JP2010081804A - Attitude control apparatus of reaping implement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an attitude control apparatus of a reaping implement, which excellently performs a reaping operation when the reaping operation is performed in a state in which standing stalks are lodged. <P>SOLUTION: A reaping part 2 equipped with a raising apparatus 7 for raising standing stalks to a standing position is liftably and lowerably arranged by a lifting and lowering operation means C1. An attitude control means for performing a pitching control for controlling the operation of an attitude change operation means so that a longitudinal inclination angle to a horizontal base level of a machine body V is maintained at a set inclination angle changes and operates the longitudinal inclination angle of the machine body to the ground part of a traveling apparatus at a lower speed when a control mode for lodging corresponding to a state in which standing stalks are lodged is ordered in comparison with a case when the control mode for lodging is not ordered. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  According to the present invention, a cutting unit including a pulling device that causes the planted stems to stand in a standing posture is provided at the front of a machine body including a traveling device so as to be movable up and down by a lifting operation means, and the grounding unit of the traveling device Based on the detection information of the forward / backward tilt angle detecting means, the forward / backward tilt angle detecting means for detecting the forward / backward tilt angle with respect to the horizontal reference plane of the main body, and the detection information of the forward / backward tilt angle detecting means. A posture of the cutting work machine provided with posture control means for performing pitching control for controlling the operation of the posture change operation means so that the front-rear inclination angle with respect to the horizontal reference plane of the machine body is maintained at the set inclination angle The present invention relates to a control device.

  In the conventional posture control device for a mowing machine, when the body is tilted in the front-rear direction when performing the mowing work in the field, the riding comfort is lowered, for example, the posture of the driver on board is tilted and unstable. For the purpose of eliminating disadvantages, for example, if it is a combine as an example of a mowing work machine, in order to prevent deterioration of the threshing processing performance in the threshing device, the front / rear inclination angle with respect to the horizontal reference plane of the machine body is set Pitching control is performed to control the operation of the posture changing operation means so that the tilt angle is maintained. In this type of mowing work machine, conventionally, the front / rear tilt angle with respect to the horizontal reference plane of the main body is set. The body body is always operated by the posture changing operation means when the pitching control is executed so that it can be returned to the set inclination angle as quickly as possible when it deviates from the inclination angle. Speed of operation changes the longitudinal inclination angle is set to a high speed (for example, see Patent Document 1.).

JP 2002-268747 A

  In this type of mowing machine, when the pitching control is performed in such a manner that the front and rear inclination angles of the machine body are changed by the attitude changing operation means, the mowing part moves up and down accordingly. It is provided so as to be able to move up and down relatively with respect to the machine body by operating means.For example, the cutting unit can be moved up and down based on a command or the like by manual operation, and pitching control is performed to perform cutting. Even if the part moves downward together with the fuselage main body, the ground height of the cutting part can be maintained as high as possible by moving the cutting part relatively up and down by the lifting operation means. It has become.

  However, if the planted stalk is in an upright posture, good cutting work can be performed even in the above-described conventional configuration. Not only when the stem is in an upright position, it may be in a lying state, and when cutting such a fallen stem, the ground height of the cutting part is set to the height of the planted stem in the upright position. It is set lower than when reeding the reed, and the cutting work will be done in the follow-up pruning form or the pick-up pruning form, but in the above conventional configuration, even in the case of reclaiming such a lying planted stem reed, The speed at which the forward / backward inclination angle of the machine body is changed by the attitude changing operation means when executing the pitching control is set to a high speed. That is, conventionally, pitching control is performed in such a manner that the front and rear inclination angle of the airframe body is changed at high speed even in a work situation where the planted shoots that are lying down in this way are harvested. The mowing part will rise and fall rapidly.

  And, when performing the work of harvesting the planting stems that are lying down, the ground height of the harvesting part is maintained at a desired height as much as possible by relatively raising and lowering the harvesting part by the lifting operation means However, since the cutting part and the planted stalk are close to each other, if it rises rapidly to the cutting part with the pitching control, the relative lifting operation by the lifting operation means is not in time, For example, in the state of performing cutting work in the form of picking up, there is a great risk that the stems that are covered with the upper part of the cutting part will be pulled out as the cutting part rises, Similarly, when the mowing operation is performed in the form of additional mowing, the stems that are raised while being locked by the pulling device provided in the mowing unit are pulled out as the mowing unit rises, etc. The fear becomes great.

  In addition, if the lowering operation of the mowing part accompanying the pitching control is performed at a high speed, the mowing part suddenly descends. At this time, since the ground height of the mowing part is set low, the mowing part And the ground are close to each other, and the relative raising / lowering operation by the raising / lowering operation means is not in time, and there is a high possibility that the reaping part will thrust into the ground.

  The object of the present invention is that not only when the planting shoot is in an upright position, but also when performing the cutting operation in a lying state where the planting shoot is lying down, it is possible to perform the cutting operation well It is in the point which provides the attitude | position control apparatus of the reaping work machine which becomes.

The posture control device for a cutting machine according to the present invention is such that a cutting portion provided with a raising device that causes a planting stem to stand in a standing posture can be moved up and down by a lifting operation means at a front portion of a main body having a traveling device. Provided,
Attitude change operation means for freely changing the front / rear inclination angle of the airframe body with respect to the grounding portion of the traveling device, front / rear inclination angle detection means for detecting the front / rear inclination angle relative to the horizontal reference plane of the airframe body, and the front / rear inclination angle detection means Attitude control means for performing pitching control for controlling the operation of the attitude change operation means so that the front-rear inclination angle with respect to the horizontal reference plane of the airframe body is maintained at the set inclination angle based on the detection information of The first characteristic configuration is
Mode command means for commanding the control mode for lodging corresponding to the lying state where the planting stem is lying,
When the posture control means is instructed by the mode command means, the body main body with respect to the grounding portion of the traveling device, compared to the case where the lodging control mode is not instructed It is in the point which is comprised so that the front-and-rear inclination angle may be changed at low speed.

