JP2013055897A - Posture controlling device for combine harvester - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a posture controlling device for a combine harvester in which a mechanism including a hydraulic cylinder used for horizontal control of a machine body is compactly arranged in the machine body.SOLUTION: Lifting arms 19, 24, 26 turning around shaft parts 17, 22 and lifting and lowering a truck frame 10, operating arms 18, 23 turning the shaft parts 17, 22 and operating the lifting arms 19, 24, 26 are secured in the same direction of the longitudinal direction of a machine body in the shaft parts 17, 22 arranged in a right and left direction of the machine frame in the machine frame 2, the lengths F1, R1 of the operating arms 18, 23 from the shaft parts 17, 22 to the same direction are set not longer than the lengths F2, R2 of the lifting arms 19, 24, 26 from the shaft parts 17, 22 to the same direction, hydraulic cylinders 28, 29 protruding and retracting piston rods 28a, 29a downward over the operating arms 18, 23 and the machine frame 2 and turning the operating arms 18, 23 around the shaft parts 17, 22 are arranged in a vertical direction.

Description

  The present invention relates to a posture control device that controls the posture of a combine.

  In a combine equipped with a crawler type traveling device, a threshing device, a grain tank, a reaping device and the like mounted on the airframe are controlled in a horizontal posture with respect to the left-right direction of the airframe or the longitudinal direction of the airframe. In the crawler type traveling device disclosed in Patent Document 1, a pair of left and right drive wheels for driving a crawler is provided on the body frame side, and a pair of left and right track frames to which a crawler grounding section wheel is attached can be raised and lowered relative to the body frame. It is attached to the fuselage frame via a link mechanism. The pair of left and right track frames can be rolled and pitched independently from the left and right sides of the machine body and from the front and back of the machine body by a rolling cylinder that operates the link mechanism and a rolling and pitching cylinder, and the attitude of the combine is controlled.

JP-A-9-39855

  In the attitude control in the crawler type traveling device of Patent Document 1, since the rolling cylinder is arranged in the horizontal direction and the piston rod is moved in and out in the horizontal direction, the area occupied by the rolling cylinder in the body frame in plan view is large. Become. In addition, the arm operated by the piston rod of the rolling cylinder also needs to be largely rotated in the vertical direction in order to perform rolling control or pitching control of the crawler type traveling device, and the attitude control mechanism occupies a large area. . However, in the case of a combine, there may be a case where it is not possible to secure a space for arranging such an attitude control mechanism above the fuselage frame due to the layout, in which case the attitude control mechanism is arranged below the fuselage frame, Tend to be higher.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a combine attitude control device that can be compactly arranged in the vicinity of a fuselage frame.

  According to a first aspect of the present invention, there is provided a combine attitude control device comprising: a track frame that supports wheels in a crawler type traveling device; and a fuselage frame disposed above the track frame. A shaft arranged in the left-right direction of the machine body is provided with a lift arm that rotates around the shaft part to operate the track frame, and an operation arm that rotates the shaft part to operate the lift arm. And the length of the operation arm in the same direction from the shaft portion is set to be equal to or less than the length of the lift arm in the same direction from the shaft portion, and the operation arm and the The hydraulic cylinder is arranged in the vertical direction to move the operating arm around the shaft portion by moving the piston rod downward and backward over the body frame.

[Function and effect] When the piston rod of the hydraulic cylinder arranged in the vertical direction is retracted downward, the operation arm connected to the piston rod rotates around the shaft, and the lifting arm attached to the shaft It rotates around the shaft. By this pivoting operation of the lifting arm, the track frame connected to the end of the lifting arm is lifted and lowered.
Thereby, the track frame of the crawler traveling device moves up and down with respect to the body frame, and the attitude of the body frame is controlled. Here, the lifting arm and the operating arm are attached to the shaft in the same direction of the front and rear of the machine body, and the length of the operating arm from the shaft to the same direction is the length of the lifting arm from the shaft to the same direction. The hydraulic cylinder is arranged in the vertical direction. Since the operating arm is not longer than the length of the lifting arm, the operating arm fits in a region within the length of the lifting arm. Further, since the hydraulic cylinder is arranged in the vertical direction, the piston rod does not protrude laterally from the width of the hydraulic cylinder. That is, the lifting / lowering arm, the operation arm, the shaft portion, and the hydraulic cylinder can be accommodated approximately in the length of the lifting / lowering arm in the longitudinal direction of the machine body, and the attitude control device can be configured compactly. In addition, since the piston rod moves up and down in the hydraulic cylinder arranged in the vertical direction, it is possible to suppress adhesion of mud from the field to the piston rod as compared to the hydraulic cylinder arranged in the horizontal direction. . Thereby, durability and maintainability of the attitude control device are improved.

