific fuzzy rule stored in the control means based on the detected value of the left-right inclination angle, and the drive output is obtained. The body is set horizontally by outputting a predetermined signal based on the output rules and operating the right and left driving means independently of each other.

According to the eighth aspect of the present invention, in the combine according to the first aspect, the processing shifts to the work end control by the threshing switch “OFF”. It is controlled to descend to the supporting height on the side.

[0015]

Next, an embodiment of the present invention will be described.
FIG. 1 is a side view showing an overall configuration of a combine according to the present invention, FIG. 2 is a partial cross-sectional side view of a crawler type traveling device, and FIG.
FIG. 4 is a partial plan view, FIG. 5 is a side view showing an interlocking structure of a vehicle height sensor, a stroke sensor, and an elevating cylinder, FIG. 6 is a plan view, and FIG. 8 is a plan view, FIG. 9 is a control block diagram, FIG. 10 is a control block diagram showing attitude control means, FIG. 11 is a control block diagram showing auger turning control means, and FIG. FIG. 13 is a partially enlarged perspective view of an operation panel, FIG. 14 is a flowchart of attitude control, FIG. 15 is a flowchart of attitude control of another embodiment, and FIG. 16 is a view of manual attitude control. Flowchart, FIG. 17 is a flowchart of manual tilt angle control,
18 is a flowchart of the automatic tilt angle control, FIG. 19 is a flowchart of the automatic horizontal control, FIG. 20 is a flowchart of the right support height raising process, FIG. 21 is a flowchart of the left support height raising process, and FIG. 23 is a flowchart of the right support height increasing process, FIG. 23 is a flowchart of work end control, FIG. 24 is an explanatory diagram of work end control of the present invention, (a) is an explanatory diagram showing a state before control, and (b) FIG. 4 is an explanatory diagram showing a state after control.

First, the overall structure of the combine will be described with reference to FIGS. As shown in FIGS. 1, 7, and 8, an elevating device,
A mowing unit 3 including a mowing device for mowing the culm caused by the raising device and a transporting device for conveying the culm to the threshing device 35 is arranged. The mowing unit 3 is supported by the mowing frame 4, and is moved up and down. It is rotatable. A reaper supporting shaft 5 is rotatably mounted on the machine body 2 in a horizontal direction in the left and right direction. The reaping frame 4 is fixed to the reaper supporting shaft 5, and the reaper 3 is connected to the reaper. It is configured to be able to swing up and down around the support shaft 5. The mowing frame 4 is connected to a mowing height adjusting elevating cylinder 6, and the mowing part 3 is driven up and down by the expansion and contraction operation of the cylinder 6.

As shown in FIGS. 2 to 4, a pair of left and right crawler traveling devices 7L and 7R at the lower part of the body 2 are provided.
A drive sprocket 10 disposed on the front side of the body frame 8 via a traveling transmission device 81 at the lower front of the body, a track frame 9 connected to the body frame 8 via a swing link mechanism 82 described later, And the tension sprocket 11 attached to the drive sprocket 1 and the driving sprocket 1
, And a rubber crawler belt 83 wound around the outer peripheral surfaces of the idler wheels 12, 12... And the tension sprocket 11, and the driving sprocket 10 is driven by power from the traveling transmission device 81 to drive the crawler belt. 8
3 is driven to rotate.

Referring to FIG. 3 and FIG.
2 will be described. Bearings 86 and 87 are provided inside connecting horizontal frames 84 and 85 fixed to the front and rear lower portions of the body frame 8.
, And the support shafts 88 and 89 are horizontally mounted on the bearings 86 and 87. The central portions of the front and rear bell crank links 13a and 13b serving as swing links are pivotally supported by the front and rear support shafts 88 and 89, and the bell crank links 13a and 13b are formed substantially in an L shape in side view. The bell crank link 13a
The front and rear lateral pivot shafts 90 and 91 projecting from the track frame 9 are pivotally supported at the rear lower part of the bell crank link 1b.
A coupling member 92 is interposed between the upper portions of the bell crank links 3a and 13b, and the coupling members 92 are connected to the attitude control elevating cylinders 15L and 15R as actuators serving as elevating and lowering driving means to transmit driving force. 13a ・ 13b
Is rotated about the support shafts 88 and 89, and the track frame 9 is moved up and down with respect to the body frame 8. At this time, the vehicle height of the body is adjusted by moving the track frames 9 of the left and right crawler-type traveling devices 7R and 7L in the same direction, and the tilt angle control and the horizontal Control is performed.

The rotation of the bell crank links 13a and 13b and their initial positions will be described with reference to FIGS. As shown in FIGS. 3 and 4, the connecting member 92 is fixed to one end of a front connecting rod 14a that forms a telescopic rod at one of the upper ends of the front and rear bell crank links 13a and 13b (in the present embodiment). The provided bracket 93 is pivotally supported via a pivot pin 94, and a thread groove is formed in the other end of the front connection rod 14a, and is screwed into one end of a cylindrical turnbuckle 14b to turn the turnbuckle 14b.
The other end (rear end) of the rear connection rod 14c is screwed into the bell crank link 13b (or 13a) via the connection plate 95. Are linked. The total length of this connecting member 92 is equal to the length of the front connecting rod 14a into the turnbuckle 14b.
The total length of the connecting member 92 can be adjusted by adjusting the screwing position of the end of the rear connecting rod 14c.

