JP2004017821A - Hoisting control device in working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent the height of a traveling machine body from extremely deviating in a vertical direction from the height required by an operator. <P>SOLUTION: When hoisting automatic control is executed so as to have a predetermined tilting angle after changing the height of the traveling machine body according to the operation amount of a height adjusting lever 62, a controller 75 set an average value of the right and left height changed according to the operation amount of the height adjusting lever 62 as a reference height at the time of the hoisting automatic control, and sets a predetermined range as a reference range wherein hydraulic cylinders 39a, 39b for a traveling portion are driven in the opposite direction to each other. When the average value of the right and left height is within the reference range, the hydraulic cylinders 39a, 39b for the traveling portion are driven to the opposite direction, thereby controlling to have the predetermined tilting angle. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a lift control device for a working machine such as a farm work machine such as a combine or a tractor, a special work vehicle such as a crane truck, or a passenger car.
[0002]
[Prior art]
Generally, agricultural work machines such as combine harvesters include a hydraulic cylinder for vertically moving the left and right traveling crawlers independently of each other with respect to the traveling body, a vehicle height adjusting lever for simultaneously operating the left and right hydraulic cylinders, and a right and left inclination angle of the traveling body. , A pair of left and right vehicle height sensors for detecting the relative height (vehicle height) of the traveling body with respect to each traveling crawler, an inclination sensor for detecting the left and right inclination angle of the traveling body, A controller that controls the operation of each hydraulic cylinder based on the detected value, makes the traveling machine a vehicle height suitable for agricultural work, and a posture that is substantially horizontal with respect to the direction of gravity (vertical direction) (hereinafter, absolute horizontal posture) ) Is configured to be able to execute the automatic elevating control that is maintained.
[0003]
And, in recent agricultural work machines, when executing the automatic elevating control, a certain range of the elevating range of the traveling body is set to a reference range in which both hydraulic cylinders are driven in opposite directions, and the average of the current left and right vehicle height is set. When the value is within the reference range, the traveling body is quickly brought to the absolute horizontal posture by driving both hydraulic cylinders in opposite directions.
[0004]
[Problems to be solved by the invention]
FIG. 14 shows an example of automatic vertical movement control in a conventional combine. With reference to FIG. 14, a control mode when the traveling crawler on the left side in the traveling direction rides on the ridge will be described.
[0005]
When the traveling machine on the field 80 (see the solid line state Pa in FIG. 14A) which is performing the automatic ascent / descent control at a relatively high vehicle height, the left traveling crawler rides on the ridge 81 rising to the left, The posture is as shown by the solid line state Pb in FIG.
[0006]
If the average value Hb of the left and right vehicle heights at this time (see the white circle in FIG. 14B) is within the reference range RA, the hydraulic cylinder for the left traveling crawler is shortened and the hydraulic cylinder for the right traveling crawler is extended. (The left and right hydraulic cylinders are driven in opposite directions to each other) to maintain the traveling body in a substantially horizontal posture with respect to the direction of gravity (see the solid line state Pc in FIG. 14C).
[0007]
However, in the conventional combine, the reference range RA is set so that the posture can be quickly changed regardless of the current average value Ha, Hb, Hc of the right and left vehicle heights at any position in the vertical range of the traveling body. Is set to be as wide as possible and constant within the elevating range, so long as the average values Ha, Hb, Hc of the left and right vehicle heights are within the reference range RA, both hydraulic cylinders are driven in opposite directions. Will be.
[0008]
For this reason, the vehicle height Hc after the automatic elevation control is the original vehicle height Ha shown in FIG. 14 (a) (corresponding to the dotted line state Pa in FIG. 14 (c)), although the attitude of the traveling body can be changed quickly. There was a problem of falling (shifting).
[0009]
In addition, since the expansion and contraction speed of each hydraulic cylinder may be different between the left and right hydraulic cylinders, for example, when the shortening speed vl of the left hydraulic cylinder is greater than the extending speed vr of the right hydraulic cylinder (vl> vr) (FIG. 14 (b) )), The vehicle height Hc of the traveling body in the absolute horizontal attitude greatly deviates from the desired vehicle height Ha set by the operator (see FIG. 14C).
[0010]
An object of the present invention is to solve such a problem.
[0011]
[Means for Solving the Problems]
In order to solve this technical problem, a lifting control device according to the invention of claim 1 includes a lifting drive unit that raises and lowers left and right traveling units independently of each other with respect to the traveling vehicle body, and a traveling vehicle body with respect to each traveling unit. A pair of left and right vehicle height sensors for detecting the vehicle height, a tilt sensor for detecting the left and right tilt angle of the traveling body, and control means for controlling the operation of each of the elevation drive means based on the detection information of each of the sensors. In the working machine, the traveling body is provided with manual operation means for simultaneously operating the two lifting drive means, and after changing the vehicle height of the traveling body according to the operation amount of the manual operation means, In executing the automatic elevating control so as to have a predetermined inclination angle, the control means sets the average value of the left and right vehicle heights changed according to the operation amount of the manual operation means to a reference vehicle height at the time of the automatic elevating control. Configuration In addition, when a predetermined range of the vertical range of the traveling body is set as a reference range in which the two vertical drive units are driven in opposite directions, and when the average value of the current left and right vehicle heights is within the standard range, The two driving means are driven in opposite directions to control the predetermined inclination angle.
[0012]
According to a second aspect of the present invention, in the elevating control apparatus according to the first aspect, the control unit is configured to perform, when the current average value of the left and right vehicle heights is out of the reference range at the time of performing the elevating automatic control. Only the elevation drive means on the side far from the reference range is driven to control the inclination angle to the predetermined angle.