  A second characteristic configuration of the combine attitude control device according to the present invention is that two of the operation arm, the lifting arm and the hydraulic cylinder are arranged on the left and right of the truck frame on the front and rear of the machine body. .

[Function and effect] Pitching control and rolling control are achieved when two operating arms for moving up and down the track frame, two lifting arms and two hydraulic cylinders are arranged in the front-rear direction of the airframe with respect to the left and right track frames as in this configuration. Therefore, the piston rods of the front hydraulic cylinder and the rear hydraulic cylinder both move downward and backward. That is, since the front and rear hydraulic cylinders are not in a state where the pressure receiving area is reduced by the piston rod, a large force can be obtained even if the hydraulic cylinder has a relatively small diameter. As a result, the cost of the combine attitude control device can be reduced.
Further, the four hydraulic cylinders can be configured to have the same diameter, and the operating characteristics of the four hydraulic cylinders can be made the same. As a result, for example, when performing the rolling control, the control of synchronizing the front hydraulic cylinder and the rear hydraulic cylinder can be stably performed, and the maintainability is also improved.

  A third characteristic configuration of the combine attitude control device according to the present invention is that the hydraulic cylinder and the machine frame are connected via an elastic body.

[Effect] As in this configuration, the hydraulic cylinder and the fuselage frame are connected via the elastic body so that the elastic body exists between the upper end side of the hydraulic cylinder in the upright state and the fuselage frame. Become. Thereby, vibration applied from the track frame of the crawler traveling device to the upper end side of the hydraulic cylinder can be absorbed by the elastic body, and a suspension effect can be obtained regardless of the height of the traveling machine body.

Combine side view Side view showing crawler type traveling device and frame structure Plan view showing crawler type traveling device and frame structure Side view showing main parts of crawler type traveling device Action diagram showing rolling operation Action diagram showing pitching operation Partial front view showing support structure of hydraulic cylinder The side view which shows the principal part of the crawler type traveling apparatus of 2nd Embodiment. Power transmission path diagram of another embodiment The side view which shows the principal part of the crawler type traveling apparatus of another embodiment. The side view which shows the principal part of the crawler type traveling apparatus of another embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First Embodiment]
As shown in FIG. 1, the fuselage frame 2 is disposed above the left and right crawler type traveling devices 1, 1 in the combine. A cutting pretreatment unit 3 is attached to the front of the machine body frame 2 so as to be movable up and down, and a threshing device 4, a traveling control unit 5, and a grain storage unit 6 are provided on the upper part of the machine frame 2.

  As shown in FIGS. 2 and 3, the body frame 2 includes a main frame 7 disposed so as to be orthogonal in a plan view. The main frame 7 is composed of longitudinal frames 7A and 7A in the longitudinal direction of the body and lateral frames 7B and 7B in the lateral direction of the body. A traveling mission case 8 is attached to an intermediate position of the front lateral frame 7B, and driving sprockets 9 for the crawler traveling device 1 are attached to the left and right ends thereof.

  Track frames 10, 10 that can be raised and lowered are arranged on the left and right outer sides of the vertical frames 7 A, 7 A, and a plurality of rolling wheels 12 that guide the crawler belt 11 are provided on the track frames 10, 10. An upper roller 13 that supports the crawler belt 11 above the roller 12 is attached to the vertical frames 7A and 7A. Slide frames 10A and 10A are provided at the rear ends of the left and right track frames 10 and 10 so as to be movable backward and forward. Rear tension rings 14 and 14 for applying tension to the crawler belt 11 are attached to the slide frames 10A and 10A. The rear tension rings 14 and 14 are slidably adjusted by the screw shaft 15 so that the tension force on the crawler belt 11 can be changed and adjusted.

  Between the main frame 7 and the track frame 10, a rolling mechanism for moving one of the left and right track frames 10 up and down to make the airframe frame 2 horizontal with respect to the left and right inclination of the airframe, and either the front or back of the track frame 10 And a pitching mechanism that makes the airframe frame 2 horizontal with respect to the longitudinal inclination of the airframe.

  A support metal 16 is provided below the front side of the main frame 7, and a shaft portion 17 in the left-right direction of the machine body is rotatably provided on the support metal 16. The base portion of the front operation arm 18 is fixed to the inner end portion of the shaft portion 17, and the end portion opposite to the base portion of the front operation arm 18 is positioned on the rear side of the machine body. A base portion of the front elevating arm 19 is fixed to an outer end portion of the shaft portion 17, and the other end of the front elevating arm 19 is fixed to the track frame 10 via the shaft 20.