The connecting plate 9 constituting the connecting member 92
5 is connected to the operation side (extendable rods) of attitude control elevating cylinders 15L and 15R as actuators for elevating and lowering, and drives the attitude control elevating cylinders 15L and 15R to move up and down the bell crank links 13a and 13b. It is moved. That is, the connection plate 95
As shown in FIG. 5 and FIG. 6, the plate body is formed in a substantially Z-shape in a side view to form a pair of two parallel members.
A lower front part of the connection plate 95 is fixed along the rear part of the rear connection rod 14c bent rearward and downward from a middle part of 4c, and the attitude control lifting cylinders 15L and 15R are provided along the inclination of the rear part of the rear connection rod 14c. It is arranged to be inclined backward and downward. The posture control elevating cylinders 15L and 15R are pivotally connected at their bases to a bracket 96 fixed to the body frame 8 via fulcrum pins 97, and the ends of the telescopic rods of the posture control elevating cylinders 15L and 15R are connected to the connecting plate 95. It is pivotally supported via a pivot pin 98 between the rear portions. Further, an upper end of the bell crank link 13 b is pivotally connected to a rear portion of the connection plate 95 via a connection pin 51. The positions of the pivot pin 98 and the connecting pin 99 at which the bell crank link 13b and the end of the telescopic rod of the attitude controlling elevating cylinder 15L / 15R are pivotally supported by the connecting plate 95 are substantially the same as those of the attitude controlling elevating cylinder 15L / 15R. It is arranged so as to be located on the extension line.

Therefore, conventionally, the bell crank link 13b pivotally supported by the support shaft 89 and the attitude control elevating cylinder 15L in the initial stage of extension of the attitude control elevating cylinders 15L and 15R.
-The direction of expansion and contraction of 15R is at a right angle, and the angle between the two becomes acute as it extends, and unnecessary power is required. However, in the embodiment of the present invention, the vehicle height is most frequently increased. At a slightly elevated position where the control is performed, the two are at right angles to each other.
Bell crank link 1 from 15R efficiently and reliably
3b. Further, the thrust action lines of the attitude control elevating cylinders 15L and 15R and the connecting plate 9
5 and the pivotal position of the bell crank link 13b (the connecting pin 9
The locus of 9) (the locus of the point of application of the force) is substantially matched, and the bending stress applied to the connecting plate 95 is reduced to increase the durability.

Note that the attitude control lifting cylinder 15L
The 15R is provided with stroke sensors 17L and 17R for detecting the expansion and contraction of the cylinder, as shown in FIGS. That is, the attitude control lifting cylinder 15
The end of the telescopic rod of L · 15R protrudes upward from the upper end of the connecting plate 95, and a substantially U-shaped engaging ring 100 as an engaging member is fixedly provided on the protruding upper portion. The engagement ring 100 is provided with a stroke sensor 1 such as a potentiometer fixed to the body frame 8 side.
The 7L / 17R sensing arms 17a are directly inserted and engaged without the intervention of a link mechanism. This stroke sensor 17L / 17R uses the elevation cylinder 1 for attitude control.
The amount of expansion / contraction of 5L / 15R is detected, and the detected value is input to a controller 18 serving as control means described later and calculated, whereby the amount of rotation of the bell crank links 13a / 13b, that is, the vehicle height is obtained.

Here, the U-shaped engagement ring 100 for engaging the sensing arm 17a is fixed in a loop on the side of the distal end of the telescopic rod of the attitude control elevating cylinder 15R, so that its rigidity is enhanced. As a result, the vehicle height can be accurately determined by the vehicle height sensor 17 via the sensing arm 17a. Furthermore, since the engagement ring 100 directly engages the sensing arm 17a, a plurality of link mechanisms can be eliminated as in the related art, so that the number of components can be reduced, and the cost can be reduced, and at the same time, the space is advantageous. Configuration. Further, as shown in FIG. 1, a horizontal sensor 16 is disposed at an appropriate position of the body 2, and the horizontal sensor 16 detects the left-right inclination angle of the body 2.

As shown in FIGS. 7 and 8, in the threshing device 35, while the root of the grain culm conveyed by the conveying device is pinched by the feed chain 36 and conveyed backward, the handling cylinder 37 Is carried out for grain shedding. A sorting device is disposed below the shell removing device 35, and the second product after being sorted by the sorting device is returned to the handling cylinder 37 or the processing cylinder again.
Glen tank 39 arranged at the rear of operation unit 19 via
Transported to A lower conveyor 40 is provided at a lower portion in the Glen tank 39 in the front-rear direction, and the lower conveyor 40 is configured by a screw conveyor.
The rear end of the auger 41 is communicated with a discharge auger 41 for discharging kernels, and the auger 41 is composed of a vertical auger cylinder 42 that feeds vertically and a horizontal auger cylinder 43 that communicates with an upper part thereof in the horizontal direction.