  That is, when the cutting operation is performed in a lying state where the planting stem is lying, the mode control means instructs the lodging control mode. Then, when the posture control means is instructed to be in the inclining control mode, the inclination angle of the body main body with respect to the grounding portion of the traveling device is reduced as compared with the case in which the inclining control mode is not instructed. In order to cut down lying stalks, the horizontal reference plane of the fuselage body is used when the cutting height is set low and the ground level is set low. Even if the forward / backward inclination angle with respect to the vehicle deviates from the set inclination angle, the forward / backward inclination angle of the airframe body with respect to the grounding part of the traveling device is changed at a low speed. It will never be.

  As a result, when the control mode for lying down is commanded, as the posture correction operation of the fuselage main body, the front / rear tilt angle of the fuselage main body is changed at a low speed. When there is a risk that the cutting part will move up and down, the operation of raising and lowering the aircraft body relative to the ground height corresponding to the desired cutting height as much as possible by operating the lifting operation means It is possible to do it earlier than before, and appropriately reduce the frequency of troubles such as forcibly pulling out the lying planting stems and the cutting part thrusting into the ground It can be easy.

  On the other hand, when the mode control means is not instructed for the inclining control mode, that is, when the planting stems in the upright posture are to be reclaimed, the mode control means is faster than when the inclining control mode is instructed. The front-and-rear inclination angle of the machine body relative to the grounding portion of the traveling device is changed. When cutting up a planting stem with such an upright posture, the ground height of the cutting part is often set to be high, and the longitudinal inclination angle of the aircraft body relative to the grounding part of the traveling device is changed at high speed. Even if it does in this way, it becomes easy to maintain a favorable cutting operation by raising / lowering a cutting part relatively by a raising / lowering operation means.

  Therefore, according to the first characteristic configuration, not only when the planting stem is in the upright posture, but also when performing the harvesting operation in the lying state where the planting stem is lying down, the cutting operation can be performed well. It has become possible to provide a posture control device for a mowing machine that can be performed.

  In addition to the first characteristic configuration, the second characteristic configuration of the present invention is a mode in which the operating speed of the cutting unit increases as the vehicle speed increases, and the operating speed of the cutting unit when the vehicle speed is the same. The driving state for the lodging and the driving state for the standard are in the form in which the driving state for the lodging corresponding to the lying state is faster than the driving state for the standard corresponding to the standard state where the planting stems are upright. The mode command means is configured to detect whether or not the cutting transmission means has been switched to the lying down driving state, and the lying down driving state. When it is detected that the switch has been switched to, the above-described control mode for lodging is instructed.

  In other words, the cutting speed change means shifts the operating speed of the cutting part in such a manner that the operating speed of the cutting part increases as the vehicle speed increases, and it can be switched between the inclining driving state and the standard driving state, and the vehicle speed is the same. So that the operating speed of the cutting portion corresponding to the lying state is higher than that in the standard driving state corresponding to the standard state where the planting stems are upright. The speed is changed. Further, this cutting transmission means is instructed by one of the above driving states by means of, for example, a manual operation tool or various control information.

  In other words, when the vehicle is in the lying state, the vehicle speed needs to be lower than that in the standard state in order to reduce the risk of pulling out the planted stems and the like along with the cutting operation. However, since the operating speed of the cutting part becomes large, the pulling device provided in the cutting part will operate at high speed, and the planted stalks that are lying down will quickly stand up for low speed running. It can be caused to posture, and good cutting work can be performed.

  Thus, the state in which the cutting gear shifting means is switched to the driving state for lying down corresponds to the state in which cutting work is performed in the lying down state. Further, in order to appropriately switch the driving state of the mowing transmission means, a detection configuration for detecting whether or not the switching driving state is switched to is required. It can be set as the structure which commands the control mode for lodging.

  That is, when the mode command means detects whether or not the cutting transmission means is switched to the lodging drive state, and detects that the cutting transmission means is switched to the lodging drive state, the mode command means commands the lodging control mode. Will do. In this way, by using the detection configuration also, the configuration can be simplified.

  Therefore, according to the second characteristic configuration, it is possible to provide a posture control device for a mowing work machine that can simplify the configuration while being able to instruct the control mode for lodging.

In addition to either the first feature configuration or the second feature configuration, the third feature configuration of the present invention is provided at a location on the rear side of the machine body relative to the weeding tool in the cutting portion, and the ground height at that position is set. A grounding type ground height detecting means for detecting;
Target ground height setting means for setting the target ground height of the cutting part;
A cutting lift control means is provided for controlling the lifting operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detection means and the target ground height setting means. There is in point.

  That is, the ground height of the cutting part is detected by the ground height detection means, and the cutting height control means detects that the ground height of the cutting part detected by the ground height detection means is the target ground height setting means. The elevating operation means is controlled so as to be the target ground height set in step (b). Since this lifting operation means changes the height of the cutting part with respect to the machine body, the cutting lift control means is described above even if the longitudinal inclination posture of the machine body changes as the cutting operation is performed. By executing the control as described above, it becomes possible to maintain the ground height of the cutting unit to the target ground height as much as possible.