  A support metal 21 is provided below the rear side of the main frame 7, and a shaft portion 22 in the left-right direction of the machine body is rotatably provided on the support metal 21. The base portion of the rear operation arm 23 is fixed to the inner end portion of the shaft portion 22, and the end portion opposite to the base portion of the rear operation arm 23 is positioned on the rear side of the body. One end of the rear elevation first arm 24 is fixed to the outer end of the shaft portion 22, and the other end of the rear elevation first arm 24 is attached to the shaft 25. A base of a rear raising / lowering second arm 26 is swingably attached to the shaft 25, and the other end of the rear raising / lowering second arm 26 is fixed to the track frame 10 via a shaft 27.

  A piston rod 28a of a single-acting hydraulic cylinder 28 for rolling is attached to the end of the front operation arm 18. A hydraulic cylinder 28 is arranged in the vertical direction across the front operation arm 18 and the main frame 7. A piston rod 29a of a single acting hydraulic cylinder 29 for rolling and pitching is pivotally attached to an end of the rear operation arm 23. A hydraulic cylinder 29 is arranged in the vertical direction across the rear operation arm 23 and the main frame 7.

  As shown in FIGS. 2 to 4, two hydraulic cylinders 28 and 29 are arranged on the front and rear sides of the left and right track frames 10 and 10, respectively. Each of the hydraulic cylinders 28 and 29 is independently operated and the amount of operation is controlled so that the airframe is pitched and rolled. The cross-sectional area of the rolling hydraulic cylinder 28 and the rolling / pitching hydraulic cylinder 29 have the same configuration, and when the aircraft is rolled, the right or left hydraulic cylinders 28, 29 are expanded and contracted by the same amount, and the aircraft is pitched. At that time, only the left and right hydraulic cylinders 29 are expanded and contracted.

  As shown in FIG. 4, the front operation arm 18 and the front elevating arm 19 both extend toward the rear of the machine body with respect to the shaft part 17, and from the shaft part 17 of the front operation arm 18 to the rear of the machine body. The length F1 is set to be the same as or shorter than the length F2 in the rear direction of the aircraft from the shaft portion 17 of the front lifting arm 19 (F1 is shorter than F2 in FIG. 4). A hydraulic cylinder 28 having a piston rod 28a that protrudes and retracts downward at the end of the front operation arm 18 is arranged in the vertical direction.

  Further, the rear operation arm 23, the rear elevation first arm 24 and the rear elevation second arm 26 are all extended toward the rear of the machine body with respect to the shaft portion 22, and the shaft portion of the rear operation arm 23 is provided. The length R1 in the rear direction of the aircraft from 22 is set to be the same as or shorter than the length R2 in the rear direction of the aircraft from the shaft portions 22 of the first rear elevation first arm 24 and the second rear elevation second arm 26. (In FIG. 4, R1 is shorter than R2). A hydraulic cylinder 29 having a piston rod 29a protruding and retracting downward is disposed at the end of the rear operation arm 23 in the vertical direction.

  As described above, since the length F1 of the front operation arm 18 in the rear direction of the body is less than or equal to the length F2 of the front lifting arm 19, the front operation arm 18 fits in an area within the length F2 of the front lifting arm 19. Similarly, the length R1 of the rear operation arm 23 in the rear direction of the machine body is equal to or less than the length R2 of the rear lifting arm (the first rear lifting first arm 24 and the second rear lifting second arm 26). It fits in the area | region within the length R2 of an arm (back raising / lowering 1st arm 24 and back raising / lowering 2nd arm 26). Further, since the front and rear hydraulic cylinders 28 and 29 of the main frame 7 are arranged in the vertical direction, the piston rods 28a and 29a do not protrude laterally from the width of the hydraulic cylinders 28 and 29. That is, the front operating arm 18 (rear operating arm 23), the shaft portion 17 (shaft portion 22), and the hydraulic cylinder 28 (rear hydraulic cylinder 29) are connected to the front elevating arm 19 (rear elevating first arm 24) in the longitudinal direction of the machine body. In addition, it can be accommodated in a region having the same length as that of the rear lifting second arm 26).

