JP2841744B2 - Automatic control device for combine traveling equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an automatic control device for a traveling device of a combine.

(Prior Art) Japanese Patent Application Laid-Open No. 63-7712 discloses a traveling device including a pair of left and right crawlers mounted on a traveling frame, and a pair of left and right rolling devices provided between the traveling frame and the body frame. Shown is a combine provided with a rolling mechanism having a working cylinder.

(Problems to be Solved by the Invention) In the device described in the above-mentioned known example, pitching adjustment cannot be performed because a pitching adjustment mechanism is not provided.
Further, since there is no wetland / dry field judging device, in the case of dry fields, there is a problem that the automatic control is excessively adjusted and the rolling is adjusted more than necessary. In addition, there is a problem that the load on the rolling mechanism increases and durability decreases.

Further, in the case of wet fields, there is a problem that the sensitivity of the automatic control is low, the response to the uneven surface of the field is delayed, and the workability is reduced.

The present invention is intended to provide a wetland / dryfield determination device so that appropriate automatic control is always performed regardless of wetland / dryfield.

(Object of the Invention) An object of the present invention is to provide a combine equipped with a rolling mechanism and a pitching mechanism in accordance with the condition of a field.
The automatic rolling and pitching control is performed correctly.

(Means for Solving the Problems) Accordingly, the present invention provides a traveling device 3 including a pair of right and left crawlers 9 and 9 ′ attached to a traveling frame 11, and a left and right crawler provided between the traveling frame 11 and the body frame 1. A rolling mechanism having a pair of rolling cylinders 23 and 23 ', a pitching mechanism having a pitching cylinder 41 provided between the traveling frame 11 and the body frame 1, and a vibration detecting or slipping mechanism provided at a desired position. In those provided with a wet field dry field determination device 58 such as a detection type or a rolling amount detection type, between the rolling mechanism and the pitching mechanism and the determination device 58, when the determination of the determination device 58 is a wetland Running of a combine provided with an automatic control mechanism that makes the rolling mechanism and the pitching mechanism more sensitive than when it is determined to be a dry field This is an automatic control device for the device.

(Embodiment) An embodiment of the present invention will be described with reference to the drawings. 1 is a body frame of a combine, a threshing device is provided above the body frame 1, and a reaper 2 is provided at a front position of the body frame 1. And a traveling device 3 is provided below the body frame 1.

4 is the weeds of the cutting unit 2, 5 is the grain stem raising device, 6
Is a grain tank provided on the side of the threshing apparatus, 7 is a frying apparatus for frying and discharging the grains in the grain tank 6, and 8 is a discharge auger provided on the upper part of the frying apparatus 7.

The traveling device 3 is provided with a rolling mechanism for correcting the lateral inclination of the body frame 1 and a pitching mechanism for correcting the longitudinal inclination of the body frame 1.

The present invention relates to automatic control of the rolling mechanism and the pitching mechanism, and various configurations of the rolling mechanism and the pitching mechanism are conceivable. One example will be described below.

Reference numerals 9 and 9 'denote a pair of right and left crawlers which constitute a part of the traveling device 3, and are disposed below the body frame 1 at predetermined intervals on the left and right.

10, 10 'are guide wheels of the crawlers 9, 9',
Each of the guide wheels 10, 10 'is a traveling frame 1 in the front-rear direction.
Axles are mounted on 1, 11 'at predetermined intervals in front and rear and mounted respectively.

At the rear of the running frames 11, 11 ', the outer ends of the left and right lateral lateral mounting shafts 12, 12' are axially mounted, respectively, and the inner ends of the respective rear lateral mounting shafts 12, 12 'are rearwardly mounted. Rolling arm 13,
The distal ends of the lower arms 14 and 14 'of 13' are respectively pivoted.

The bases of the lower arms 14, 14 'are located on the rear horizontal axis 1 in the horizontal direction.
5 and 15 ', respectively, fixed to the outer ends of the rear horizontal shafts 15, 1
5 'is mounted on the rear of the pitching vertical frames 16, 16' parallel to the running frames 11, 11 ', respectively.

The inner ends of the rear horizontal shafts 15, 15 'protrude inward from the pitching vertical frames 16, 16' to fix the bases of the upper arms 17, 17 'of the rear rolling arms 13, 13'. .