  Since the grounding type ground height detection means is provided at the rear side of the machine body relative to the weeding tool in the cutting part, the lying planting stalk is planted by the weeding tool. This makes it possible to detect the height of the ground as accurately as possible with little possibility that the ground height detection means will cause a false detection due to the planted culm lying between the ground height detection means and the ground. .

  In addition, if the ground height detection means is provided at the rear side of the machine body relative to the weeding implement, the pitch change control is executed to change the front / rear tilt angle of the machine body by the attitude change operation means. If an operation is performed, there is a risk that the weeding tool will come in contact with the ground before the ground-type ground-height detecting means comes in contact with the ground. When performing the work, as described above, the pitching control is configured to change the longitudinal inclination angle of the airframe body with respect to the grounding portion of the traveling device at a low speed, so when performing the cutting work in the lying state The ground height can be satisfactorily detected by the ground-type ground height detection means while avoiding the possibility that the weeding tool comes into contact with the ground and thrusts into the ground.

  Accordingly, there is provided a posture control device for a cutting machine that can detect the ground height satisfactorily with a grounding type ground height detection means and maintain the ground height of the cutting unit at the target ground height as much as possible. I was able to do it.

According to a fourth feature configuration of the present invention, in addition to any one of the first feature configuration to the third feature configuration, the posture changing operation unit is configured to freely change and operate a right and left inclination angle with respect to a horizontal reference plane of the body body,
Left and right tilt angle detection means for detecting the left and right tilt angle with respect to the horizontal reference plane of the aircraft body is provided,
The attitude control means is configured to execute rolling control for controlling the attitude change operation means so as to set a left-right inclination angle with respect to a horizontal reference plane of the airframe body to a set left-right inclination angle; and
In each of the pitching control and the rolling control, when the lodging control mode is commanded by the lodging mode command means, the traveling device is compared with a case where the lodging control mode is not commanded. It is in the point which is comprised so that the front-and-rear inclination angle of the airframe main body with respect to the earthing | grounding part may be changed at low speed.

  That is, when the posture control means performs not only the pitching control but also the rolling control, there is a possibility that the tip of the lower part of the cutting portion on the inclined lower side is pushed into the field. When the control mode for lying down is commanded, the front and rear inclination angle of the aircraft body with respect to the grounding portion of the traveling device is changed at a lower speed than when the control mode for lying down is not commanded. Since it is comprised, it becomes possible to perform a cutting work favorably.

  Therefore, according to the fourth feature configuration, when performing rolling control, it is possible to perform the cutting operation well when the cutting operation is performed in the lying state where the planting stems are lying down. It came to be able to provide the attitude control device of the mowing machine.

Hereinafter, a posture control device for a harvesting harvester according to the present invention will be described with reference to the drawings.
FIG. 1 shows a side view of a combine as a harvesting and harvesting machine. This combine harvests the culm planted in the field at the front of the machine body V configured to be able to travel with a pair of left and right crawler travel devices 1L, 1R, and conveys the harvested culm backward. The machine body V is provided with a reaping device 2 configured to thresh, the threshing device 3 for threshing the harvested cereal meal, the grain tank 4 for storing the threshed grain, the boarding operation unit 5 and the like. It is configured with.

  The cutting unit 2 includes a plurality of weeding tools 6 that distribute and divide the planted stalks of the number of crops to be harvested, a pulling device 7 that raises the planted stalks in a standing position, and a cereal that has been raised. The clipper type mowing device 8 that cuts the stock side of the cocoon, and the vertical conveying device 9 that conveys the harvested cereal rice cake while gradually changing its posture to a sideways posture, etc. The vertical base case 22 is supported so as to be movable up and down around the horizontal fulcrum P1 and supported by a vertical transmission case 23 extending obliquely forward. It is configured to be driven up and down by a lifting hydraulic cylinder C1 (hereinafter referred to as a cutting cylinder) as a lifting operation means pivotally connected to the middle portion in the longitudinal direction.

  As shown in FIG. 2, a lateral transmission case 24 having a central portion connected to the distal end portion of the vertical transmission case 23 and extending long in the lateral width direction of the aircraft, and a plurality of locations in the lateral direction of the lateral transmission case 24 from the front of the aircraft. A plurality of round pipe-shaped weed frames 25 are extended in the direction, and the cutting device 8 is attached to the base end portions of the plurality of weed frames 25 and is inserted and connected to the front ends of the weed frames 25. A tapered weeding tool 6 is attached to the support rod 26.

  Then, the ground height detection devices are respectively provided below the support rods 26 inserted and connected to the front ends of the second weed frames 25 from the left and right outer ends, in other words, at positions on the rear side of the machine body relative to the weed tools 6. A is deployed. As shown in FIG. 1, the support rod 26 of the weeding tool 6 on which the ground height detection device A is provided is bent in a mountain shape in a side view, and is positioned below the mountain-shaped support rod 26 so that the ground height is high. The detection device A is supported. This ground height detection device A detects the height of the cutting unit 2 with respect to the ground (farm scene) in a grounding manner, can swing up and down around a front fulcrum in the horizontal direction, and is in a downward biased state. The height of the reaping part 2 is detected by detecting the amount of vertical swinging of the supported grounding body 27 with grounding tracking.

  In the middle of the conveying path in the vertical conveying device 9 of the mowing unit 2, it is turned on when there is a mowing cereal by acting on the stock of the mowing cereal that is harvested and conveyed, and off when there is no mowing cereal. A stock sensor S3 is provided as means for detecting whether or not a grain exists.