The vertical auger cylinder 42 and the horizontal auger cylinder 43 accommodate a screw conveyor in the cylinder, a discharge port 44 is provided at the tip of the horizontal auger cylinder 43, and the other end of the lower conveyor 40 is powered by an engine 45. Power is transmitted via a transmission mechanism or the like to drive a conveyor in the auger 41. By this driving, the grains in the Glen tank 39 are discharged from the discharge port 44 via the lower conveyor 40 and the auger 41. A base of a horizontal auger cylinder 43 is attached to the upper part of the vertical auger cylinder 42 so as to be freely rotatable up and down. A lifting cylinder 46 and an auger lifting sensor 76 are provided between the vertical auger cylinder 42 and the horizontal auger cylinder 43. The vertical auger cylinder 4 is driven by extending and retracting the elevating cylinder 46.
3 can be rotated up and down to adjust the height of the outlet 44, and the height is detected by the auger elevation sensor 76.

The vertical auger cylinder 42 is connected to the lower pipe 4
2a and an upper pipe 42b.
An upper pipe 42b is rotatably supported on the upper side, and an auger rotation sensor 75 is disposed between the upper pipe 42b and the lower pipe 42b.
The other end of a is fixedly mounted on the rear surface of the Glen tank 39, and a large-diameter gear 47 is integrally fixed on the outer periphery of a middle part of the upper pipe 42b. The small-diameter gear fixed to the shaft is meshed with the turning motor 48.
, The small-diameter gear is rotated, the vertical auger cylinder 42 is rotated via the large-diameter gear 47, and the horizontal auger cylinder 43 is turned in the horizontal direction. This rotation is detected by the auger rotation sensor 75. The threshing device 35
An auger rest 49 is arranged at a diagonal position of the fuselage on the upper side to support a middle part of the lateral auger cylinder 43, and this position is a storage position.

Next, the control structure of the attitude control means and the auger turning control means in the combine having the above-described overall structure will be described with reference to FIGS. 1, 9 to 13. As shown in FIG. 9, the attitude control means 32 and the auger turning control means 33 are both connected to the controller 18, and each is composed of switch / sensor units 32a and 33a and drive units 32b and 33b.

First, the attitude control means 32 will be described with reference to FIGS. 1, 10, 12, and 13. FIG. The stroke sensors 17L and 17R and the horizontal sensor 16 are connected to a controller 18. As described above, the controller 18 calculates the vehicle height of the body 2 from the detection values of the stroke sensors 17L and 17R. In the tilt angle control described later in detail, the controller 1
8 is such that the horizontal inclination angle of the body 2 obtained from the detection value of the horizontal sensor 16 is a predetermined set value, and in the vehicle height control, the calculated height of the body with respect to the ground is a predetermined set value. , Two-position control lift cylinder 15L-1
5R is controlled to expand and contract.

As shown in FIGS. 12 and 13, a control seat 118 is provided on the operation unit 19 of the combine, and a control handle 112 is disposed in front of the control seat 118. Left side operation panel 113
An operation panel 20 is provided above. Further, a main shift lever 114 and a sub shift lever 115 for shifting the output rotation speed from the transmission device 81 connected to the engine 45 are disposed on the left side of the control seat 118. A short job switch 116 is provided on a side surface of the gripping portion.

The short job switch 116 is connected to a controller 18, and the controller 18
Short job switch 1 during automatic tilt angle control described later
Only while the button 16 is pressed, the automatic tilt angle control is interrupted and the operation shifts to the automatic level control.
When the release is made, control is performed so that the automatic inclination angle control is restored again. This allows the user to raise a part of the body at the edge of a ridge or the like to cut a horizontal portion for a short time while cutting. The change of the left-right inclination angle can be quickly executed by operating the short job switch 116 provided on the main shift lever 114 which is normally operated by the operator.

A volume-type vehicle height setting device 22 is disposed on the operation panel 20. By turning a knob of the vehicle height setting device 22, the attitude control lifting cylinder 15L-1 is controlled.
5R is expanded and contracted so that the height of the body 2 can be adjusted. The vehicle height setting device 22 is connected to the controller 18, which reads the set value and, based on the set value, as described above, the attitude control lift cylinder 15 </ b> L
・ 15R is controlled to expand and contract.

At an appropriate position on the mowing portion support shaft 5, a mowing portion elevating sensor 23 comprising an angle sensor or the like is provided to detect the relative height of the mowing portion 3 with respect to the machine body 2. Further, a cutting height sensor 24 including an ultrasonic sensor or the like is provided at the center position of the body 2 in a front view and the lower surface of the cutting device, and the absolute height of the cutting device with respect to the ground (that is, the cutting height of the grain culm) is determined. It is going to be detected. These two sensors 23 and 24 and the cutting height adjusting lifting / lowering cylinder 6 are connected to the controller 18, and are used for adjusting the cutting height 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 section 19 is provided with a cutting height setting device 25, and by turning this knob, the cutting height of the grain stalk can be adjusted. This cutting height setting device 25
Is connected to the controller 18 and the controller 18
Controls the elevating cylinder 6 for adjusting the cutting height based on the setting value of the cutting height setting device 25 as described above.

The operation panel 20 is further provided with a horizontal set switch 26 for quickly shifting to automatic horizontal control at the discretion of the operator even during automatic attitude control, and the horizontal set switch 26 is connected to the controller 18. Have been. The controller 18 is provided with the horizontal set switch 26.
"ON / OFF" is detected, and based on the detection result,
The user selects whether to perform automatic horizontal control or to perform tilt angle control other than horizontal. Note that the horizontal set switch 2
6 holds the push state mechanically with one push,
It is a so-called self-lock switch that returns to the initial state when pushed again.