The front end of each of the running frames 11, 11 'is provided with an outer end of a front horizontal mounting shaft 18, 18' in the left-right direction, and the outer end of each of the front horizontal mounting shafts 18, 18 '. The ends of the lower arms 20, 20 'of the front rolling arms 19, 19' are pivotally mounted on the ends.

The bases of the lower arms 20, 20 'are fixed to the outer ends of the left and right front horizontal shafts 21, 21', respectively.
Each of 21 'is rotatably mounted on the front side of the pitching vertical frames 16, 16'.

Each of the inner ends of the front horizontal shafts 21 and 21 ′ is protruded inward from the pitching vertical frames 16 and 16 ′, and the bases of the upper arms 22 and 22 ′ of the front rolling arms 19 and 19 ′. Fix each.

The bases of the rolling cylinders 23, 23 'are mounted on the respective upper surfaces of the pitching vertical frames 16, 16', and the rods 24, 24 'of the rolling cylinders 23, 23' are protruded rearward. , 24 'are axially mounted on the upper arms 17, 17', respectively. 25 and 25 'are stays to which the bases of the rolling cylinders 23 and 23' are attached.

Also, the upper arms 17, 17 'and the upper arms 22,
22 'means connecting rods 26, 2 which simultaneously rotate them.
Connect each with 6 '.

The pitching vertical frame 16 and the pitching vertical frame 16 ′ are fixed at right and left sides of a plurality of horizontal pitching frames 27 in the left and right direction at predetermined intervals in the front and rear.
Make up 28.

The pitching frame 28 includes the pitching vertical frame 1
The horizontal shafts 21 and 21 ′ mounted on the shafts 6 and 16 ′ are
By attaching to the body frame 1 by 9 and 29 ', the rear part of the body frame 1 is attached to the body frame 1 up and down.

Reference numeral 30 denotes a horizontal frame of the body frame 1, and reference numerals 31 and 31 'denote vertical frames.

Stays 3 are provided at the rear ends of the pitching vertical frames 16, 16 '.
2 and 32 'are provided, and stays 32 and 32' are provided with horizontal shafts 33 and 3
3 ', and each shaft 33, 33' has a vertical connecting arm 34, 3
Fix the upper end of 4 '.

At the lower ends of the connecting arms 34 and 34 ', the ends of the pitching lower arms 35 and 35' are fixed by a horizontal shaft 36. The pitching lower arms 35 and 35 'are fixed to a shaft 37, and the shaft 37 is attached to the body frame 1 via a support plate 38.

On one pitching lower arm 35, the base of the pitching upper arm 39 is fixed.
35 from the side due to 35 and pitching upper arm 39
The pitching arm 40 having a mold shape is configured.

The tip of the pitching upper arm 39 is located below the vertical frame 31 and the rod of the pitching cylinder 41 is
Attach 42 tips.

The base of the pitching cylinder 41 is axially fixed to a stay 43 projecting downward from the body frame 1 side, and the rod 42 of the pitching cylinder 41 is arranged so as to face forward, and the entire pitching cylinder 41 is It is located below the body frame 1.

Reference numerals 44, 44 'denote tension wheels around which the endless crawlers 9, 9' are wound.
Installed at the rear of 1, 11 '. 45, 45 'are drive wheels, 46
Is a transmission case, 47 is a transmission case mounting stay, and 48 and 48 'are transmission cases.

FIG. 4 is a control mechanism diagram, in which 51 and 51 'are stroke sensors of the rolling cylinders 23 and 23', 52 is a body left-right inclination sensor, 53 is a stroke sensor of the pitching cylinder 41, 54 is a body longitudinal inclination sensor, Reference numeral 55 denotes a manual tilting lever provided in the driver's seat, and the rolling cylinders 23 and 23 'and the pitching cylinder 41 are extended and contracted by the manual tilting lever so that the left and right crawlers 9 and 9' can be moved up and down, and the body can be tilted back and forth. Do. Reference numeral 56 denotes a vehicle height raising / lowering lever, which adjusts the height of the entire body by simultaneously expanding and contracting the rolling cylinders 23 and 23 '. 57 is a control unit.