[0013]
According to a third aspect of the present invention, in the elevating control device according to the first or second aspect, the control unit is configured to perform a control when the one vehicle height reaches an upper limit or a lower limit of the ascending / descending range during execution of the ascent / descent automatic control. In other words, only the elevation drive means corresponding to the other vehicle height is driven to control the vehicle to the predetermined inclination angle.
[0014]
Further, according to a fourth aspect of the present invention, in the elevation control device according to any one of the first to third aspects, the control means sets a reference range in which the two elevation drive means are driven in opposite directions to each other. The height is set to be narrower as the height is closer to the upper limit or the lower limit of the elevating range.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Next, an embodiment of the present invention will be described with reference to the drawings (FIGS. 1 to 13) in a case where the present invention is applied to a combine as a working machine. 1 is a left side view of the combine, FIG. 2 is a right side view of the combine, FIG. 3 is a front view of the combine, and FIG. 4 is a skeleton diagram of a power transmission system.
[0016]
Note that, in the following embodiments, the automatic elevating control means not only the case where the traveling body is maintained at a predetermined vehicle height but in an absolute horizontal posture, but also the case where the traveling body is at a predetermined vehicle height and a predetermined inclination. An angle (absolute horizontal posture or a predetermined left-right inclination posture) is also included.
[0017]
The traveling machine body 1 of the combine in this embodiment is configured to be able to ascend and descend to a pair of left and right traveling crawlers 2 and 2 as a traveling unit via an ascending / descending driving means 3 described later. A threshing device 3 including a handling cylinder 13 and a processing cylinder 20 (see FIG. 4) is mounted on the left side in the traveling direction of the traveling machine 1. The pre-cutting device 4 arranged at the front of the traveling machine 1 is supported by the traveling machine 1 via a lifting frame 14 so as to be able to move up and down, and is mounted between the lifting frame 14 and the traveling machine 1. It is configured to be able to move up and down by a mowing unit hydraulic cylinder 9 as an actuator.
[0018]
A clipper-type cutting blade device 5 is disposed at a lower portion of the pre-cutting device 4, and a grain stem raising device 6 for six rows is disposed at a front portion (see FIG. 3). A grain culm transport device 8 is disposed between the grain stalk raising device 6 and the front end of the feed chain 7 in the threshing device 3, and a lower front portion of the grain stalk raising device 6 is directed toward the traveling direction of the traveling machine. A projecting herbaceous body 10 is attached. Further, an operator's cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 for accumulating kernels is arranged behind the operator's cab 11.
[0019]
In addition, a bracket (not shown) provided on the back side of the grain stalk raising device 6 on both the left and right sides of the pre-cutting device 4 has a super height for detecting the ground height between the pre-cutting device 4 and the field scene. The sound wave sensors 44a and 44b are arranged with the transmitting part (horn part) of the transmitter and the receiving part of the receiver facing the field scene. The elevation position sensor 45 attached to the base end of the elevation frame 14 detects the rotation angle of the elevation frame 14 so that the relative height between the traveling machine body 1 and the pre-cutting device 4 can be determined. It has become.
[0020]
As shown in FIG. 4, a part of the power from the engine 15 disposed in the lower rear part of the cab 11 is transmitted via the auger clutch 16 to the bottom screw conveyor 17 in the grain tank 12 and the vertical and horizontal directions in the discharge auger 28. The remaining power from the engine 15 is transmitted to the screw conveyors 18a, 18b, while the remaining power from the engine 15 is transmitted via the power branch transmission 19 to the hydraulic pump hydraulic motor type traveling drive unit 24, the handling cylinder 13 and the processing cylinder 20 of the threshing device 3, Rotation of Karino 21, screw conveyor 22 a for the first gutter, screw conveyor 22 b for the second gutter, feed chain 7, screw conveyor 23 for the grain tank 12, oscillating sorting mechanism 40, straw cutter 27, etc. It is made to let.
[0021]
Further, when the power to the pre-cutting device 4 is synchronized with the traveling speed, the power is transmitted through the output shaft 26 from the traveling drive unit 24, and when not synchronized, the branch power from the power branch transmission 19 is transmitted to the one-way clutch 25. Is transmitted via the Internet.
[0022]
Vehicle speed sensors 42a (42b) such as rotary encoders are attached to the left and right drive shafts 34 of the traveling drive unit 24 (see FIG. 9), and these vehicle speed sensors 42a (42b) drive the left and right traveling crawlers 2. The traveling speed (vehicle speed) of the traveling machine body 1 is measured by detecting the rotation speed of the wheel 36.
[0023]
As shown in FIGS. 1 and 2, a discharge auger 28 for discharging the grains in the grain tank 12 to the outside of the machine includes a vertical cylinder 28 a disposed at a rear end of the traveling machine body 1 and a vertical cylinder 28 a. A vertical cylinder 28b is provided in the vertical cylinder 28a, and a horizontal screw conveyor 18b is provided in the horizontal cylinder 28b.
[0024]
The vertical cylinder 28a is configured to be rotatable around a vertical axis by a drive motor 29 and a gear mechanism 30, and the horizontal cylinder 28b is configured by an auger hydraulic cylinder 31 and a link mechanism 32 mounted between the vertical cylinder 28a and the vertical cylinder 28a. And the vertical inclination angle can be changed.
[0025]
A horizontal turning angle of the vertical cylinder 28a and a horizontal turning position of the horizontal cylinder 28b can be detected by a turning angle sensor (not shown) such as a rotary encoder provided in the drive motor 29, and the auger hydraulic cylinder 31 or the link mechanism can be detected. A vertical rotation angle sensor (not shown) such as a potentiometer provided at 32 places can detect the vertical inclination angle of the horizontal cylinder 28b, and thus the height position of the discharge portion at the tip of the horizontal cylinder 28b.