In addition to the horizontal set switch 26, in order to quickly and flexibly respond to various working postures,
A manual operation lever 34, which is a manual operation means capable of forcibly switching the control mode from the automatic posture control to the manual posture control even during the automatic posture control, is provided and connected to the controller 18. The manual operation lever 34 can be tilted forward, backward, left and right, and by tilting forward, the both-position control elevating cylinders 15L and 15R are simultaneously contracted to lower the vehicle height, and by tilting backward, the both The control lift cylinders 15L and 15R are simultaneously extended to increase the vehicle height. When tilted to the left, both or one of the attitude control elevating cylinders 15L and 15R can be controlled to expand and contract to tilt left, and tilt right to tilt right. The lever allows manual operation of the vehicle height and the left and right inclination angles. The amount of rise and fall of the vehicle height changes in proportion to the front-rear tilt angle and the front-rear tilt holding time of the manual operation lever 34, and the left-right tilt angle also changes in proportion to the left-right tilt angle and the left-right tilt holding time of the manual operation lever 34. In addition, each time the manual operation lever 34 is operated, the left / right tilt angle and the reference side support height are stored in the memory 11.
The stored values are stored and updated on a memory 7 so that the stored values can be read out and used in automatic tilt angle control and vehicle height control described later.

On the other hand, regarding the auger turning control means 33,
This will be described with reference to FIGS. The operation unit 19 is provided with an up switch 50 and a down switch 51, a left turning switch 52 and a right turning switch 53, and an auger clutch on / off switch 54. The turning motor 48 is provided with an auger rotation sensor 75, The lifting cylinder 46 is provided with an auger lifting sensor 76 and an auger upper limit switch 111, both of which are connected to the controller 18. The auger rotation sensor 75, the auger elevation sensor 76
Is composed of a potentiometer, a rotary encoder and the like. A turning motor 48 is connected to the controller 18 via a drive unit 55. The turning motor 48 is driven forward and reverse by operating the turning switches 52 and 53, and the horizontal auger cylinder 43 is turned. ing. The controller 18 also includes the lifting cylinder 4
6, an electromagnetic valve 56 for switching the supply of pressure oil to the pressure switch 6 is connected to the elevation switch 50/5.
1 is operated, and the horizontal auger cylinder 4 is switched.
3 can be moved up and down.

Also, in order to prevent the auger from rotating due to inertia during turning, it is connected to an actuator 57 comprising a motor or a solenoid or a cylinder for turning on / off an auger clutch for braking when the turning motor 48 is stopped. By operating the auger clutch on / off switch 54, the actuator 57 is operated, the auger clutch is turned on, the lower conveyor 40 is driven to discharge the grains in the grain tank 39, and the auger clutch is turned off. Driving can be stopped. The operation panel for the auger turning control is not limited to such an airframe 2, and as shown in FIG. It can also be provided on the side surface or the like.

Further, the horizontal rotation position and the elevation height of the auger 41 performing such elevation and turning are detected by the auger rotation sensor 75 and the auger elevation sensor 76,
The controller 18 determines whether the auger 41 is in the non-working range. Here, the non-working range is
It is in a range where the discharge operation cannot be performed using the auger 41,
Even if the body 2 is controlled to descend, the horizontal rotation position of the auger 41 does not cause trouble such that the auger 41 installed on the body 2 comes into contact with the truck 58 or the worker 77 as shown in FIG. And the elevation height.

Here, the outline of the attitude control of the airframe having the above-described overall configuration will be described with reference to FIGS. It should be noted that Y in the figure indicates a case where the condition in the diamond-shaped judgment symbol matches (YES), and N indicates a case where the condition does not match (NO). In the embodiment shown in FIG. 14, during the mowing operation, the threshing switch 28 shown in FIG. 10 provided near the threshing clutch lever is turned on (S1:
Y), when the manual operation is turned on by tilting the manual operation lever 34 to the front, rear, left or right (S2: Y), the controller 18 connected to the manual operation lever 34 is turned on.
Detects this, and shifts to the manual attitude control 120.

When the manual operation lever 34 is not operated (S2: N), the reference inclination angle stored in the memory 117 is read when the manual inclination angle control described later in the previous manual attitude control 120 is completed (S21). ), The automatic tilt angle control 122 is performed so as to set the reference tilt angle. Further, when the manual operation lever 34 is not operated (S
2: N), when the horizontal set switch 26 is further pressed to "ON" (S5: Y), the horizontal set switch 2
The controller 18 connected to the controller 6 detects this, and shifts to the automatic horizontal control 121.

The automatic horizontal control 12 thus shifted
1 or when the automatic tilt angle control 122 is completed, the controller 18 determines whether or not the target tilt angle can be set based on the signal from the horizontal sensor 16 (S7). (S7: N) The vehicle height set by the vehicle height setting unit 22 is read for the first time (S7: Y) when it is determined that the vehicle height can be set without shifting to the vehicle height control 123 (S7: Y). Thus, the vehicle height control 123 is executed. That is, during normal mowing work, the inclination angle control 122 and the vehicle height control 123 are automatically performed without turning the horizontal set switch 26 “ON”. This makes the driving operation very easy and realizes the operability that is easy for elderly people and beginners. In addition, the control related to the right and left inclination angles such as the automatic horizontal control 121 and the automatic inclination angle control 122 of the aircraft is used for the vehicle height. Priority is given to the control of the aircraft, so even if there are some irregularities in the field scene, the aircraft can be quickly changed to the horizontal or reference inclination angle and held, and smooth harvesting and threshing work should be performed. Can be.