Thus, the present invention relates to the rolling cylinders 23, 23 'in wet fields and dry fields.
And the sensitivity of the expansion and contraction of the etching cylinder 41 is configured to be switchable, and when the wetland / dryland determination device 58 provided at the desired position of the machine body determines that the wetland is a wetland, the automatic control of the wetland is performed more sensitively than the automatic control of the dryland. To be configured.

That is, in the case of dry fields, since rolling is not performed more than necessary, the load on the rolling mechanism is reduced to improve durability, and in the case of wet fields, it is possible to react sensitively to the uneven surface of the field and improve workability. .

The sensitivity adjustment of the automatic control is a method of adjusting the detection values of the body left-right inclination sensor 52 and the body front-rear inclination sensor 54 to increase or decrease the detection values during wet and dry fields, and the body left-right inclination sensor. 52 and a cylinder for rolling that operates based on the detection values of the aircraft longitudinal tilt sensor 54.
23, 23 'and a method of adjusting the sensitivity of the pulse control signal to change the operating level of the pitching cylinder 41, and adjusting the flow rate of the operating hydraulic pressure of the rolling cylinders 23, 23' and the pitching cylinder 41, twenty three,
There is a method of changing and controlling the expansion and contraction speed of the 23 ′ and the cylinder 41.Either method may be used.When the wetland is determined by the wetland / dryland determination device 58 as a wetland, the rolling mechanism and the rolling mechanism are automatically controlled rather than the automatic control of the dryland. The operation of the pitching mechanism is configured to be sensitive.

The switching of the sensitivity of the automatic control can also be performed in a combine having only the rolling mechanism.

The wetland / dryfield determination device 58 is constituted by a vibration detection sensor 59 provided at the rear of the machine body.

FIG. 5 to FIG. 9 show a second embodiment of the wetland / dryfield judging device 58, in which a speed sensor 60 for detecting a speed assumed from an output of the engine at a desired position between the engine and the axle of the transmission case 46 is provided. The reaping section is provided with a grain stalk presence / absence sensor 61 for use in judging row direction and controlling direction.

The control unit 57 previously inputs the inter-plant distance in the field, calculates the distance from the number of strains counted by the cereal stalk presence / absence sensor 61, calculates the distance, and obtains the actual speed.

The actual speed is compared with the speed assumed from the output of the engine by the speed sensor 60 to calculate the slip ratio of the crawlers 9 and 9 '. If it is less than a certain value, it is determined that it is a dry field, and the sensitivity of automatic control is switched.

FIGS. 10 to 12 show a third embodiment of the wetland / dryland judging device 58, wherein an automatic control switch 62 for starting automatic control of the rolling cylinders 23 and 23 'is turned on, and when the vehicle travels for a certain period of time, the rolling The cylinders 23, 23 'are automatically expanded and contracted and roll, but the stroke sensors 51, 51'
, The difference between the rolling amounts of the left and right crawlers 9 and 9 'is calculated, and when the difference between the rolling amounts is larger than the set value, it is determined that the paddle is a wetland, and automatic control is performed based on the wetland sensitivity.

Further, the difference between the rolling amounts of the left and right crawlers 9 and 9 'is calculated by the stroke sensors 51 and 51', and when the difference between the rolling amounts is smaller than the set value, it is determined that the paddy field is dry.
Automatically controls dry field sensitivity.

FIG. 13 shows an embodiment of control by the control unit 57,
The control unit 57 determines whether the paddy field is a wetland or a dry field based on the difference in the amount of rolling between the stroke sensors 51 and 51 ′, and is controlled by the sensitivity of the dryfield until the wetland state is detected. Then, priority is given to wetland control over dryfield sensitivity control, and automatic control is performed with wetland sensitivity for a certain period of time.

If the wetland condition does not exist to some extent, the sensitivity is switched to dryfield sensitivity and automatic control is performed.

(Operation) Next, the operation will be described.