  Further, the combine is provided with posture changing operation means 100 that can freely change the right and left inclination angles of the main body V with respect to the grounding portions of the left and right traveling apparatuses 1L and 1R. Hereinafter, the configuration will be described.

  As shown in FIG. 3, the crawler travel device 1 </ b> L on the left side is connected to the front end side of the support frame 12 included in the machine frame 11 of the machine body V via the front bell crank 17 a, It is rotatably supported by a track frame 16 that is long in the front-rear direction of the airframe body, the rear end of which is connected to the rear end via a rear bell crank 17b and an auxiliary link 17b1, and the front end of the support frame 12. The crawler drive sprocket 13 that can be driven, the upper rolling wheel 14a that is supported so as to be freely rotatable at the intermediate portion in the front-rear direction of the support frame 12, and the plurality of places in the longitudinal direction of the track frame 16 A grounding wheel 14 that is freely supported, a crawler tensioning wheel 15 that is freely supported on the rear end of the track frame 16, and the Several wheel unit 15,13,14A, is constituted of a rubber endless crawler belt B are wound across all 14.

Of the front bell crank 17a, a swingable arm portion extending so as to be integrally rotatable from a rotation support shaft portion rotatably connected to the support frame 12 to a side opposite to the track frame 16; A hydraulic double-acting front cylinder C2 is attached to the cylinder bracket supported by the support frame 12, and the track is rotated from the rotary support shaft portion rotatably connected to the support frame 12 in the rear link 17b. A hydraulic double-acting rear cylinder C3 is attached to the opposite side of the frame 16 over a swingable arm portion extending in a freely rotatable manner and a cylinder bracket supported by the support frame 12. It has been.
That is, the front cylinder C2 rotates the front bell crank 17a around the axis P2 with respect to the support frame 12 to move the front end side of the track frame 16 up and down relative to the body frame 11, and the rear cylinder C3 moves to the rear bell. The crank 17b is rotated around the axis P3 with respect to the support frame 12 so that the rear end side of the track frame 16 can be raised and lowered with respect to the body frame 12.

  The right crawler traveling device 1R has the same configuration as the left crawler traveling device 1L, and the front and rear cylinders C2, C4 and the rear cylinder C3 are both in the left crawler traveling device 1L and the right crawler traveling device 1R. , C5, the track frame 12 is moved up and down with respect to the body frame 11 by the driving force of the front cylinders C2, C4 and the rear cylinders C3, C5.

  As a result, as shown in FIG. 3, when the left and right front cylinders C2 and C4 are most extended and the left and right rear cylinders C3 and C5 are shortened most, the track frames 16 of the left and right traveling apparatuses 1L and 1R are 11 is the most parallel state. The attitude of the main body V at this time is the lower limit reference attitude.

  As shown in FIG. 4, when the left and right front cylinders C2 and C4 are shortened while maintaining the left and right rear cylinders C3 and C5 as they are in the lower limit reference posture, the left and right traveling apparatuses 1L and 1R are operated. The front end side of the track frame 16 is lowered with respect to the body frame 11 from the rear end side. That is, the attitude of the machine body V is changed (forward lifting operation) in a direction in which the front side is separated from the grounding portions of the crawler travel devices 1L and 1R.

  As shown in FIG. 5, when the left and right rear cylinders C3 and C5 are extended while maintaining the left and right front cylinders C2 and C4 as they are in the lower limit reference posture, the left and right traveling apparatuses 1L and 1R are operated. The rear end side of the track frame 16 is lowered with respect to the body frame 11 from the front end side. The posture of the machine body V is changed (backward raising operation) in a direction in which the rear side is separated from the grounding portions of the crawler travel devices 1L and 1R.

  As shown in FIG. 6, when the left and right front cylinders C2 and C4 are shortened and the left and right rear cylinders C3 and C5 are extended and operated from the lower limit reference posture, the left and right traveling apparatuses 1L and 1R The track frame 16 is lowered substantially parallel to the body frame 11. The posture change (lifting operation) is performed in a direction in which the main body V is separated from the traveling devices 1L and 1R while maintaining a parallel posture.

  When the hydraulic cylinders C2 to C5 are operated on the side where the vertical distance between the track frame 16 and the body frame 11 in the left crawler traveling device 1L is smaller than that of the track frame 16 in the right crawler traveling device 1R, The posture of the main body V is changed (left-inclined operation) in the right-up direction with respect to the grounding portions of the traveling devices 1L and 1R.

  When the hydraulic cylinders C2 to C5 are operated so that the vertical distance between the track frame 16 and the body frame 11 in the right crawler traveling device 1R is smaller than that of the track frame 16 in the left crawler traveling device 1L, the body body The posture of V is changed in the left-up direction (right tilt operation) with respect to the grounding portions of the traveling devices 1L and 1R.

  Accordingly, the left front cylinder C2 (hereinafter simply referred to as the left front cylinder C2), the left rear cylinder C3 (hereinafter simply referred to as the left rear cylinder C3), and the right front cylinder C4 (hereinafter simply referred to as the left front cylinder C3). The right front cylinder C4) and the right rear cylinder C5 (hereinafter simply referred to as the right rear cylinder C5) and the right and left inclination angle and the front and rear inclination of the main body V with respect to the grounding portion of the traveling devices 1L and 1R. Posture changing operation means 100 for changing the corner is configured.