  Thus, the combine attitude control device can be configured compactly. Further, since the piston rods 28a and 29a move back and forth downward in the hydraulic cylinders 28 and 29 arranged in the vertical direction, the adhesion of mud from the field to the piston rod is suppressed compared to the hydraulic cylinders arranged in the horizontal direction. can do. As a result, durability and maintainability of the attitude control mechanism are improved.

Further, as described above, the operation arms 18 and 23 for raising and lowering the track frame 10, the raising and lowering arms (the front raising and lowering arm 19, the rear raising and lowering first arm 24, and the rear raising and lowering second arm 26) and the hydraulic cylinders 28 and 29 are left and right. When two track frames 10 are arranged in the longitudinal direction of the airframe, pitching control and rolling control are possible. In addition, the piston rods 28a and 29a of the front hydraulic cylinder 28 and the rear hydraulic cylinder 29 both move downward and backward. That is, since the hydraulic cylinders 28 and 29 are not in a state where the pressure receiving area is reduced by the piston rods 28a and 29a, a large force can be obtained even if the hydraulic cylinder has a relatively small diameter. As a result, the cost of the combine attitude control device can be reduced.
Further, the hydraulic cylinders 28 and 29 can be configured to have the same diameter, and the operating characteristics of the hydraulic cylinders 28 and 29 can be made the same. As a result, for example, when performing the rolling control, the control to synchronize the front hydraulic cylinder 28 and the rear hydraulic cylinder 29 can be stably performed, and the maintainability is also improved.

  FIG. 5 shows a rolling operation control mode in which the relative heights of the left and right track frames 10 with respect to the airframe are set to different states. When rolling the airframe, the front operation arm 18 and the front elevating arm 19 rotate about the shaft portion 17, and the rear operation arm 23 and the rear elevating first arm 24 rotate about the shaft portion 22. The body frame 2 and the track frame 10 are moved up and down relatively to roll. In this case, the front operating arm 18 and the front elevating arm 19, the rear operating arm 23 and the rear elevating first arm 24 are expanded by expanding and contracting the rolling hydraulic cylinder 28 and the rolling and pitching hydraulic cylinder 29 by the same amount. Becomes a substantially parallel link member, and the front and rear of the track frame 10 are displaced by the same distance to roll.

  FIG. 6 shows a control mode of the pitching operation in which the heights of the left and right track frames 10 with respect to the longitudinal body in the longitudinal direction are set to different states. When the airframe is pitched, only the hydraulic cylinder 29 for rolling and pitching is expanded and contracted, so that the rear operation arm 23 and the rear lifting first arm 24 rotate around the shaft portion 22, and the rear lifting second The arm 26 rotates about the horizontal axis 25. Then, the structure in which the front lifting arm 19 and the rear lifting first arm 24 act like parallel link members during rolling is destroyed, and the position of the horizontal shaft 25 moves up and down to raise and lower only the rear portion of the track frame 10. . Thus, when the rear part of the track frame 10 is raised, the front part of the body frame 2 is lowered, and when the rear part of the track frame 10 is lowered, the front part of the body frame 2 is raised.

  Further, by setting the swinging amounts of the four operation arms 18 and 23 to different operating amounts, it is possible to form a combined control mode of the rolling operation and the pitching operation.

  As shown in FIG. 7, the upper end portion 28 b of the hydraulic cylinder 28 in front of the fuselage is supported by the shaft portion 30. Both sides of the shaft portion 30 are supported by a bracket 32 with an elastic body (rubber bush) 31 built therein, and the bracket 32 is fixed to the main frame 7. Similarly, the upper end 29b of the hydraulic cylinder 29 at the rear of the machine body is supported by the main frame 7 by the elastic body 31 and the bracket 32.

  By connecting the hydraulic cylinders 28 and 29 and the body frame 2 (main frame 7) via the elastic body 31, elasticity is provided between the upper ends of the hydraulic cylinders 28 and 29 arranged in the vertical direction and the body frame 2. There will be a body 31. Thereby, the vibration applied to the upper end side of the hydraulic cylinders 28 and 29 from the track frame 10 of the crawler type traveling device 1 by the change of the field can be absorbed by the elastic body 31, and the suspension effect can be obtained regardless of the height of the traveling machine body. Can be obtained.

[Second Embodiment]
In the present embodiment, as shown in FIG. 8, between the main frame 7 and the track frame 10, either the left or right track frame 10 is moved up and down so that the body frame 2 is placed against the left and right tilt of the field body. A rolling mechanism for leveling is provided, and no pitching mechanism is provided.

