JP2726351B2 - Travel control mechanism of reaper - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel control mechanism for a harvester such as a combine harvester, and more particularly to a travel control mechanism for a harvester having a pair of right and left crawler traveling devices.

[0002]

2. Description of the Related Art Conventionally, in a traveling control mechanism of the above-mentioned reaper and harvester, as disclosed in, for example, Japanese Patent Application Laid-Open No. Hei 3-246166, a weeding implement for weeding and guiding planted grain culm is provided at the rear side. A scanning sensor is provided to control the advancing direction of the machine by judging the culm row while oscillating around the vertical axis. Based on information from this sensor, an operation is installed in the transmission system for the left and right crawler traveling devices. There has been a configuration in which the clutch is controlled to be turned on and off so that the machine runs along the strip of the grain culm. In addition, in this type of combine, in order to improve threshing performance and prevent intrusion of soil from the reaping section, etc.
There was a configuration in which the right and left crawler traveling devices were individually configured to be vertically movable relative to the body frame by hydraulic cylinders, and based on a detection result of a horizontal sensor, a rolling control was performed so that the body was always in a horizontal posture. [For example, see Japanese Utility Model Laid-Open No. 59-26083].

[0003]

The above conventional structure focuses on the fact that the planted cereal culm is planted in a row and judges the posture of the body with respect to the strip by contact with the culm. It is configured to regulate the traveling direction. However, in the conventional structure, in the case of crops such as rice and barley in which the plant culm is planted in a row and the base of the plant is a hard stem, it is convenient, but for example, soybean or the like. In a ridged field, such as a crop, when a branch extends in the horizontal direction from near the field scene, using the contact-type sensor as described above may cause an error due to a branch or the like that largely extends in the horizontal direction. It is often detected, and it may not be possible to perform accurate detection of the stem portion of the root of the plant, so that it cannot be diverted as it is. As described above, the present invention makes it possible to effectively use the body horizontal control mechanism provided in a configuration different from the steering control of the body as described above, so that even a crop such as soybeans can perform a cutting operation along a row of crop strips. It is an object of the present invention to provide a harvesting and harvesting machine that can be used in a field.

[0004]

According to a feature of the present invention, a mowing portion is connected to a front portion of a fuselage, and a pair of right and left crawler traveling devices are provided on the fuselage so as to be movable up and down relative to each other by driving actuators. The cutting unit further includes a pair of right and left ground-following type height sensors, and rolling control means for driving and controlling the actuators so that the detection values of the respective height sensors are both maintained at predetermined values. An actuation amount detecting means for detecting the actuation amount is provided, and when the difference between the detected actuation amounts of the left and right actuation amount detection means exceeds a predetermined value, the drive speed of each crawler traveling device is individually changed so as to reduce the difference in the actuation amount. It is characterized in that it has an aircraft steering control means for controlling.

[0005]

[Effect] When cutting a rowed crop, the left and right crawler traveling devices are mounted on different ridged portions almost equally on the left and right, and the cutting section is almost positioned near the base of the rowed crop. However, for example, when the crawler traveling device on one side is displaced from the ridged portion, a difference occurs in the detection values of the respective height sensors, and the rolling control means operates to cause the displacement. The hydraulic cylinder on the side that has been operated expands and contracts to return the aircraft to a substantially horizontal attitude and controls it. Then, at this time, when the body advances in a direction different from the ridge row direction, and the crawler traveling device on one side is largely dropped off from the ridged portion, the body height of the left and right crawler traveling devices differs greatly, When the difference between the detected values of the left and right operation amount detecting means exceeds a predetermined value, the traveling speed of the left and right crawler traveling device is controlled to be changed, and the traveling direction of the machine is controlled to be corrected to the normal direction.

[0006]

As described above, the direction correction control of the airframe is performed by using the difference in the relative height of the right and left crawler traveling devices caused by the deviation in the traveling direction during the cutting operation of the ridged crop as a control parameter. Thus, even if it is difficult to detect the streak in the stem portion of the crop, it is possible to always provide a crop that can continue the cutting operation along the planting streak with high accuracy. In addition, in correcting the traveling direction of the body by changing the difference in the driving speed of the left and right traveling devices, the traveling direction is not directly corrected by the difference in driving speed based on the detection result of the left and right inclination, but the actuator of the rolling control actuator is corrected. With the actuation amount as an input signal, when the actuation amount exceeds a predetermined value, the driving speed difference of the traveling device is changed to correct the advancing direction of the vehicle, so that the response in a state where the rolling control is working well. Good directional control can be performed. In other words, for example, when the driving speed of the left and right traveling device is changed based on the left and right inclination of the body, the control sensitivity is sensitive, that is, when the speed of the left and right traveling device is changed even if a slight left and right inclination occurs, the direction of the body is changed. The frequency of control becomes extremely high, and there is a possibility that the straightness may be impaired due to the hunting phenomenon, etc. Conversely, if the control sensitivity is lowered, the direction control is performed after the lateral inclination of the aircraft becomes considerably large. Therefore, a control delay occurs, or rolling control does not work well, and other devices, for example, a mowing device or a threshing device, may have adverse effects such as difficulty in working well. Such disadvantages can be avoided.