  In the left and right crawler travel devices 1L, 1R, the hydraulic cylinders C2, C3, C4, C5 are arranged at positions corresponding to the rotation support shaft portions of the bell cranks 17a, 17b based on the rotation amount of the rotation support shaft portions. Potentiometer-type stroke sensors 18, 19, 20, and 21 are provided as operation amount detection means for detecting an operation amount (stroke amount by which the hydraulic cylinders C2 to C5 extend and contract).

  The fuselage main body V has a gravitational left / right tilt angle sensor 30 as a right / left tilt angle detecting means for detecting a left / right tilt angle with respect to the horizontal reference plane of the fuselage main body V, and a front / rear tilt angle with respect to the horizontal reference plane of the fuselage main body V. A gravity-type front / rear tilt angle sensor 31 is provided as a front / rear tilt angle detecting means for detecting (see FIG. 7).

  FIG. 8 shows a power transmission system, and the power output from the engine E mounted on the prime mover of the machine body V is transmitted to the threshing device 3 via the threshing clutch 32, and the traveling clutch 33 and the traveling Is transmitted to the transmission unit 35 of the left and right crawler travel devices 1L and 1R via the transmission 34. On the other hand, the power from the engine E is transmitted to the cutting unit 2 via the cutting transmission 36.

  The traveling transmission device 34 is composed of a hydrostatic continuously variable transmission (HST), and is configured such that a traveling speed can be steplessly changed by a transmission lever 37 provided in the boarding operation unit 5. Similarly, the mowing transmission 36 is composed of a hydrostatic continuously variable transmission (HST), and is configured so that the operating speed of the mowing unit 2 can be changed steplessly. The device 36 is configured to be shifted by a shift electric motor 38 (hereinafter referred to as a shift motor), and is controlled to have a speed corresponding to the operation position of the shift lever 37, as will be described later. It has become. Then, in order to obtain information for controlling the speed change motor 38, a potentiometer type speed change lever sensor S1 for detecting the operation position of the speed change lever 37 and the output rotation speed after the speed change of the mowing transmission 36 are fed back. A shift output sensor S2 for detecting information is provided.

  As shown in FIG. 7, a left / right automatic switch 40 for commanding on / off of rolling control described later, a front / rear automatic switch 41 for commanding on / off of pitching control described later, and an automatic on / off state and control for executing cutting lifting control Automatic cutting cutting up / down switching switch 50 that can be switched to an automatic cutting state in which cutting is not performed, a cutting operation mode switching switch 42 that switches the cutting operation mode between the standard mode and the lodging mode, and a target that sets the target ground height of the cutting unit 2 Potentiometer-type target ground height setting device 44 as ground height setting means, lift switch SW1 that is turned on when the cutting lift lever 28 provided in the boarding operation unit 5 is moved from the neutral position to the lift position, and the cutting lift lever 28 are neutral. Lower switch SW2, which is turned on when operated from the position to the lowered position, to change the attitude of the machine body manually Attitude change switch unit SU, etc. are provided. Although not described in detail, the posture change switch unit SU is provided with a plurality of switches for instructing a left tilt operation, a right tilt operation, a front tilt operation, a rear tilt operation, a body raising operation, a body lowering operation, and the like.

  Further, a control device H using a microcomputer is provided. The control device H includes the stroke sensors 18 to 21, a pair of ground height detection devices A, a left / right inclination angle sensor 30, a front / rear inclination angle sensor 31, and a shift lever. Each detection information of the sensor S1 and the shift output sensor S2 is input. Further, each operation information of each switch described above is also input to the control device H. On the other hand, the control device H drives the lift cylinder C 1, the four electromagnetic control valves 45 to 49 for controlling the four hydraulic cylinders C 2 to C 5 for changing the body posture, and the shift motor 38. Each signal is output.

  Further, a potentiometer-type anti-machine height sensor S4 is provided as a anti-machine height detecting means for detecting the height of the mowing part 2 with respect to the machine body at the pivotal support portion of the cutting unit 2 with respect to the traveling machine body V. The detection information of the sensor S4 is also input to the control device H.

  Then, using the control device H, based on the detection information of the front / rear inclination angle sensor 31, the operation of the attitude changing operation means 100 is performed so that the front / rear inclination angle with respect to the horizontal reference plane of the main body V is maintained at the set inclination angle. Attitude control means 200 is configured to execute pitching control for controlling. This posture control means 200 is based on the detection information of the left / right tilt angle sensor 30 and controls the operation of the posture change operation means 100 so that the left / right tilt angle with respect to the horizontal reference plane of the vehicle body V is maintained at the set tilt angle. It is also configured to execute control.

  Further, by using the control device H, the ground height detected by the cutting height detection device A during the cutting operation is maintained at the target ground height set by the target ground height setting unit 44. A mowing raising / lowering control means 300 for executing mowing raising / lowering control for operating the mowing cylinder C1 is configured. Although not described in detail, the mowing raising / lowering control means 300 is operated based on a switching command of a mode change switch (not shown). As a control mode for executing the control, an automatic elevating mode for automatically performing ascending and descending, and a lifting operation of the cutting unit 2 are automatically performed in order to avoid thrusting into the ground. It can be switched to the automatic ascending mode.

  Further, the cutting lift control means 300 is configured to execute a manual cutting lift operation process for controlling the operation of the lift cylinder C1 based on commands of the ascending switch SW1 and the descending switch SW2 as manual lifting command means.