While the automatic tilt angle control 122 is being repeated without pressing the horizontal set switch 26,
When the short job switch 116 is pressed to “ON”, as described above, the automatic horizontal control 121
And the short job switch 116 is released.
FF ", and returns to the automatic tilt angle control 122 again.

Further, the threshing switch 28 is turned off (S1:
N), and when the auger 41 is at the non-working position within the non-working range (S3: Y), the work end control 119
When the auger 41 is not at the non-working position (S
3: N), turning of the horizontal auger cylinder 43 by operating the turning switches 52 and 53, or the lifting switches 50 and 51
The auger 41 is moved up and down by the operation of the horizontal auger cylinder 43.
Is moved to the non-working position.

FIG. 15 shows another embodiment in which the automatic tilt angle control 122 is omitted from the embodiment shown in FIG. 14. In this embodiment, the horizontal set switch 26 is turned off. In the state, the operation is returned as it is, that is, the manual operation lever 3 is returned.
When the user operates No. 4, the left-right inclination angle and the vehicle height are changed according to the operation amount, and when the manual operation lever 34 is not operated,
The posture does not change as it is. Horizontal set switch 26
Is turned ON, the automatic horizontal control 121 and the vehicle height control 123 are executed.Therefore, during a normal harvesting operation, the left and right support heights and the vehicle height are not particularly changed, and the operator does not need to change. The manual operation lever 34 and the horizontal set switch 2 are used only when it is determined that the posture needs to be changed at the edge of a ridge or when it is desired to level the aircraft and make the reaping height uniform.
6 can be set to "ON", and the control configuration can be further simplified as compared with the embodiment shown in FIG.

Next, the contents of each control will be described. In the control described below, in the case of performing the control based on the reference side support height based on the support height on one of the left and right sides of the aircraft, the right side support The control based on the height (= right support height) will be described. Therefore, when the left support height (= left support height) is used as a reference, the left and right sides may be considered in reverse.

First, regarding the manual attitude control 120, the manual operation lever 34 is tilted left and right or back and forth to turn the manual operation "ON" as described above (S2:
Y), as shown in FIG.
Is tilted left and right (S10: left and right), the manual tilt angle control 127 is executed. When the manual tilt angle control 127 is completed, the left and right tilt angles at the time of completion are determined by the controller 1.
8 is read from the horizontal sensor 16 and the memory 11
7 is stored as a reference inclination angle (S24). The reference tilt angle is overwritten each time the manual tilt angle control 127 is executed and completed, and is constantly updated. On the other hand, when the manual operation lever 34 is tilted in the front-rear direction, the control shifts to the automatic level control 136 to control the aircraft horizontally. Then, the controller 18 connected to the manual operation lever 34 detects the tilting direction and the tilting amount, and based on the detection result, simultaneously extends the posture control elevating cylinders 15L and 15R via the control valve. (Reduction) operation to perform a manual vehicle height control 129 for raising and lowering the vehicle height. When the manual vehicle height control 129 is completed, the support height of the reference side body at the time of completion is overwritten on the reference height already stored in the memory 117 and is stored as a new reference inclination angle. (S25).

That is, even when the manual operation lever 34 is tilted left and right and the manual tilt angle control 127 is being executed, the manual tilt angle control can be performed simply by tilting the gripped manual operation lever 34 back and forth. 127 is released, and it is possible to shift to the automatic horizontal control 136 quickly and reliably. However, in this embodiment, since the manual operation lever 34 is used as a horizontal control return unit for shifting from the manual tilt angle control 127 to the automatic horizontal control 136,
The vehicle height adjustment during the manual attitude control 120 is always performed in a horizontal state. However, when it is desired to perform the vehicle height adjustment in a state where the vehicle is tilted left and right, while setting the desired vehicle height with the vehicle height setting device 22, the body is tilted to the desired left and right tilt angle with the manual operation lever 34. After the left-right inclination angle is stored in the memory 117 as the reference inclination angle, the operation of the manual operation lever 34 is only stopped, and the automatic inclination angle control 122 and the next vehicle height control 123 are automatically executed. The vehicle height adjustment to the set vehicle height can be performed while being maintained at the reference inclination angle. Note that the horizontal control return means can be provided with a switch such as the short job switch 116 on the side surface of the grip portion of the manual operation lever 34, and the form of the means is not particularly limited.

The manual tilt angle control 127 is a side tilt angle calculated by the controller 18 according to the tilt direction and tilt amount of the manual operation lever 34 (hereinafter referred to as “lever operation tilt angle”). The control is performed to incline the body until the operation is completed, and is performed as shown in FIG.
That is, first, the horizontal inclination angle of the body is detected by the horizontal sensor 16 attached to the body, and the horizontal inclination angle is compared with the lever operation inclination angle (S44). When the lever operation inclination angle is different from the lever operation inclination angle (S44: N), the left support height, which is the vehicle height on the side opposite to the reference side, is at the upper limit (S11: Y),
In addition, when the right support height is at the reference height and tilted left (down) (S14), the left support height elevation control is performed, the left support height is lowered, and the right support height is stopped (fixed). ) Is done. And if you want to tilt right (down),
Since the left side cannot be raised, the right support height elevating control is performed, the left support height is stopped, and the right support height is lowered (S15 to S17).