[0026]
When the discharge auger 28 is not used, an intermediate portion of the horizontal cylinder 28b is placed on a rest table 33 provided on the upper surface of the grain tank 12. A rest detector (not shown) such as a contact sensor for detecting whether or not the horizontal cylinder 28b is mounted is attached to the rest table 33.
[0027]
Next, a configuration for controlling the vehicle height and the attitude of the traveling body 1 will be described with reference to FIGS. 1, 2 and 5 to 7. 5 is a side view of the lifting / lowering drive means, FIG. 6 is a sectional view taken along line VI-VI of FIG. 5, and FIG. 7 is a hydraulic circuit diagram.
[0028]
Each of the left and right traveling crawlers 2 is wound around the outer periphery of a driving wheel 36 and a driven wheel 37 disposed at the front and rear ends of a track frame 35 and a plurality of rolling wheels 38 disposed at an intermediate portion on the lower surface of the track frame 35. The right and left track frames 35 and the traveling body 1 simultaneously operate the traveling unit hydraulic cylinders 39a (39b) and the L-shaped front and rear levers 54a and 54b provided at the front and rear positions of the track frame 35. It is connected via the lifting drive means 3 including the connecting rod 55 connected as described above.
[0029]
Each of these traveling crawlers 2 is configured to independently move up and down with respect to the left and right of the traveling machine body 1 by operating the left and right traveling section hydraulic cylinders 39a and 39b independently of each other.
[0030]
That is, when the piston rods of the hydraulic cylinders 39a, 39b on both the left and right sides are simultaneously protruded, the traveling machine body 1 separates upward from the left and right traveling crawlers 2, 2 (ascends), and both traveling crawlers of the traveling machine body 1 are moved upward. The relative height with respect to 2 and 2 (hereinafter referred to as the overall vehicle height) increases. Conversely, when the piston rod is retracted at the same time, the traveling body 1 approaches the right and left traveling crawlers 2 and 2 (down), and the overall vehicle height of the traveling body 1 decreases.
[0031]
When the piston rod in the left traveling section hydraulic cylinder 39a is protruded, or when the piston rod in the right traveling section hydraulic cylinder 39b is retracted (or both operations are performed simultaneously), the vehicle travels right. The vehicle height of the traveling body 1 with respect to the crawler 2 decreases (the vehicle height of the traveling body 1 with respect to the left traveling crawler 2 increases), and the traveling body 1 inclines to the right.
[0032]
Conversely, if the piston rod in the right traveling-part hydraulic cylinder 39b is projected, or the piston rod in the left traveling-part hydraulic cylinder 39a is retracted (or both operations are performed simultaneously), The vehicle height of the traveling body 1 with respect to the left traveling crawler 2 decreases (the vehicle height of the traveling body 1 with respect to the right traveling crawler 2 increases), and the traveling body 1 inclines to the left. Therefore, even if one of the traveling crawlers 2 gets on a ridge or the like in a field or falls into mud or the like, the left and right sides of the traveling body 1 can be held substantially horizontally.
[0033]
As shown in FIG. 7, the hydraulic circuit for the hydraulic cylinders 9, 31, 39 a, and 39 b branches off via a diverting valve 47 that divides the pressure oil from the hydraulic pump 46. From the discharge path, hydraulic oil is supplied to the first hydraulic circuit 48 for the auger hydraulic cylinder 31 and the left traveling section hydraulic cylinder 39a, and from the other discharge path, the cutting section hydraulic cylinder 9 and the right side The hydraulic fluid is supplied to the second hydraulic circuit 49 for the traveling hydraulic cylinder 39b.
[0034]
The two hydraulic circuits 48, 49 are connected to electromagnetic control valves 50, 51, 52, 53, check valves, relief valves, etc. for the respective hydraulic cylinders 9, 31, 39a, 39b.
[0035]
Next, the configuration of the elevation control device according to the present invention will be described with reference to FIGS. 5, 8, and 9. FIG. FIG. 8 is a schematic perspective view showing a part of an operation panel in a cab, and FIG. 9 is a functional block diagram of a controller as a control means.
[0036]
As shown in FIG. 5, a vehicle height sensor 41a such as a rotary encoder that detects the amount of protrusion of the piston rod of each hydraulic cylinder 39a (39b) for each traveling unit and detects the vehicle height of each traveling crawler 2 of the traveling machine body 1. (41b) is configured to be interlocked via a connecting rod 59 and a link mechanism 60 provided continuously with the connecting rod 55.
[0037]
Further, a pendulum type (gravity type) inclination sensor 43 (see FIG. 8) for detecting the left-right inclination angle of the traveling body 1 is disposed at an arbitrary position of the traveling body 1, for example, in the cab 11 or the like.
[0038]
In the driver's cab 11, a driver's seat 56, a steering round handle 58 for steering the traveling body 1, a main transmission lever 65 for continuously changing the traveling speed (vehicle speed), and a traveling drive unit 24 according to the working state. An operation panel 68 and the like having an auxiliary transmission lever 66 and the like for setting and maintaining the output and the rotation speed within a predetermined range are arranged (see FIGS. 3 and 8).
[0039]
On the operation panel 68, a vehicle height adjustment lever 62 as a manual operation means for manually changing and adjusting the overall vehicle height of the traveling body 1 and an automatic elevation control switch for switching between an automatic elevation control mode and a manual mode. 63, an inclination setting device 64 for setting the left-right inclination angle of the traveling machine body 1, an elevation automatic control lamp 67 that is turned on when the mode is switched to the elevation automatic control mode, and the like (see FIG. 9).