  The control device H controls the operating state of the mowing transmission 36 so as to increase the operating speed of the mowing unit 2 in such a manner that the higher the vehicle speed detected by the shift lever sensor S1, the higher the vehicle speed. In addition, based on the switching command of the cutting operation mode changeover switch 42, the planting stalk is more upright in the driving state for lying down corresponding to the lying down state with respect to the operating speed of the cutting unit 2 when the vehicle speed is the same. The operating state of the mowing transmission 36 is controlled by switching between the driving state for the lying down and the driving state for the standard in a form that is faster than the driving state for the standard corresponding to the standard state that is being performed. ing. Therefore, the cutting shift control means 400 is configured to control the operating state of the cutting transmission 36 using the control device H.

  In other words, the traveling transmission device 34 and the transmission lever 37 are mechanically linked. FIG. 9 shows a change characteristic of the vehicle speed (traveling speed) with respect to a change in the operation position of the transmission lever 37. . As can be seen from this figure, when the shift lever 37 is operated from the neutral position N in the forward and backward directions beyond the travel dead zone K1, the vehicle speed (travel speed) increases as the operation amount from the neutral position N increases. In this way, the traveling transmission device 34 and the transmission lever 37 are mechanically linked so that the traveling transmission device 34 is operated to change gears.

  In FIG. 10, the control device H controls the operating state of the cutting transmission 36 so that the operating speed of the cutting unit 2 is increased in such a manner that the vehicle speed detected by the shift lever sensor S1 increases. FIG. 4 shows a change characteristic of a target operating speed in the cutting gear 36 with respect to a change in the operation position of the speed change lever 37 when the speed change lever 37 is operated, and this change characteristic is stored in a storage means (not shown). In other words, when the shift lever 37 exceeds the work dead zone K2 that is set narrower than the travel dead zone K1, when the work output start position is reached, output is started so as to be in the activated state, and from the work output start position. The target operating speed in the mowing transmission 36 is preset and stored so that the higher the main speed change lever 24 is operated, the higher the speed is, and this corresponds to the standard driving state. The characteristic M2 and the characteristic M1 corresponding to the above-described driving state for the lodging are set separately, and the operating speed of the cutting unit 2 when the vehicle speed (traveling speed) is the same is set in the driving state for the lodging corresponding to the falling state. In this mode, the speed is higher than that in the standard driving state corresponding to the standard state where the planted stems are upright.

  Then, the cutting shift control means 400 is configured so that the output rotational speed detected by the shift output sensor S2 becomes the target operating speed according to the operation position of the shift lever 37 detected by the shift lever sensor S1. The shift motor 38 is controlled. When the target operating speed is determined in accordance with the operation position of the speed change lever 37, if the mowing operation mode changeover switch 42 is in the standard mode, the mowing operation mode changeover switch is used using the characteristic M2 corresponding to the standard driving state. If 42 is the fall mode, the shift motor is controlled using the characteristic M1 corresponding to the fall drive state. Incidentally, when the traveling speed is extremely low (for example, 0.2 m / s or less), the operating speed of the cutting unit 2 is maintained at a constant speed.

  In this way, the operating speed of the cutting unit 2 corresponding to the lying state is faster than the standard driving state corresponding to the standard state in which the planting stems are upright, so that the operating speed of the cutting unit 2 is higher. Since the pulling device 7 operates at a high speed, it can be caused to stand up quickly in a state with little delay even in a lying state, and a good cutting operation can be performed.

  Therefore, the cutting transmission means F is constituted by the cutting transmission 36, the shifting motor 38, the cutting work mode changeover switch 42, and the cutting shift control means 400, and the planting shoots fall down by the cutting work mode changeover switch 42. The mode command means G is configured to instruct a lodging control mode (sitting mode) corresponding to the lying state.

Then, the posture control means 200 configured by the control device H is in the case where the standard mode is instructed when the lying down mode is instructed by the cutting operation mode changeover switch 42 as the mode instruction means G. That is, the control sensitivity in the pitching control is made insensitive compared to the case where the lodging mode is not commanded.
Specifically, if the stock sensor S3 is in the cutting work state, when the lodging mode is commanded, the traveling devices 1L and 1R are compared to when the standard mode is commanded. The control sensitivity in the pitching control is made insensitive by changing and operating the tilt angle of the main body V with respect to the grounding portion at a low speed. Further, if the stock sensor S3 is in the non-reaching work state, the front / rear inclination angle of the machine body V with respect to the grounding portion of the traveling devices 1L and 1R is changed at the same speed as when the standard mode is commanded. It is designed to operate.

  Further, when executing the rolling control as well as the pitching control, if the stocking sensor S3 is in the cutting work state, the standard mode is instructed when the lodging mode is instructed. Compared to the case, the control sensitivity is made insensitive by changing the front-rear inclination angle of the main body V with respect to the grounding portions of the traveling devices 1L and 1R at a low speed.

Next, the control operation of the control device H will be described based on the flowchart shown in FIG.
If the stock sensor is in the off state (non-reaping work state), the operation speed for posture correction by the four hydraulic cylinders C2 to C5 for posture change is set to a preset standard speed. (Steps 1 and 3). If the stock sensor S3 is in the on state (cutting work state), the posture correction by the hydraulic cylinders C2 to C5 is performed when the standard mode is commanded instead of the lying down mode by the cutting work mode changeover switch 42. Is set to a standard speed set in advance (steps 2 and 3), and when the lying down mode is commanded by the cutting operation mode changeover switch 42, the hydraulic cylinders C2 to C5 are used for posture correction. The operating speed is set to a lodging speed that is lower than the standard speed (steps 2 and 4). Specifically, the hydraulic oil flow rate per unit time supplied to the hydraulic cylinder is set so as to correspond to the operating speed.