The left support height is at the lower limit (S12: Y),
When the right support height is at the reference height and tilts right (down) (S13), left support height elevation control is performed, the left support height is raised, and the right support height is stopped. .
In the case of inclining left (downward), the left side cannot be lowered, so that the right support height elevating control is performed, the left support height is stopped, and the right support height is increased (S15 to S17). If the left support height is neither the upper limit nor the lower limit (S12: N) and the right support height is the reference height, the left support height elevation control is performed, and the right support height is the reference height. If not, right support height raising / lowering control is performed, and control is performed in the same manner as described above to obtain the lever operation inclination angle.

The automatic tilt angle control 122 is basically the same in control system as the manual tilt angle control 127 as shown in FIG. Instead of tilting the operation lever 34, it is determined whether or not the current left / right tilt angle matches or is close to the reference tilt angle stored in the immediately preceding manual tilt angle control 127 (S18). The ramp output continues from 18. Further, at the time of the manual tilt angle control 127, the vehicle height output is sequentially and continuously performed by the continuous drive.
When the current inclination is far from the target value, the inclination speed is increased by continuous driving, and when the inclination approaches the target value, switching to pulse driving (so-called PWM control) is performed to decrease the inclination speed, and the manual inclination angle is changed. The setting accuracy is increased as in the case of the control 127.

As shown in FIG. 18, the automatic horizontal controls 121 and 136 are basically the same in control system as the manual tilt angle control 127, as shown in FIG. The tilt output from the controller 18 continues until the level becomes horizontal, and when the current tilt is far from the horizontal state, the tilt speed is increased by continuous driving, and when the tilt approaches horizontal, the control is switched to PWM control to change the tilt speed. It is possible to shift to the horizontal state with a high accuracy by slowing down.

However, this automatic horizontal control 121/136
As for, an ascending priority control method may be adopted. With the ascending priority control system, when working on wetlands and ridges, in order to prevent that the lower part of the aircraft is difficult to run into the wetlands and fields by horizontal control so that one of the aircraft descends, In this method, the support height on the lower side on the left and right sides of the aircraft is preferentially increased to shift the aircraft to a horizontal state. That is,
As shown in FIG. 19, the aircraft is not horizontal (S31:
N), when inclined to the right (S32: Y), the right support height is given priority unless the right support height is at the upper limit height, which is the limit vehicle height that can be raised mechanically. The right support height raising process 131 for raising the left support height is performed. Conversely, when the left support height is inclined to the left (S32: N), the left support height is prioritized unless the left support height is at the upper limit height. A left support height raising process 132 for raising the target is performed. However, when the right support height is higher than the reference height even when the right support height is inclined, the right support height lowering process 133 for lowering the right support height is performed.

FIG. 20 shows the right support height raising process 131 among them. Since the body is inclined rightward, the right support height is raised (S37) unless the right support height is at the upper limit height (S34: N). In this way, raising the lower side of the inclined body lowers the overall vehicle height, causing the lower part of the body to plunge into the wetland, and the lower part of the body gets muddy, making it difficult to travel. It can be prevented beforehand. However, if the right support height is the upper limit height (S34: Y), the left support height is lowered (S36) unless the left support height is at the lower limit height (S35: N). Control the aircraft horizontally.
In this case, considering that the right support height is at the upper limit height, it is determined that the entire aircraft is at a higher position from the ground, so even if the left support height is lowered, the above situation will not occur. It does not happen.

The left support height raising process 132 is performed as shown in FIG.
9, as shown in FIG. 21, the aircraft leans to the left (S32:
N), and the case where the right support height is lower than the reference height (S33: N). In this case, unless the left support height is the upper limit height (S38: N), the left support height is increased (S39) to control the aircraft to be horizontal. That is, similar to the right support height raising process 131, by lowering the lower side of the inclined body, the lower part of the body is pushed into the field and the lower part of the body comes into contact with the ground, and the lower body is damaged, It is possible to prevent a situation in which the driver cannot get on the vehicle after getting on the vehicle.

As for the right support height lowering process 133, as shown in FIGS. 19 and 22, the body is inclined to the left (S32: N), and the right support height is higher than the reference height. Is also high (S33: Y). In this case, unless the right support height is the lower limit height (S40:
N), the right support height is lowered (S43). That is,
Considering that the right support height is higher than the reference height 108,
Since the entire aircraft is determined to be significantly higher than the ground, even if the right support height is lowered, the above-mentioned situation does not occur. On the other hand, when the right support height is the lower limit height (S40: Y), the horizontal control is performed by increasing the left support height unless the left support height is at the upper limit height (S41: N). (S42).