[0040]
The vehicle height adjusting lever 62 is configured to be rotatable up, down, left and right (cross direction). When the vehicle height adjusting lever 62 is tilted forward, the right and left traveling unit hydraulic cylinders 39a and 39b are shortened at the same time, so that the overall vehicle height of the traveling machine body 1 is lowered. 39a and 39b extend simultaneously, and the overall vehicle height of the traveling body 1 rises.
[0041]
When the vehicle height adjusting lever 62 is tilted to the left, the right traveling section hydraulic cylinder 39b is extended or the left traveling section hydraulic cylinder 39a is shortened (or both operations are performed simultaneously). The traveling body 1 tilts to the left. When tilted to the right, the hydraulic cylinder 39a for the left traveling unit expands or the hydraulic cylinder 39b for the right traveling unit shortens (or performs both operations simultaneously), and the traveling machine 1 lowers to the right. It is inclined.
[0042]
When the vehicle height adjusting lever 62 is released, the vehicle height adjusting lever 62 automatically returns to the neutral position, and the driving of the traveling section hydraulic cylinders 39a and 39b is stopped. That is, the driving amount of each of the traveling section hydraulic cylinders 39a and 39b is configured to be proportional to the tilt operation time of the vehicle height adjusting lever 62.
[0043]
The lifting / lowering operation of the hydraulic cylinders 39a, 39b for each of the traveling parts by the tilting operation of the vehicle height adjusting lever 62 can be preferentially executed (interrupt processing) even during the execution of the automatic lifting / lowering control mode. .
[0044]
The lifting / lowering automatic control changeover switch 63 is a so-called push switch that outputs one ON pulse signal when the switch is pressed once, and is a lock type. When the vertical control switch 63 is depressed (enter operation) once, the vertical control lamp 67 located diagonally above and to the left is turned on, and when the switch is pressed again to turn off, the vertical control lamp 67 is turned off.
[0045]
The inclination setting device 64 is of a variable resistor type, and its knob can be changed continuously (analog) or stepwise (digital) from the left side (downward slope) to the right side (downward slope) in FIG. It is configured as follows. In the automatic elevating control mode, the posture of the traveling machine body 1 is controlled so as to have an inclination angle corresponding to the position of the knob of the inclination setting device 64. For example, if the knob is set at the center of the rotation range, it means that the set inclination angle θo is 0 ° (zero degree), that is, the traveling body 1 is selected to be in the absolute horizontal posture.
[0046]
As shown in FIG. 9, a controller 75 as a control unit stores a RAM 77 for temporarily storing data and the like, a control program and data, in addition to a CPU (not shown) for executing various arithmetic processing and control. An EEPROM 76 as a non-volatile memory, an input / output interface (not shown) for connecting to sensors, actuators, and the like to transmit data are provided.
[0047]
The input interface of the controller 75 includes vehicle height sensors 41a and 41b for detecting the left and right vehicle height of the traveling body 1, the inclination sensor 43 for detecting the left and right inclination angle of the traveling body 1, and manually changing the overall vehicle height of the traveling body 1. A vehicle height adjusting lever 62 for adjusting, an automatic elevating / lowering control switch 63 for switching between an automatic elevating / lowering control mode and a manual mode, an inclination setting device 64 for setting a left / right inclination angle of the traveling machine 1 are connected to each other. ing.
[0048]
On the other hand, the output interface includes an electromagnetic solenoid 52a of the electromagnetic control valve 52 for the hydraulic cylinder 39a on the left side of the traveling body 1 and an electromagnetic solenoid 53a of the electromagnetic control valve 53 for the hydraulic cylinder 39b on the right side of the traveling body 1. , An automatic elevating / lowering control lamp 67, etc., which is turned on when the mode is switched to the automatic elevating / lowering control mode.
[0049]
The RAM 77, which is a component of the controller 75, has a change value when the overall vehicle height (the average value of the left and right vehicle heights) is changed by, for example, a forward and backward tilting operation of the vehicle height adjustment lever 62, in a vertical automatic control mode that is executed later. Are sequentially stored as reference vehicle heights Ho (see white circles in FIG. 12).
[0050]
In this case, every time the vehicle height adjusting lever 62 is tilted forward and backward, the overall vehicle height is decreased or increased based on the detection values Hl and Hr of the left and right vehicle height sensors 41a and 41b detected according to the operation amount. That is, the average value (Hl + Hr) / 2 of the left and right vehicle heights is obtained, and this average value (Hl + Hr) / 2 is updated and stored, so that the average value corresponding to the latest operation amount of the vehicle height adjustment lever 62 (operation end time) The value (Hl + Hr) / 2 is stored as the reference vehicle height Ho in the automatic elevation control mode.
[0051]
The EEPROM 76 stores, for example, a relation between output information (set inclination angle θo) of the inclination setting device 64 and a detection value θx of the inclination sensor 43 in a table form or a map form. The relation between the hydraulic cylinders 39a and 39b and a reference range RG (see FIG. 12) in which the hydraulic cylinders 39a and 39b can be driven in opposite directions is stored in a table or a map.
[0052]
The reference range RG is set to a range having a predetermined vertical width C with the reference vehicle height Ho as a center value, and is represented by RG = Ho ± C. Here, the vertical width C is a constant determined according to the magnitude of the reference vehicle height Ho. In the embodiment, a vertical width C of about ± several tens% of a vertical range (strokes of the hydraulic cylinders 39a and 39b for both right and left traveling parts) of the traveling body 1 is provided.