  In other words, each of the four electromagnetic control valves 46 to 49 for controlling the four hydraulic cylinders C2 to C5 for changing the attitude of the vehicle switches the electromagnetic solenoid between the continuous on state and the continuous off state. It is possible to switch between an open state in which the hydraulic oil flows at the maximum flow rate and a closed state in which the hydraulic oil flow is stopped, and the duty is set so that the electromagnetic solenoid is repeatedly turned on and off every short time. It is possible to perform control, and by changing and adjusting the ratio (duty ratio) between the time to turn on and the time to turn off, the hydraulic oil flow rate per unit time for the hydraulic cylinder is changed and adjusted. Further, a duty ratio corresponding to the standard speed and a duty ratio corresponding to the lodging speed are preset and stored.

  And when setting the operation speed for posture correction to the standard speed, the duty ratio corresponding to the standard speed is set as the duty ratio for operating the electromagnetic control valves 46 to 49, and the operation for posture correction is performed. When the speed is set to the lodging speed, the duty ratio corresponding to the lodging speed is set as the duty ratio for operating the electromagnetic control valves 46 to 49.

  By the way, as the standard speed, a speed is set such that the posture can be corrected as quickly as possible without deteriorating the ride comfort of the driver who rides on the boarding driving unit 5. Even when corrective action is being performed, the speed is low enough to prevent the weeding tool from plunging into the ground by the automatic lifting operation by the cutting lifting control or by the driver manually changing and adjusting the cutting height. Speed is set.

  Then, it is determined whether or not a manual posture change command (left-right tilt, front-back tilt, vertical up / down) is commanded, and if a manual posture change command is commanded, manual posture change operation processing is executed (steps 5 and 6). ). This manual posture change operation process is commanded by the posture change switch unit SU, that is, any one of left tilt operation, right tilt operation, forward tilt operation, rear tilt operation, aircraft raising operation, and aircraft lowering operation. Then, the commanded operation is executed only while the command operation is being performed.

  When the manual posture change command is not commanded, the state of the left / right automatic switch 40 and the front / rear automatic switch 41 is checked. When only the left / right automatic switch 40 is on, only rolling control is executed. When both switches 40 and 41 are on, rolling control and pitching control are executed. At this time, the rolling control is preferentially executed first (steps 7, 8, 9, 10).

  In the pitching control, if the front / rear inclination angle sensor 31 changes the front / rear inclination angle of the airframe body V largely to the front inclination side beyond the control dead zone provided corresponding to the set inclination angle, Operate the corresponding hydraulic cylinder so that the attitude of the fuselage body V is changed in the direction in which the front side separates from the grounding part of the crawler travel devices 1L, 1R so that the tilt angle falls within the control dead zone. If the vehicle body V is greatly changed to the rear tilt side beyond the control dead zone, the rear side of the machine body V with respect to the grounding portion of the crawler travel devices 1L and 1R is set so that the front / rear tilt angle of the machine body V enters the control dead zone. The corresponding hydraulic cylinder is operated so as to change the posture in the direction of separation (backward raising operation).

  In this posture changing operation, the duty ratio for operating the electromagnetic control valves 46 to 49 is changed and set as described above, so that the hydraulic cylinder to be operated among the hydraulic cylinders C2 to C5 is controlled. The hydraulic oil flow rate per unit time is adjusted, and the posture is changed at a lodging speed that is lower than the standard speed.

  Further, in the rolling control, if the left / right inclination angle sensor 30 changes the right / left inclination angle of the main body V greatly to the right inclination side beyond the control dead zone provided corresponding to the set inclination angle, the main body V The corresponding hydraulic cylinder is operated and controlled so as to change the posture of the fuselage body V in the right-up direction with respect to the grounding portions of the traveling devices 1L and 1R (left-inclined operation) so that the left-right inclination angle of the vehicle falls within the control dead zone. If the vehicle body has changed greatly to the rear tilt side beyond the dead zone, the aircraft body V is placed in a left-up direction with respect to the grounding portion of the traveling devices 1L and 1R so that the front / rear inclination angle of the vehicle body V enters the control dead zone. The corresponding hydraulic cylinder is operated to change (right tilt operation).

  Also in this rolling control, as in the pitching control, the hydraulic fluid flow rate per unit time for the hydraulic cylinder to be operated among the hydraulic cylinders C2 to C5 is adjusted, and the posture correction operating speed is set to the standard speed. The posture is changed at a low speed for lodging.

  Next, when the raising switch SW1 or the lowering switch SW2 is turned on by the operation of the cutting lift lever 28 and a manual cutting lift command is instructed, the manual cutting lift that controls the operation of the lifting cylinder C1 in response to the command is performed. Operation processing is executed (steps 11 and 12). If the entering conditions for the mowing raising / lowering control are satisfied in a state where the manual mowing raising / lowering command is not commanded, the mowing raising / lowering control is executed (steps 13 and 14). The on / off condition of the cutting / lifting control is that the cutting / automatic lifting on / off switch 50 is switched to the automatic on state, and the height of the cutting unit 2 is based on the information detected by the height sensor S4. Is below the set level set in the middle part of the up / down operation possible range.

  Briefly describing the mowing raising / lowering control, when the target ground height is set to 3 or less, the detection values of the two ground height detection devices A are respectively determined by the target ground height setting unit 44. When the height is lower than the set target ground height, a process of raising the cutting unit 2 is executed. On the other hand, when the target ground height is set to be higher than level 3, the detection value of one of the two ground height detection devices A is set by the target ground height setting unit 44. When the height is lower than the target ground height, the cutting unit 2 is raised. Further, it is determined whether or not the vehicle descends every time the set distance is traveled. If the detection values of the two ground height detection devices A are higher than the target ground height set by the target ground height setting unit 44, respectively. Then, the process of lowering the cutting unit 2 is executed.