The automatic horizontal control 12 described in detail above
It is also possible to apply a so-called fuzzy control method to all automatic controls including the vehicle height control 123 as well as the automatic tilt angle control 122 and the automatic tilt angle control 122. The fuzzy control is to determine a drive output according to a specific fuzzy rule stored in the controller 18 based on a detected value of the horizontal inclination angle of the aircraft detected by the horizontal sensor 16 and to convert the drive output to a specific output rule. Based on the predetermined tilt output or vehicle height output, the attitude control lift cylinder 15L
15R is a control system that operates the left and right independently of each other. That is, even if the attitude control lift cylinder 15L
Even when the left and right 15Rs are operated simultaneously, in order to be able to set and maintain the aircraft at a horizontal or reference inclination angle with the lowest load and the shortest time, as in the case of a conventional combine, an elevation cylinder 15L for attitude control is used. Unlike the case where the 15Rs are simply raised and lowered at the same time, it is not necessary to increase the horsepower so much even with quick attitude control.

The work end control 119 is described in FIG.
As shown in FIGS. 23 and 24, the auger 41 is in the non-working position (S3: Y), and furthermore, the condition of the end position of the combine, for example, as described above, one side of the aircraft sinks or rides on a wetland or a ridge. When it is determined that the harvesting work may be ended without any trouble (S19: Y), the left and right support heights detected by the horizontal sensor 16 are compared, and the right support height is greater than the left support height. Is also high (S20: Y),
The right support height is lowered until the aircraft is parallel to the ground (S26). Conversely, when the left support height is higher than the right support height (S20: N), the left support height is lowered until the aircraft is parallel to the ground (S27).

As described above, when the vehicle height is lowered at the end of the work, the vehicle is lowered only to the lower left or right support height, which is different from the conventional case where the body is lowered to the minimum lower limit. Troubles such as the lower part of the aircraft colliding with the ground or being buried and being unable to run can be avoided, the height of the center of gravity of the aircraft is appropriately reduced, and the running stability when traveling on roads, over ridges, etc. It is possible to prevent it.

[0058]

As described above, the present invention has the following advantages. That is, in claim 1, a pair of left and right lifting drive means capable of independently changing the left and right support height of the body, a vehicle height sensor for detecting the left and right support height, and a left and right inclination angle of the body with respect to a horizontal plane are set. A vehicle height setting means for setting a vehicle height of the body, a horizontal setting means for shifting to automatic level control for holding the body horizontally, and a left and right inclination angle and a vehicle height for changing the vehicle height. By providing a manual operation means capable of driving the lifting drive means separately or simultaneously with a simple operation, and a storage means for storing the detected value, the left-right inclination angle and the vehicle height are manually controlled,
At the time other than the manual attitude control, the automatic horizontal control or the automatic inclination angle control is performed, and after the control, the manual operating means is operated in a combine for controlling the vehicle height to the vehicle height set by the vehicle height setting means. The left-right inclination angle at the time of completion is stored in the storage unit as a reference inclination angle, and during the operation of the manual operation unit, a manual inclination angle control according to the operation amount of the manual operation unit is performed according to the reference inclination angle. Since the horizontal control return means is provided for easily shifting to the automatic horizontal control even during the manual tilt angle control, it is possible to quickly and reliably shift to the automatic horizontal control even when the manual operating means is being operated. And the mowing performance and the sorting performance can be improved.

In the second aspect, the manual operation means is also used as the horizontal control return means according to the first aspect, and it is possible to shift to the automatic horizontal control by specifically operating the manual operation means. The shift to the automatic horizontal control during the operation of the manual operation means can be quickly and reliably performed without adding a new device.

According to a third aspect of the present invention, in the manual tilt angle control according to the first aspect, one of the right and left sides of the body is set as a reference side, and a specific support height on the reference side is stored in the storage unit as a reference height. Then, while maintaining the reference side at the reference height, the right and left inclination angles are changed to the inclination angles according to the operation amount of the manual operation means by raising and lowering the opposite anti-reference side. The required horsepower required for driving the actuator can be reduced, and the body can be reduced in size and the production cost can be reduced.

According to a fourth aspect of the present invention, in the automatic horizontal control according to the first aspect, one of the right and left sides of the body is set as a reference side, and a specific support height on the reference side is stored in the storage unit as a reference height. While holding the reference side at the reference height,
By raising and lowering the opposite reference side, the body is set horizontal, so that the required horsepower required for attitude control can be reduced, and the body can be reduced in size and cost.

According to a fifth aspect of the present invention, when the support height on the opposite side to the reference side according to the third or fourth aspect reaches the elevation limit height, the opposite reference side is held at the elevation limit height as it is. ,
Since the reference side is moved up and down, it is possible to shift to a desired left-right inclination angle or horizontal state only by moving up and down one side, and a quick posture change is possible.

According to the sixth aspect of the present invention, in the automatic horizontal control according to the first aspect, the body is set to be horizontal by preferentially increasing the supporting height on the lower side on the left and right sides of the body. Even in this case, stable traveling can be performed.

According to a seventh aspect of the present invention, in the automatic horizontal control according to the first aspect, a drive output is obtained in accordance with a specific fuzzy rule stored in the control means based on the detected value of the left-right tilt angle, and the drive output is obtained. By outputting a predetermined signal based on the output rules, and by operating the left and right driving means independently of each other, the aircraft is set to be horizontal, even if the left and right driving means are simultaneously operated,
The aircraft can be set to the horizontal or reference inclination angle with the lowest load and the shortest time.

According to an eighth aspect of the present invention, in the combine according to the first aspect, the operation shifts to the work end control by turning off the threshing switch. In the work end control, the high support height on the left and right sides of the machine body is set to the lower side. The lowering of the aircraft to the lowest height does not cause damage to the lower part of the aircraft or the inability to run as it was in the past. This makes it possible to ensure the running stability and prevent the vehicle from falling over when the vehicle is crossed.