The body is advanced, the culm is harvested, and threshing is performed. When the body frame 1 is tilted left and right due to unevenness in the field, a right and left tilt sensor provided at a desired position of the body detects left and right tilts of the body, The rolling cylinder 23 is expanded and contracted, and the rear rolling arm 13 and the front rolling arm 19 are moved along the horizontal axis 1 by the expansion and contraction of the rolling cylinder 23.
Rotating around 5, 21 to lower the running frame 11 with respect to the vertical frame 16 for pitching, lower the endless crawler 9, and relatively move the vertical frame 16 for pitching upward, The frame 1 is rolled so as to correct the left-right inclination and hold the frame horizontally. When the aircraft tilts back and forth, a forward and backward tilt sensor provided at a desired position of the fuselage detects the forward and backward tilt of the fuselage, extends and contracts the pitching cylinder 41, and expands and contracts the pitching cylinder 41.
The pitching upper arm 39 is rotated, and the pitching upper arm 39 is pivoted about the pitching lower arms 35 and 35 '.
By rotating the body about 37, the rear side of the pitching frame 28 is moved up and down around the front horizontal shafts 21 and 21 'to level the aircraft.

In this case, in the case of dry fields, if the sensitivity of the automatic control is increased, the rolling mechanism will be rolled more than necessary and the load on the rolling mechanism will be increased, and if the sensitivity is low in wet fields, the response to the uneven surface of the field will be delayed. Reduce the nature.

In the present invention, the automatic control of the rolling and pitching is performed by judging between the wetland and the dryland by the wetland / dryland judging device 58, and automatically switching to appropriate sensitivity based on the judgment to perform the automatic control. In some cases, the load on the rolling mechanism is avoided without rolling more than necessary, and in the case of wet fields, sensitivity is increased to improve workability.

When the wetland / dryfield determination device 58 is configured by the vibration detection sensor 59, when the vibration detection sensor 59 detects a certain level of vibration, the wetland / dryfield determination device 58 determines that it is a dryland, and performs automatic control with dryfield sensitivity.

In the second embodiment shown in FIGS. 5 to 9, the control unit
In 57, the inter-plant distance in the field is input in advance, the distance is calculated from the number of strains counted by the grain stalk presence / absence sensor 61, and the actual speed is calculated.
The slip rate of the crawler 9 is calculated by comparing the estimated speed from the output of the engine with 60, and when the slip rate is equal to or more than a certain value, it is determined that the vehicle is a wet field. When it is determined that there is, the sensitivity of the automatic control is switched.

In the third embodiment shown in FIGS. 10 to 12, the automatic control switch 62 is turned on, and the vehicle travels for a predetermined time while automatically controlling the rolling cylinders 23 and 23 '.
The automatic expansion and contraction of the rolling cylinders 23 and 23 'during this time is determined by the stroke sensor 51 and the stroke sensor 51', and when the difference between the rolling amounts of the left and right crawlers 9 and 9 'is larger than the set value, it is determined that the paddy field is wet. Automatic control based on wetland sensitivity.

If the difference in the amount of rolling is smaller than the setting, it is determined to be a dry field, and the dry field sensitivity is automatically controlled.

The wetland and dryland determination device 58 determines wetland and dryland and switches the sensitivity of automatic control.This switching is performed by the control unit 57 until the wetland condition is detected by the wetland / dryland determination device 58. In this case as well, when the wetland / dryland judging device 58 detects the wetland condition, priority is given to wetland control over dryland sensitivity control, and automatic control is performed with wetland sensitivity for a certain period of time.

When the wetland / dryland judging device 58 detects that the wetland state does not exist to some extent, the control unit 57 switches to dryland sensitivity and performs automatic control.

(Effect) A conventionally known Japanese Patent Application Laid-Open No. 63-7712 discloses a traveling device including a pair of left and right crawlers mounted on a traveling frame, and a pair of left and right rolling devices provided between the traveling frame and the body frame. A combine with a rolling mechanism having a cylinder is shown.

Since the known one has no pitching adjustment mechanism,
Pitching cannot be adjusted. In addition, since there is no wetland / dry field judging device, in the case of a dry field, in the case of a dry field, the problem is that the automatic control excessively adjusts the rolling more than necessary and the burden on the rolling mechanism increases, and the problem of reducing the durability. There is.

Further, in the case of wet fields, there is a problem that the sensitivity of the automatic control is low, the response to the uneven surface of the field is delayed, and the workability is reduced.