[Another embodiment]
Next, another embodiment will be listed.

  In the above-described embodiment, as the mode command means, whether or not the control mode for lodging corresponding to the lying state in which the planting stem is lying down by the operating state of the cutting mode changeover switch in the cutting speed changing means is commanded. However, the present invention is not limited to such a configuration, and it may be determined whether or not an overturn control mode corresponding to the overturn state has been commanded based on the control content of the cutting shift control means 400. In addition, instead of the detection based on the switching state of the cutting speed change means, a dedicated mode command means for commanding the control mode of the attitude control means may be provided.

  In the above embodiment, the operation speed when changing the front / rear tilt angle of the fuselage body is changed by changing the duty ratio between the ON time and the OFF time when operating the on / off switching type electromagnetic control valve. However, the flow rate may be changed and adjusted using an electromagnetic proportional flow control valve.

  In the above embodiment, the posture changing operation means is constituted by the four drive means C2 to C5 located at the four positions on the front and rear sides and the left and right sides of the body body V, but the left and right traveling devices are integrally tilted in the front and rear direction. You may comprise with one drive means (hydraulic cylinder for pitching). Also, when the four drive means C2 to C5 are configured, other drive means including an electric motor and a screw feed mechanism may be used in addition to the hydraulic cylinder.

  In the above-described embodiment, when the posture control unit is instructed by the lodging mode command unit in the pitching control and the rolling control, the lodging control mode is instructed. Compared to the case where the front and rear inclination angles of the airframe body with respect to the grounding portion of the traveling device are changed at a low speed, the same speed change operation may always be performed in the rolling control. .

  In the above embodiment, a pair of left and right ground height detection devices are provided as the ground height detection means. However, the present invention is not limited to this configuration, and a configuration in which three or more ground height detection devices are provided or one ground It is good also as a structure which provides a height detection apparatus.

Combine side view Top view of weeding tool support Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Side view showing the lifting / lowering configuration of the traveling device Block diagram showing control configuration Combine power transmission diagram The figure which shows the change state of traveling speed The figure which shows the change state of the operating speed of a cutting part Flow chart of control operation

Explanation of symbols

1L, 1R Traveling device 2 Harvesting unit 6 Weeding tool 30 Left / right inclination angle detection means 31 Front / rear inclination angle detection means 44 Target ground height setting means 100 Posture change operation means 200 Posture control means 300 Cutting / lifting control means A A Ground height detection Means C1 Elevating / lowering means F Cutting and shifting means G Mode command means V Machine body

Claims (4)

A cutting part provided with a raising device that causes the planting stems to stand in a standing posture is provided at the front part of the machine body provided with a traveling device so as to be movable up and down by a lifting operation means,
Attitude change operation means for freely changing the front / rear inclination angle of the airframe body with respect to the grounding portion of the traveling device, front / rear inclination angle detection means for detecting the front / rear inclination angle relative to the horizontal reference plane of the airframe body, and the front / rear inclination angle detection means Attitude control means for performing pitching control for controlling the operation of the attitude change operation means so that the front-rear inclination angle with respect to the horizontal reference plane of the airframe body is maintained at the set inclination angle based on the detection information of A posture control device for a cutting machine,
Mode command means for commanding the control mode for lodging corresponding to the lying state where the planting stem is lying,
The posture control means is
When the mode for controlling the inclining is instructed by the mode command means, the longitudinal inclination angle of the aircraft body with respect to the grounding portion of the traveling device is made slower than when the mode for inclining control is not instructed. A posture control device for a mowing machine configured to perform a change operation at In the form in which the operating speed of the cutting part increases as the vehicle speed increases and the operating speed of the cutting part when the vehicle speed is the same is in the driving state for lying down corresponding to the lying down state In a form that is faster than in the standard driving state corresponding to the standard state where the upright is standing, there is provided a cutting speed change means that can be switched between the inclining driving state and the standard driving state,
The mode command means is configured to detect whether or not the cutting speed change means is switched to the lodging driving state, and when detecting that the cutting means is switched to the lodging driving state, the mode commanding means The posture control device for a cutting machine according to claim 1, wherein the posture control device is configured to command a control mode. A grounding type ground height detection means that is provided at a location on the rear side of the machine body relative to the weeding tool in the cutting part and detects the ground height at that position;
Target ground height setting means for setting the target ground height of the cutting part;
A cutting lift control means is provided for controlling the lifting operation means so that the ground height of the cutting unit becomes a target ground height based on information of the ground height detection means and the target ground height setting means. The posture control device for a cutting machine according to claim 1 or 2. The posture change operation means is configured to freely change and operate a right / left inclination angle with respect to a horizontal reference plane of the airframe body,
Left and right tilt angle detection means for detecting the left and right tilt angle with respect to the horizontal reference plane of the aircraft body is provided,
The attitude control means is configured to execute rolling control for controlling the attitude change operation means so as to set a right / left inclination angle with respect to a horizontal reference plane of the airframe body to a set left / right inclination angle; and
In each of the pitching control and the rolling control, when the lodging control mode is commanded by the lodging mode command means, the traveling device is compared with a case where the lodging control mode is not commanded. The posture control device for a mowing machine according to any one of claims 1 to 3, wherein the attitude angle of the machine body relative to the grounding portion is changed at a low speed.

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