[0053]
The width of the vertical width C is set narrower as the reference vehicle height Ho is closer to the upper limit or the lower limit of the ascending / descending range of the traveling body 1 (a case close to the upper limit is shown in FIG. 13). Note that the absolute horizontal posture or the left-right inclination posture of the traveling machine body 1 can be determined from the detection value θx of the inclination sensor 43, and is feedback-controlled by the controller 75.
[0054]
Next, with reference to FIGS. 10 to 13, a description will be given of the mode of the automatic lifting control mode in the lifting control device according to the present invention. FIG. 10 is a flowchart of a stage before shifting to the automatic elevating control mode, FIG. 11 is a flowchart of the automatic elevating control mode, FIG. 12 is an operation explanatory view showing a mode in which the hydraulic cylinders for both traveling units are driven in opposite directions, FIG. FIG. 4 is an operation explanatory view showing an example of an automatic elevating control mode.
[0055]
Here, the data of the initial setting value of the reference vehicle height Ho (the reference vehicle height when the vehicle height adjustment lever 62 has never been tilted back and forth) is stored in the EEPROM 76 of the controller 75 in advance.
[0056]
First, following the start of the control shown in FIG. 10, the set tilt angle θo set (set) by the tilt setter 64 and the initial set value of the reference vehicle height Ho are stored in the EEPROM 76 or the RAM 77 of the controller 75 ( S1) After the detection flag F is reset (F = 0 (zero)) (S2). It is determined whether or not the lifting / lowering automatic control changeover switch 63 is turned on (S3).
[0057]
When the vertical movement automatic control changeover switch 63 is in the off state (S3: No), since the manual mode has been selected, the process returns. When the vertical movement automatic control changeover switch 63 is in the ON state (S3: Yes), it is determined whether the vehicle height adjustment lever 62 is tilted forward, backward, left or right (S4).
[0058]
The case where the vehicle height adjusting lever 62 is tilted (S4: Yes) is a state in which the posture 1 of the traveling body is manually changed (interrupted operation) during execution of the automatic elevating control mode. It is determined whether the tilt direction of the vehicle height adjusting lever 62 is forward or backward or left and right (S5).
[0059]
When the tilting direction of the vehicle height adjusting lever 62 is the left-right direction (S5: left and right), whether one of the traveling section hydraulic cylinders 39b (39a) is extended in proportion to the tilting operation time of the vehicle height adjusting lever 62 is determined. Or, by shortening the other traveling-part hydraulic cylinder 39a (39b) (or by performing both operations at the same time), the traveling body 1 is inclined left or right downward (S11). Next, the process returns to step S4 described above.
[0060]
When the tilt direction of the vehicle height adjusting lever 62 is the front-back direction (S5: front and rear), the right and left traveling unit hydraulic cylinders 39a and 39b are driven simultaneously in proportion to the tilt operation time of the vehicle height adjusting lever 62. Thus, the overall vehicle height of the traveling body 1 is lowered or increased (S6).
[0061]
Next, after reading the detection values Hl, Hr of the left and right vehicle height sensors 41a, 41b at this time (S7), the average value (Hl + Hr) / 2 of the left and right vehicle heights is obtained using both the detection values Hl, Hr. Calculation is performed, and the calculation result (Hl + Hr) / 2 is set as the reference vehicle height Ho in the automatic elevation control mode (S8). Then, the detection flag F is set to the set state (F = 1) (S9).
[0062]
Next, after setting a range having a predetermined vertical width C with the reference vehicle height Ho as a center value, a reference range RG (= Ho ± C) (S10), the process returns to step S4.
[0063]
If the vehicle height adjusting lever 62 is not tilted in step S4, that is, if the vehicle height adjusting lever 62 is in the neutral position (S4: No), then it is determined whether or not the detection flag F is set (F = 1) (S12). .
[0064]
When the detection flag is in the reset state (F = 0 (zero)), the vehicle height adjustment lever 62 has not been tilted back and forth once after the power is turned on, so the detection flag is set and the reference vehicle height Ho is set. Go to step S9 in order to set the reference range RG based on the initial setting value of.
[0065]
When the detection flag is in the set state (F = 1) (S12: Yes), the vehicle height adjustment lever 62 is tilted back and forth at least once, and the most recent operation amount of the vehicle height adjustment lever 62 (operation end point) ), The reference vehicle height Ho and the reference range RG are set, so that automatic elevation control is executed (S13).
[0066]
As shown in FIG. 11, in the automatic elevation control mode, first, the current detection values Hl, Hr of the left and right vehicle height sensors 41a, 41b and the detection value θx of the inclination sensor 43 are read (T1). Next, the average value Hp (= (Hl + Hr) / 2) of the current left and right vehicle heights is calculated using the detection values Hl and Hr of the two vehicle height sensors 41a and 41b (T2), and the calculation result Hp is used as the reference range RG. (Ho−C <Hp<Ho + C) is determined (T3).
[0067]
When the calculation result Hp is out of the reference range RG (T3: No), the traveling unit hydraulic cylinder (39a) farther from the reference range RG is set so that the left-right inclination angle of the traveling machine body 1 approaches the set inclination angle θo. Alternatively, only 39b) is driven (T14), and thereafter, the process proceeds to Step T6 described later.
[0068]
When the calculation result Hp is within the reference range RG (T3: Yes), it is determined whether or not the detected value θx of the tilt sensor 43 is equal to the set tilt angle θo set in advance by the tilt setter 64 (substantially, the detection is performed). It is determined whether or not the value θx is within a dead zone where control is not performed within ± several% of the set inclination angle θo which is the target value (T4).
[0069]
When θx ≒ θo (when the detection value θx is within the range of the dead zone) (T4: Yes), the traveling body 1 is maintained in the posture inclined by the set inclination angle θo, that is, the target is achieved. Go to step T11 described below.