However, the present invention provides a traveling device 3 comprising a pair of left and right crawlers 9 and 9 'attached to a traveling frame 11, and a pair of left and right rolling cylinders 23 and 23' provided between the traveling frame 11 and the body frame 1. A pitching mechanism having a pitching cylinder 41 provided between the running frame 11 and the body frame 1, and a vibration detection type or slip detection type or a rolling amount detection type provided at a desired position. In the provision of the wetland dry field determination device 58, between the rolling mechanism and the pitching mechanism and the determination device 58, when the determination of the determination device 58 is a wet field, compared to when it is determined to be a dry field. An automatic control device for a traveling device of a combine provided with an automatic control mechanism that makes the operation of the rolling mechanism and the pitching mechanism sensitive. Since it is, to determine the Shitsuden and dry paddy field by Shitsuden dry paddy field determination unit 58, a rolling mechanism and the pitching mechanism and the automatic control in optimal sensitivity state according to the field conditions.

[Brief description of the drawings]

1 is an overall side view, FIG. 2 is a side view of the traveling device, FIG. 3 is a plan view of the traveling device, FIG. 4 is an automatic control mechanism diagram, FIG. The figure is a schematic plan view of the whole,
FIG. 8 is a diagram showing the operation of the grain stalk presence / absence sensor, FIG. 8 is an explanatory diagram of the slip ratio, FIG. 9 is an automatic control mechanism diagram of the second embodiment, FIG.
Fig. 11 is an automatic control mechanism diagram of the third embodiment, Fig. 11 is an explanatory diagram at the time of wet field operation, Fig. 12 is an explanatory diagram at the time of dry field operation, and Fig. 13 is an operational state explanatory diagram of the automatic control. DESCRIPTION OF SYMBOLS 1... Body frame, 2... Reaper, 3.
4 ... Weeds, 5 ... Grain stalk raising device, 6 ... Glen tank, 7 ... Frying device, 8 ... Discharge auger, 9, 9 '...
Endless crawler, 10, 10 '... Guide wheel, 11, 11' ... Running frame, 12, 12 '... Rear horizontal mounting shaft, 13, 13' ...
Rear rolling arm, 14, 14 '…… Lower arm, 1
5, 15 ': Rear horizontal axis, 16, 16': Vertical frame for pitching, 17, 17 ': Upper arm, 18, 18': Front horizontal mounting axis, 19, 19 ': Front side Rolling arm, 20, 20 '…
... Lower arm, 21, 21 '... Front horizontal axis, 22, 22' ... Upper arm, 23, 23 '... Cylinder for rolling, 24, 2
4 'rod, 25, 25' stay, 26, 26 'connecting rod, 27 horizontal frame for pitching, 28 frame for pitching, 29, 29' support plate, 30 Horizontal frame, 31, 3
1 ′ …… Vertical frame, 32, 32 ′… Stay, 33, 33 ′… Axis, 3
4, 34 ': Connecting arm, 35, 35': Lower arm for pitching, 36: Horizontal axis, 37: Shaft, 38, 38 ': Support plate, 39: Upper arm for pitching, 40 ... ... Pitching arm, 41 ... Pitching cylinder, 42 ... Rod, 43 ... Stay, 44, 44 '... Tension ring, 45, 45' ...
Drive wheels, 46: Mission case, 47: Mission case mounting stay, 48, 48 '... Transmission case, 51, 51'
…… Stroke sensor, 52 …… Aircraft left / right tilt sensor, 53
…… Stroke sensor, 54 …… Longitudinal tilt sensor, 55
…… Manual tilt lever, 56… Vehicle height up / down lever, 57 …… Control unit, 58 …… Detland dry field judging device, 59 …… Vibration detection sensor, 60 …… Speed sensor, 61… Grain stalk presence sensor, 62
...... Automatic control switch.

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁶ , DB name) A01D 34/24 103 A01D 67/00 B62D 55/116

Claims (1)

(57) [Claims] 1. A traveling device 3 comprising a pair of left and right crawlers 9 and 9 'attached to a traveling frame 11, and a pair of left and right rolling cylinders 23 and 23' provided between the traveling frame 11 and the body frame 1. A pitching mechanism having a pitching cylinder 41 provided between the running frame 11 and the body frame 1, and a vibration detection type or slip detection type or a rolling amount detection type provided at a desired position. In the provision of the wetland dry field determination device 58, between the rolling mechanism and the pitching mechanism and the determination device 58, when the determination of the determination device 58 is a wet field, compared to when it is determined to be a dry field. An automatic control device for a traveling device of a combine provided with an automatic control mechanism for making the rolling mechanism and the pitching mechanism sensitive.