  The front operation arm 18 and the front elevating arm 19, and the rear operation arm 23 and the rear elevating arm 24 are formed in an L shape in a side view. The upper end of the front operation arm 18 and the upper end of the rear operation arm 23 are connected by a rod 33. The end of the piston rod 29a of the hydraulic cylinder 29 for rolling is attached to the upper part of the rear operation arm 23, and the end of the hydraulic cylinder 29 for rolling is fixedly supported on the main frame 7. At this time, the rolling hydraulic cylinder 29 and the piston rod 29a are arranged in the vertical direction. Further, the length R1 from the shaft portion 22 of the rear operation arm 23 in the rear direction of the machine body is set to be the same as or shorter than the length R2 from the shaft portion 22 of the rear lifting arm 24 in the rear direction of the machine body. (In FIG. 8, R1 is shorter than R2).

[Other Embodiments]
(1) As shown in FIG. 9, the engine E is disposed on the right side of the machine body in the front-rear direction, and the output of the engine E is transmitted to the drive shaft 53 extending forward of the machine body via the output gear 50 and the intermediate gear 51. Also good. Universal joints 52 are provided at both ends of the drive shaft 53. Power is transmitted from the drive shaft 53 to the transmission case 8 via the bevel gear 54, and the transmission case 8 includes a continuously variable transmission (HST).

  Thus, when the power transmission from the engine E to the crawler type traveling device 1 is the shaft drive system, the power transmission efficiency is improved. Also, compared to power transmission using a belt, the shaft drive system requires almost no maintenance and improves durability. Furthermore, the structure of power transmission can be simplified by arranging the engine E and the mission case 8 close to each other.

(2) In the first embodiment, the configuration in which both the hydraulic cylinder 28 in front of the fuselage and the hydraulic cylinder 29 in the rear of the fuselage are arranged in the vertical direction is shown. However, the hydraulic cylinder 28 in front of the fuselage and the hydraulic cylinder in the rear of the fuselage are shown. One of 29 may be arranged in the vertical direction, and the other may be arranged in a direction other than the vertical direction such as the horizontal direction shown in FIG. Moreover, as shown in FIG. 11, the hydraulic cylinders 28 and 29 arranged in the vertical direction may be arranged in a slightly inclined state.

(3) In the above embodiment, the configuration in which the operation arms 18 and 23 and the lifting arms 19, 24 and 26 are extended to the rear side of the machine body with respect to the shaft portions 17 and 22 is shown. The elevating arms 19, 24, and 26 may be configured to extend to the front side of the machine body with respect to the shaft portions 17 and 22.

(4) In the first embodiment, the rolling hydraulic cylinder 28 is disposed in front of the fuselage and the rolling and pitching hydraulic cylinder 29 is disposed in the rear of the fuselage. The hydraulic cylinder 29 may be arranged, and the rolling hydraulic cylinder 28 may be arranged behind the fuselage.

  The present invention can be widely applied to an attitude control device for a working machine including a crawler type traveling device.

DESCRIPTION OF SYMBOLS 1 Crawler type traveling apparatus 2 Airframe frame 7 Main frame 10 Track frame 11 Crawler belt 12 Roller wheels 17 and 22 Shaft part 18 Front operation arm (operation arm)
19 Forward lifting arm (lifting arm)
23 Rear operation arm (operation arm)
24 Back lifting first arm (lifting arm)
26 Rear lifting second arm (lifting arm)
28 Hydraulic cylinder (for rolling)
28a, 29a Piston rod 29 Hydraulic cylinder (for rolling and pitching)
31 Elastic body F1, R1 Length of operation arm in the longitudinal direction from the shaft part F2, R2 Length of lifting arm in the longitudinal direction from the shaft part

Claims (3)

A track frame that supports the wheels in the crawler type traveling device, and a body frame disposed above the track frame,
A lifting / lowering arm that rotates around the shaft portion and moves the track frame up and down, and an operation arm that rotates the shaft portion and operates the lifting arm on a shaft portion arranged in the left-right direction of the body in the body frame. In the same direction of the front and rear of the aircraft,
The length of the operation arm in the same direction from the shaft portion is set to be equal to or less than the length of the lifting arm in the same direction from the shaft portion, and a piston rod is extended between the operation arm and the body frame. A combine attitude control device in which a hydraulic cylinder is disposed in a vertical direction to move downward and move the operation arm around the shaft portion.   The combine attitude control device according to claim 1, wherein two of the operation arm, the lifting arm, and the hydraulic cylinder are arranged on the front and rear of the machine body with respect to the track frame.   The combine attitude control device according to claim 1 or 2, wherein the hydraulic cylinder and the machine frame are connected via an elastic body.

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