[0070]
With this control, even if the posture of the traveling machine body 1 does not reach the target set inclination angle θo, for example, by biting mud into the link mechanism 60 or the like, the posture (the set inclination angle) will not interfere with the work. If the posture is close to θo), there is an advantage that the operation can be continued without error. Further, even if the posture of the traveling machine body 1 does not reach the set inclination angle θo, the output (operation command) signal is not continuously output, so that the load on the control target such as the traveling section hydraulic cylinders 39a and 39b can be reduced. .
[0071]
If θx ≠ θo (T4: No), the left and right traveling unit hydraulic cylinders 39a and 39b are driven in opposite directions so that the left-right inclination angle of the traveling body 1 approaches the set inclination angle θo (T5).
[0072]
Next, it is again determined whether or not the detected value θx of the tilt sensor 43 is equal to the set tilt angle θo (substantially, whether or not the detected value θx is in a dead zone including the set tilt angle θo) (T6). In the case of θx ≒ θo (T6: Yes), since the target is achieved, the process returns as it is. In the case of θx ≠ θo (T6: No), since the traveling body 1 is not in the posture inclined by the set inclination angle θo, it is determined whether one vehicle height has reached the upper limit or the lower limit position, in other words, the traveling unit. It is determined whether one of the hydraulic cylinders 39a, 39b has reached the limit of the drive range (T7).
[0073]
In the case of No in step T7, since both the left and right vehicle heights are not at the upper limit or the lower limit position, the process returns to the above-described step T1 and repeats the automatic elevation control.
[0074]
In the case of Yes in step T7, the detected value θx of the inclination sensor 43 is not the set inclination angle θo, and one vehicle height is at the upper limit or lower limit position (the other vehicle height is not the upper limit or lower limit). This means there is room to raise and lower the vehicle height. Therefore, in this case, only the other traveling section hydraulic cylinder (39a or 39b) is driven (T8). This makes it possible to smoothly bring the left-right inclination angle of the traveling machine body 1 closer to the set inclination angle θo within the strokes of the traveling-part hydraulic cylinders 39a and 39b.
[0075]
Then, it is again determined whether or not the detected value θx of the inclination sensor 43 is equal to the set inclination angle θo (substantially, whether or not the detected value θx is in a dead zone including the set inclination angle θo) (T9). If θx ≠ θo (T9: No), the process returns to step T1 described above.
[0076]
If θx ≒ θo (T9: Yes), the target is achieved, and then it is determined whether or not a threshing switch (not shown) for driving and operating the threshing device 3 is in a cut-off state (T11). If the threshing switch is in the ON state (T11: No), the process returns to step S4 in the flowchart of FIG. 10, and the control is repeatedly executed. If the threshing switch is turned off (T11: Yes), it is determined whether or not the discharge auger 28 is placed on the rest table 33 (T12).
[0077]
If the discharge auger 28 is not on the rest table 33 (T12: No), the process returns to the step before the step T12, and if the discharge auger 28 is mounted on the rest table 33 (T12: Yes), the automatic lifting / lowering switching is performed. Irrespective of the switching operation of the switch 63, the traveling body 1 is set in a substantially horizontal posture with respect to the traveling crawlers 2 and 2 and has a height of 20% in the overall vehicle height Hp (average of the left and right vehicle heights) immediately before the end of the work. After descending to the point (T13), the process returns to terminate the automatic elevating control (see FIG. 10).
[0078]
Accordingly, as shown in FIG. 12, for example, in the traveling body 1 having a relatively low overall vehicle height and a posture P0 inclined to the left, the operator tilts the vehicle height adjustment lever 62 rearward to achieve a medium overall Assuming that the vehicle height is (H1 + Hr) / 2 (see S1 to S6 in FIG. 10), the traveling body 1 is in the posture of the solid line state P1.
[0079]
Here, the EEPROM 76 sets the medium overall vehicle height (Hl + Hr) / 2 updated earlier as the reference vehicle height Ho, and sets a range having a predetermined vertical width C around the reference vehicle height Ho as the reference range RG. (See S8 and S10).
[0080]
Then, when the automatic elevating control mode is executed later (see FIG. 11), if the current average value Hp of the left and right vehicle heights is within the reference range RG (FIG. 12 shows an example of Ho = Hp), The traveling unit hydraulic cylinders 39a and 39b are driven in opposite directions (see T5), and the traveling body 1 is set to the preset inclination angle θo (absolute horizontal posture or predetermined left-right inclination posture) preset by the inclination setting device 64. Control.
[0081]
For example, in FIG. 12, when the set inclination angle θo is set to 0 ° (zero degree), the left traveling hydraulic cylinder 39a is extended while the right traveling hydraulic cylinder 39b is shortened. It is a posture.
[0082]
13A, when the reference vehicle height Ho is close to the upper limit or the lower limit of the ascending / descending range of the traveling body 1, the reference range is set to be narrower than that in FIG. 12 (FIG. 13). RG '<RG in the reference range RG' of (a).
[0083]
As shown in FIG. 13A, in the traveling body 1 in which the reference vehicle height Ho is relatively high and is maintained in the posture P2 inclined by the set inclination angle θo, the right traveling crawler 2 falls into mud or the like in a field. (See FIG. 13 (b)), the traveling body 1 assumes the downwardly inclined posture P3, and the average value Hp of the left and right vehicle heights at this time falls outside the reference range RG '(T3: No).
[0084]
Then, only the right traveling section hydraulic cylinder 39b, which is on the far side from the reference range RG ', is extended so that the left-right inclination angle of the traveling body 1 approaches the set inclination angle θo (see T10). This is a change from the posture P3 in FIG. 13B to the posture P4 in FIG. 13C.
[0085]
When the average value Hp of the left and right vehicle heights falls within the reference range RG '(see the posture P5 in FIG. 13D), the left traveling section hydraulic cylinder 39a is shortened and the right traveling section hydraulic cylinder 39b is shortened. Is extended (see T5). Next, when the right vehicle height reaches the upper limit (T7: Yes), only the left traveling section hydraulic cylinder 39a is shortened (see T8), and the posture P6 of the traveling body 1 is inclined by the set inclination angle θo. That is, the posture P7 is set.
[0086]
When the control is performed as described above, for example, in order to cut or reciprocate the inner peripheral portion of the field that is not soft, if the elevation automatic adjustment changeover switch 63 is pressed once to select the elevation automatic control mode, the inclination of the field is reduced. If the operator sets the set inclination angle θo with the inclination setting device 64 in accordance with the traveling conditions such as the degree and the state of the passing location of the left and right traveling crawlers 2 and 2 (for example, whether the bottom or the top of the ridge), The vehicle height of the traveling body 1 with respect to each traveling crawler 2 can be independently raised and lowered to maintain the traveling body 1 at a vehicle height suitable for agricultural work and at the set inclination angle θo.
[0087]
In this case, the reference vehicle height Ho in the automatic elevation control mode is set according to the latest operation amount of the vehicle height adjustment lever 62, and a predetermined vertical width C is set with the reference vehicle height Ho as a center value. Is set in the reference ranges RG and RG ', and if the average value Hp of the current vehicle heights in the right and left directions is within the reference ranges RG and RG', the hydraulic cylinders 39a and 39b for both traveling units are driven in opposite directions. The posture of the traveling body 1 can be quickly changed so as to reach the set inclination angle θo.
[0088]
The reference ranges RG and RG 'are set in accordance with the reference vehicle height Ho set by the latest operation amount of the vehicle height adjustment lever 62, so that the size (wide and narrow) can be limited to some extent. Therefore, as in the example of the above-mentioned conventional combine, the overall vehicle height of the traveling machine body 1 is extremely deviated vertically from the reference vehicle height Ho (the desired vehicle height manually set by the operator) during the execution of the automatic elevating control. The risk is reduced.
[0089]
In addition, when the average value Hp of the current left and right vehicle heights deviates from the reference ranges RG, RG ', the side far from the reference ranges RG, RG' is adjusted so that the left-right inclination angle of the traveling body 1 approaches the set inclination angle θo. Since only the traveling section hydraulic cylinder (39a or 39b) is driven, the possibility that the overall vehicle height of the traveling machine body 1 shifts during the execution of the automatic elevating control can be further reduced.
[0090]
Therefore, it is possible to maintain the overall vehicle height of the traveling body 1 at a level not far from the operator's request. The operator's discomfort due to the change in the attitude of the traveling body 1 is also small.
[0091]
Further, the width of the upper and lower widths C of the reference ranges RG and RG 'is set narrower as the reference vehicle height Ho is closer to the upper limit or the lower limit of the ascending / descending range of the traveling body 1, so that the reference vehicle height Ho is closer to the upper or lower limit. In this case, the accuracy of maintaining the vehicle height desired by the operator is improved.
[0092]
Thus, for example, in a wet field where the left and right traveling crawlers 2 and 2 may be fitted deeply, the reference vehicle height Ho of the traveling body 1 is set to be high, and the overall vehicle height of the traveling body 1 during the automatic vertical movement control is increased in the vertical direction. It can be made hard to shift.
[0093]
On the other hand, in a field without such a risk, the reference vehicle height Ho of the traveling body 1 is set to a medium level, and the quickness of the attitude changing operation of the traveling body 1 is given priority over maintaining the reference vehicle height Ho. Can be.
[0094]
That is, it is possible to selectively use the case where the promptness of the posture changing operation is required and the case where the reference vehicle height Ho is required to be maintained.
[0095]
The present invention is not limited to the above-described embodiment, but can be embodied in various aspects. For example, it goes without saying that the present invention can be widely applied to various working machines such as various agricultural working machines, special working vehicles such as crane cars, and passenger cars.
[0096]
The controller as the control means is not limited to a single controller, but may be a plurality. When a plurality of controllers are employed, the communication line may use a LAN (Local Area Network) protocol or a CAN (Controller Area Network) protocol.
[0097]
Further, the data of the set inclination angle θo of the traveling machine 1 may be stored in a storage unit such as the EEPROM 76 of the controller 75 in advance. The preset inclination angle θo to be stored in advance can be arbitrarily set, such as an angle at which the traveling body 1 is in an absolute horizontal posture, an angle at which a predetermined left-right inclination posture is set, and the like. Of course, in this case, it is not necessary to provide the inclination setting device 64.
[0098]
【The invention's effect】
With this configuration, after changing the vehicle height of the traveling body in accordance with the operation amount of the manual operation unit, when performing the automatic elevation control so as to attain a predetermined inclination angle, the most recent operation of the manual operation unit is performed. In addition to setting a reference vehicle height at the time of automatic elevation control according to the operation amount, a predetermined range of the elevation range of the traveling body is set to a reference range in which both elevation driving means are driven in opposite directions, and the current left and right directions are set. If the average value of the vehicle height is within the reference range, the two driving units are driven in opposite directions, so that the attitude of the traveling body can be quickly changed to be the predetermined inclination angle. Play.
[0099]
In addition, the reference range is set in accordance with a reference vehicle height set by the most recent operation amount of the manual operation means, so that the size (wide and narrow) can be limited to some extent. Occasionally, there is an effect that the possibility that the vehicle height of the traveling machine body is extremely deviated vertically from a desired vehicle height manually set by an operator is reduced.
[0100]
When the present average value of the left and right vehicle heights is out of the reference range at the time of the automatic elevation control, only the elevation drive means on the far side from the reference range is driven. There is an effect that the possibility that the height of the traveling body sometimes deviates from the operator's desire can be further reduced.
[0101]
With this configuration, when one of the vehicle heights reaches the upper limit or the lower limit of the vertical range of the traveling body during the automatic vertical control, only the vertical drive means corresponding to the other vehicle height is driven. Since the control is performed so as to have the predetermined inclination angle, the right and left inclination angles of the traveling body are set within the driving range of each of the elevation driving means (corresponding to the elevation range of the right and left vehicle height of the traveling body). There is an effect that the inclination angle can be smoothly reached.
[0102]
With this configuration, the reference range in which the two lifting drive means are driven in opposite directions is set so as to be narrower as the reference vehicle height is closer to the upper limit or the lower limit of the lifting range of the traveling body. In a wet field where the traveling part of the traveling body may be fitted deeply, the reference vehicle height of the traveling body is set to be high so that the vehicle height of the traveling body during vertical ascent / descent control is less likely to shift in the vertical direction, In this case, it is possible to set the reference vehicle height of the traveling body to a medium level, and to use the vehicle in such a manner that the quickness of the posture changing operation is prioritized over the maintenance of the reference vehicle height.
[0103]
That is, there is an effect that it is possible to selectively use the case where quickness of the posture changing operation is required and the case where the reference vehicle height is required to be maintained.
[Brief description of the drawings]
FIG. 1 is a left side view of a combine.
FIG. 2 is a right side view of the combine.
FIG. 3 is a front view of the combine.
FIG. 4 is a skeleton diagram of a power transmission system.
FIG. 5 is a side view of the lifting drive means.
FIG. 6 is a sectional view taken along line VI-VI of FIG. 5;
FIG. 7 is a hydraulic circuit diagram.
FIG. 8 is a schematic perspective view showing a part of an operation panel in a cab.
FIG. 9 is a functional block diagram of a controller as control means.
FIG. 10 is a flowchart of a stage before shifting to an automatic elevating control mode.
FIG. 11 is a flowchart of an automatic elevating control mode.
FIG. 12 is an operation explanatory view showing a mode in which both lifting drive units are driven in opposite directions.
FIGS. 13A and 13B are operation explanatory diagrams showing an example of an automatic elevating control mode, in which FIG. 13A shows a case where the reference vehicle height is relatively high and is maintained in a posture inclined by a set inclination angle, and FIG. (C) drives only the lifting / lowering driving means on the far side from the reference range, (d) drives both lifting / lowering driving means in opposite directions, (e) is a case where the right vehicle height has reached the upper limit, and (f) is a case where the posture is again inclined by the set inclination angle.
14A and 14B are explanatory diagrams illustrating an example of a conventional automatic lift control in a combine, in which FIG. 14A illustrates a case where the automatic vertical control is performed at a relatively high vehicle height, and FIG. (C) is a case where the traveling body is maintained in a posture substantially horizontal to the direction of gravity.
[Explanation of symbols]
Ho reference vehicle height
Hl, Hr Detected value by vehicle height sensor
Hp Average value of current vehicle height
RG, RG 'reference range
θo Set tilt angle
θx Detected value by tilt sensor
P0-P7 The attitude of the traveling aircraft
1 Running aircraft
2) Traveling crawler as traveling section
3 Lifting means
39a hydraulic cylinder for left running section
39b hydraulic cylinder for right running section
41a, 41b vehicle height sensor
43 ° tilt sensor
62 Vehicle height adjustment lever as manual operation means
63 vehicle height automatic control changeover switch
64 ° tilt setting device
75 ° Controller as control means
76 EEPROM

Claims (4)

Lifting and lowering drive means for independently raising and lowering the right and left traveling parts with respect to the traveling body, a pair of left and right vehicle height sensors for detecting the vehicle height of the traveling body with respect to each traveling part, and a left and right inclination angle of the traveling body. In a working machine including a tilt sensor for detecting, and a control means for controlling the operation of each of the lifting and lowering driving means based on detection information of each of the sensors,
The traveling body is provided with manual operation means for simultaneously operating the two lifting drive means,
After changing the vehicle height of the traveling machine body according to the operation amount of the manual operation means, when executing the vertical automatic control so as to have a predetermined inclination angle,
The control unit sets an average value of the left and right vehicle heights changed according to the operation amount of the manual operation unit to a reference vehicle height at the time of automatic elevation control, and a predetermined range of the elevation range of the traveling machine body, The lifting device is set in a reference range in which the two driving units are driven in opposite directions,
When the average value of the current left and right vehicle heights is within the reference range, the work machine is configured to drive the two lifting / lowering driving units in directions opposite to each other so as to be controlled to the predetermined inclination angle. Elevation control device. The control means, if the current average value of the left and right vehicle heights is out of the reference range at the time of the execution of the automatic lifting control, drives only the lifting drive means on the side far from the reference range, and 2. The lifting and lowering control device for a working machine according to claim 1, wherein the control is performed so that the inclination angle is obtained. When the one vehicle height reaches the upper limit or the lower limit of the lifting range during the execution of the automatic lifting control, the control unit drives only the lifting driving unit corresponding to the other vehicle height, and performs the predetermined driving. The lifting / lowering control device for a working machine according to claim 1, wherein the control is performed such that the inclination angle is obtained. 2. The control device according to claim 1, wherein the control unit sets a reference range for driving the lifting drive units in directions opposite to each other as the reference vehicle height approaches an upper limit or a lower limit of the lift range. 3. The lifting and lowering control device of the working machine according to any one of the above-described items.

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