[0007]

Embodiments will be described below with reference to the drawings. FIG.
Shows a soy combine. This combine is an airframe 2 equipped with left and right crawler traveling devices 1R and 1L.
A threshing device 3 is mounted thereon, and a mowing unit 5 is connected to a front part of the machine body by a hydraulic cylinder 4 so as to be driven up and down freely.
Each of the crawler traveling devices 1R, 1L is configured to be movable up and down relative to the machine frame 2 by driving hydraulic lift cylinders 6R, 6L (an example of an actuator), respectively. That is, a movable track frame 9 supporting a plurality of ground guide rollers 8 is mounted on a pair of front and rear swing arms 1 with respect to a fixed frame 7 connected to the body frame 2.
0 and 10 while pivotally connected so as to be able to move up and down while maintaining a parallel posture, and each of the swing arms 10 and 10 are interlocked and connected via a rod 11 and one of the swing arms 1
The lift cylinders 6R, 6L are interposed between the base frame 0 and the fixed frame 7, and the crawler grounding surface moves up and down with respect to the machine body by extending and retracting the lift cylinders 6R, 6L. Further, while detecting the tilted state of the body from the horizontal posture by the weight type horizontal sensor 12 provided on the body, the lifting cylinder 6R,
Rolling control means A for driving and controlling 6L is provided. More specifically, as shown in FIG.
The output of 2 is a control device 13 equipped with a microcomputer.
The control device 13 is configured to control the switching of the electromagnetic three-position hydraulic switching valves 14R, 14L for the lifting cylinders 6R, 6L so that the body attitude is maintained in a horizontal state. That is, the rolling control means A is provided in the control device 13 in the form of a control program. Power transmissions to the drive sprockets 16 and 16 of the left and right crawler traveling devices 1R and 1L can be freely transmitted and received in the transmission case 15 and side clutches 17R and 17L are interposed in a biased state. 17R and 17L are configured to be switched by extension driving of the left and right hydraulic clutch cylinders 18R and 18L, and the electromagnetic switching valves 19 for the respective clutch cylinders 18R and 18L are configured to be controlled by the control device 13 for switching. is there. And each of the lifting cylinders 6
In the vicinity of R and 6L, potentiometers PM1 and PM2 as operating amount detecting means for detecting the operating amounts of the lifting cylinders 6R and 6L are provided, respectively.
1, when the difference between the detected operation amounts of PM2 exceeds a predetermined value, each crawler traveling device 1R,
Aircraft steering control means B for changing and controlling the driving speed of 1L is provided in the control device 13 in the form of a control program. That is, as shown in FIG. 2, when one of the left and right crawler traveling devices 1R and 1L falls off from the ridged portion, the above-described rolling control is executed and the vehicle is dropped to maintain the horizontal attitude of the body. The crawler traveling device 1R [or 1L] on the side of the vehicle is relatively lowered to maintain the body in a horizontal posture. At this time, when the control device 13 determines that the difference between the detection values of the left and right potentiometers PM1 and PM2 exceeds a predetermined value, the control unit 13 determines whether the difference between these detection values falls within the predetermined value. The switching control of the electromagnetic switching valve 19L [or 19R] is performed to disengage the side clutch 17L [or 17R]. With this configuration, even in the case of crops such as soybeans in which the branches and leaves are spread from just above the field scene to the side, it is possible to reliably control the steering of the aircraft along the ridges. Thus, the mowing work can be performed effectively.

[0008] Instead of operating the side clutches 17R and 17L by the body steering control means B, a braking action of the crawler traveling device may be used.

In the claims, reference numerals are provided to facilitate comparison with the drawings, but the present invention is not limited to the configuration shown in the attached drawings.

[Brief description of the drawings]

FIG. 1 is a control block diagram.

FIG. 2 is a front view of an aircraft grounding unit.

FIG. 3 is an overall side view of the combine.

[Explanation of symbols]

 1R, 1L Crawler traveling device 5 Reaper 6R. 6L Actuator A Rolling control means B Aircraft steering control means PM1, PM2 Actuation amount detecting means

Claims (1)

(57) [Claims] 1. A mowing part (5) is connected to a front part of a fuselage, and a pair of right and left crawler traveling devices (1R) and (1L) are separately moved relative to the fuselage by driving actuators (6R) and (6L). The actuator (6R) is provided so as to be movable up and down relative to each other, and the aircraft is maintained in a horizontal posture.
(6L) is provided with rolling control means (A), and actuation amount detection means (PM1) and (PM2) for detecting the actuation amounts of the actuators (6R) and (6L) are provided. When the difference between the detected operation amounts of the detection means (PM1) and (PM2) exceeds a predetermined value, each of the crawler traveling devices (1R) and (1L) reduces the operation amount difference.
A traveling control mechanism of a reaper equipped with body steering control means (B) for individually changing and controlling the driving speed of the harvester.