[Brief description of the drawings]

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

FIG. 2 is a partial cross-sectional side view of the crawler traveling device.

FIG. 3 is a partial side view and a partial cross-sectional view of the same.

FIG. 4 is a partial plan view of the same.

FIG. 5 is a side view showing an interlocking configuration of a vehicle height sensor, a stroke sensor, and an elevating cylinder.

FIG. 6 is a plan view of the same.

FIG. 7 is a side view showing a driving configuration of the auger.

FIG. 8 is a plan view of the same.

FIG. 9 is a control block diagram.

FIG. 10 is a control block diagram showing a posture control unit.

FIG. 11 is a control block diagram showing auger turning control means.

FIG. 12 is a plan view showing a configuration example of an operation panel.

FIG. 13 is a partially enlarged perspective view of the operation panel.

FIG. 14 is a flowchart of attitude control.

FIG. 15 is a flowchart of attitude control according to another embodiment.

FIG. 16 is a flowchart of manual attitude control.

FIG. 17 is a flowchart of manual tilt angle control.

FIG. 18 is a flowchart of automatic tilt angle control.

FIG. 19 is a flowchart of automatic horizontal control.

FIG. 20 is a flowchart of a right support height raising process.

FIG. 21 is a flowchart of a left support height raising process.

FIG. 22 is a flowchart of a right support height raising process.

FIG. 23 is a flowchart of work end control.

FIG. 24 is an explanatory diagram of work end control according to the present invention;
(A) is an explanatory view showing before control, and (b) is an explanatory view showing after control.

[Description of Signs] 1 Combine 2 Body 15L / 15R Elevating / lowering drive means 16 Horizontal sensor 17L, 17R Vehicle height sensor (stroke sensor) 22 Vehicle height setting means 26 Horizontal setting means 28 Threshing switch 34 Manual operation means (Horizontal control return means) 117 Storage means

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshiki Kiribata 1-32 Chayacho, Kita-ku, Osaka-shi, Osaka Prefecture Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Hirofumi Kawabuchi 428 Enami, Okayama-city F term (reference) 2B076 AA03 BA05 BB07 CC02 CC13 2B304 LA02 LA13 LB02 LB12 MA08 MC08 MC11 MD02 PA01 PA08 PA11 PB06 QA05 QA26 QB03 RA06

Claims (8)

[Claims] 1. A pair of left and right lifting drive means capable of independently changing the left and right support height of a body, a vehicle height sensor for detecting the left and right support height, and a horizontal for detecting a left and right inclination angle of the body with respect to a horizontal plane. A vehicle height setting means for setting a vehicle height of the aircraft, a horizontal setting means for shifting to automatic level control for holding the aircraft horizontally, and the elevation drive means for changing a lateral inclination angle and a vehicle height And a storage means for storing the detected value to manually control the left-right inclination angle and the vehicle height. Performs horizontal control or automatic tilt angle control, and after the control, in a combine for controlling the vehicle height to the vehicle height set by the vehicle height setting means, the left-right tilt angle at the time when the operation of the manual operation means ends is set as the reference tilt angle. For storage means When the manual operation means is operated, manual inclination angle control according to the operation amount of the manual operation means is performed in accordance with the reference inclination angle, and even when the manual inclination angle control is being performed, a transition to the automatic horizontal control is performed. An attitude control device for a combine, characterized in that a horizontal control return means is provided which is easy to operate. 2. The combine according to claim 1, wherein the manual operation means is also used as the horizontal control return means, and a transition to automatic horizontal control is enabled by a specific operation of the manual operation means. Attitude control device. 3. In the manual tilt angle control, one of the right and left sides of the fuselage is set as a reference side, and a specific supporting height on the reference side is stored in the storage unit as a reference height, and the reference height is used as a reference. 2. The attitude control device for a combine as claimed in claim 1, wherein the left and right inclination angles are changed to the inclination angles according to the operation amount of the manual operation means by raising and lowering the opposite anti-reference side while holding the side. . 4. In the automatic horizontal control, one of the right and left sides of the body is set as a reference side, and a specific support height on the reference side is stored in the storage unit as a reference height, and 2. The attitude control device for a combine as claimed in claim 1, wherein the body is set horizontally by raising and lowering the opposite anti-reference side. 5. The method according to claim 1, wherein when the supporting height on the opposite side of the reference has reached the limit height, the opposite side of the reference is kept at the limit height and the reference side is moved up and down. The attitude control device for a combine according to claim 3 or 4, wherein: 6. In the automatic leveling control, by preferentially increasing the supporting height on the lower left and right sides of the body,
The attitude control device for a combine according to claim 1, wherein the body is set horizontally. 7. In the automatic horizontal control, a drive output is obtained in accordance with a specific fuzzy rule stored in a control means based on the detected value of the left-right tilt angle, and the drive output is determined by a predetermined signal based on the output rule. The attitude control device for a combine according to claim 1, wherein the body is set horizontally by operating the lifting drive means independently of each other. 8. In the combine, the processing shifts to a work end control by a threshing switch “OFF”, and in the work end control, a lower support height is set to a lower support height on the left and right sides of the machine body. The attitude control device for a combine according to claim 1, wherein: