JP2861141B2 - Combine traveling control device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a combine traveling control device.

(Prior Art and Problems to be Solved by the Invention) In the cutting operation when the grain culm is lying down, the cutting traveling speed of the combine is reduced, the cutting device is lowered as much as possible with respect to the vehicle body, and the weeding frame is moved. Makes it easier to scoop the culm. Since it is cumbersome to perform each of these operations separately, the present invention reduces the cutting traveling speed to automatically incline the vehicle body in a forward and downward direction to accurately perform the cutting posture operation of the grain culm. It is what is done.

(Means for Solving the Problems) The present invention employs the following technical means to solve the problems as described above.

That is, in a combine that is configured to be able to change the front and rear inclination posture of the vehicle body 10 by changing the front and rear relative posture of the vehicle body 10 and the crawler type traveling device, the vehicle body 10 is tilted forward and downward in relation to the reduction of the traveling speed. This is a configuration of a combine attitude control device, characterized in that the attitude is changed in the direction.

(Operation) When the vehicle body 10 is inclined in the front-rear direction due to the soil surface being soft or the like during the mowing operation, the front-rear relative posture of the vehicle body 10 and the crawler-type traveling device is changed, and The inclined posture can be corrected to, for example, a horizontal posture.

In addition, during the harvesting operation, when the culm is lying down, if the traveling speed of the vehicle body 10 is reduced, the vehicle body 10 is related to this, and the posture of the vehicle body 10 is lowered in the forward and downward inclination direction. The weeding body at the front end of the mowing device provided is in a state where it is relatively easy to scoop up the fallen grain culm.

(Effects of the Invention) As described above, the present invention changes the relative posture between the vehicle body 10 and the crawler traveling device in the front-rear direction, thereby
It is possible to change the front and rear inclination posture of the combine
In connection with the deceleration of the traveling speed, the vehicle body 10 is configured to change its attitude in the forward-downward tilt direction.
As a result, the cutting of the lodging grain culm was smoothed, and the operability of the combine in the cutting operation was improved, and the work efficiency was improved.

Embodiment An embodiment of the present invention will be described with reference to the drawings. A pair of right and left crawler frames having rolling wheels 5 on each of the left and right sides of the pitching frame 1 by a rolling hydraulic cylinder 2 provided on the pitching frame 1 and a rolling link mechanism 3 moving up and down in parallel. 6 are independently provided so as to be able to move up and down independently, and on the upper part of the pitching frame 1, the other end is rotatable up and down around a pitching shaft 7 at one of the front and rear ends,
Further, a vehicle body 10 having a pitching hydraulic cylinder 8 and a pitching link mechanism 9 for this vertical rotation is provided.

The pitching frame 1 integrally connects a pair of left and right vertical frames 11 with front and rear connection frames 12, further connects the front ends of the vertical frames 11 with a pitching shaft 7, and the rolling arm shaft between the rear ends. Connect with 13. Rolling arms 14 and 15 constituting a pair of left and right rolling link mechanisms 3 are rotatably provided on the front and rear pitching shaft 7 and the rolling arm shaft 13. The front and rear sides of the crawler frame 6 are pivotally connected to the lower ends of the left and right front and rear rolling arms 14 and 15 by pivot shafts 16 and 17 and attached to a bracket 18 protruding above the front of the pitching frame 1. The hydraulic piston 19 of the rolling hydraulic cylinder 2 is connected to the upper end of the rear rolling arm 15, and the left and right crawler frames 6 move up and down with respect to the pitching frame 1 by the expansion and contraction of the rolling hydraulic cylinder 2. It has a configuration. Reference numeral 20 denotes a rod for connecting the front and rear rolling arms 14 and 15 to interlock with each other.

Each of the left and right crawler frames 6 is provided with a rolling wheel 5 on which the crawler 4 is stretched. This wheel 5 is provided with sprocket wheels 21 and 22 at the front and rear middle and rear ends, respectively.
The guide hole is engaged with a drive hole provided along the center of the guide hole and the guide hole is rotated. The sprocket wheel 22 at the rear end is provided on a guide frame 24 and a tension rod 23 which extend and contract back and forth with respect to the rear end of the crawler frame 6, and the crawler 4 is constantly tensioned by adjusting the extension and contraction of the tension rod 23. It has a configuration.

On the front pitching shaft 7 of the vertical frame 11 of the pitching frame 1, a rotating boss 25 rotatable around the pitching shaft 7 is provided, and a bracket 26 at the front end of the vehicle body 10 is bolted to the rotating boss. , Nuts and the like, and the vehicle body 10 is configured to be rotatable up and down around the pitching shaft 7. A link pin 27 is provided on a rear portion of the left and right vertical frames 11 of the pitching frame 1, and a link of the pitching link mechanism 9 provided on the vehicle body 10.
The tip of 28 is rotatably fitted and supported.

The vehicle body 10 is mainly composed of a pair of left and right vertical frames, and the vertical frames are connected to each other by a suitable number of front and rear portions by a horizontal frame 29, and integrally formed. The axle housing 32 that covers the bearing is mounted and supported.

The pitching link mechanism 9 provided on the vehicle body 10 includes a pair of left and right arm links 34 rotatable around a pitching arm axis 33 at a rear portion, and a link pivotally connected to a tip end of the arm link 34 by a pivot pin 35. 28 and these arm links
The arm 36 and the like that rotate integrally with the arm 34 are connected to the hydraulic piston 37 of the pitching hydraulic cylinder 8 mounted on the vehicle body 10, and the link 28 is pitched by the hydraulic expansion and contraction of the pitching hydraulic cylinder 8. By rotating around the link pin 27 of the frame 1, the body 10 is moved by the link 28 and the arm link 34 to the pitching shaft 7.
It is configured to rotate vertically.

Each of the rolling arms 14 and 15 provided before and after the pitching frame 1 has an inner arm 38 formed in a crank shape in a front view and an outer arm 39 having a straight plate shape, which are integrally formed by tightening with bolts 40. The ends of the rolling arm shafts 7 and 13 are rotatably provided between the intermediate portion of the arm 38 and the distal end of the outer arm 39 with the collars 41 and 42 interposed therebetween.
The vertical frame 11 is provided such that the collar 41 is fixed and positioned within the space between the inner and outer arms 38 and 39 together with the vehicle body 10 located above the rolling arm shafts 7 and 13. Inner arm
The crawler frame 6 provided by the pivot shafts 16 and 17 at the lower end of 38 is mounted outside the rolling arms 14 and 15.

The vehicle body 10 has a horizontal frame 29 on the upper side and this horizontal frame
It has a vertical frame 43 extending across the left and right lateral ends of 29 and the like, and on the upper side, for example, in the case of a combine, mounts a threshing device, an engine, a control device, and the like, and also supports a mowing device. Reference numeral 44 denotes a transmission case equipped with a traveling transmission that transmits the drive sprocket 30, and includes brackets 26 and 45,
It is integrally attached to the front end or the rear end of the vehicle body 10 via an axle housing 32 or the like. The crawler 4 is wound and stretched between the driving sprocket 30 and each of the rolling wheels 5, and can be rotated and driven by the driving of the driving sprocket 30. The bracket 26 of the vehicle body 10 rotates the sprocket 30 up and down around the pitching axis 7 by pitching the vehicle body 10 by positioning the sprocket 30 ahead of the frontmost wheel 5, but maintains the tensioning drive of the crawler 4. Is configured. 46 is an engine exhaust stack, and 47 is its muffler cover.

8 and 9, a control configuration of the traveling device will be described. As shown in FIG. 8, a hydraulic circuit of a hydraulic pump P for hydraulically operating a rolling hydraulic cylinder 2, a pitching hydraulic cylinder 8, a cutting vertical cylinder 48 for moving the cutting device up and down with respect to the vehicle body 10, and the like is provided. In the hydraulic circuit of the cutting vertical cylinder 48, a cutting control valve 49 for raising the cutting and a cutting control valve 50 for lowering the cutting are provided so as to be electromagnetically operated. The hydraulic circuit of the pitching hydraulic cylinder 8 includes a body 10
Pitching control valve 51, which is rotated around pitching shaft 7 to rotate backward and downward, and vice versa, and check valves 70 and 7,
1 is provided. Also, a pair of left and right rolling hydraulic cylinders 2
The hydraulic circuit is provided with a rolling control valve 52, a check valve 72, and the like.
Are switched to move up and down independently or simultaneously. 53
Is an unload valve.

In FIG. 9, a controller 54 having a microcomputer has a manual tilt lever switch 55 on the input side.
The lever switch 55 and the manual tilting lever are provided in the control device, and when the tilting is performed by operating the manual tilting lever, each tilting lever switch is turned ON according to the tilting direction, and the pitching control valve 51, the rolling control valve 52 is switched to output a pitching operation of the vehicle body 10 or a rolling operation by moving the left or right crawler frame 6 up and down.

Further, a vehicle height up / down lever switch 56 and a vehicle height up / down lever for switching the up / down lever switch 56 are provided in the steering device, and when the up / down lever switch 56 is operated to raise the vehicle height, the left and right rolling control valves 52 are turned on. When the vehicle height is raised by switching to the raising side and the vehicle height is operated, the left and right rolling control valves 52 are switched to the lowering side, and control output is performed so as to lower the vehicle height.

Also, the cutting lever switch 57 is connected to the cutting vertical control valves 49, 50.
The reaping device is controlled to be raised by the reaping control valve 49 and is controlled to be lowered by the reaping control valve 50.

The vehicle body horizontal switch 58 controls the left and right rolling control of the pitching frame 1 and the front and rear pitching control. The grain stalk sensor 59 detects that the grain stalk is in a state of being harvested by the reaping device, and thereby the front and rear inclination sensor 60 for performing each control as described above,
Left and right tilt sensor 61, each of these stroke sensors 62, 63,
64 are provided. Sensitivity changing means for changing the sensitivity of each of the inclination sensors 60, 61 and the stroke sensors 62, 63, 64, etc.
65 are provided.

For pitching control of the vehicle body 10, a front-back tilt sensor
When the vehicle 60 detects the inclination of the vehicle body 10 in the front-rear direction, the pitching control valve 51 is switched rearward or rearward to expand and contract the pitching hydraulic cylinder 8, and the longitudinal stroke sensor 62 provided on the pitching hydraulic cylinder 8 detects the pitching control valve 51. By detecting and performing feedback control, the vehicle body 10 is controlled and maintained in the front-rear horizontal state.

Regarding the rolling control of the pitching frame 1,
By detecting the left and right inclination of the vehicle body 10 or the pitching frame 1 by the left and right inclination sensor 61, a left rolling control valve is provided.
52 or the right rolling control valve 52 is switched to expand and contract the left and right rolling hydraulic cylinders 2, and feedback control is performed while detecting the amount of expansion and contraction of each of the rolling hydraulic cylinders 2 with the left and right stroke sensors 63 and 64 to perform pitching. The configuration is such that the frame 1 is controlled and maintained in a horizontal state.

The height control of the pitching frame 1 is performed simultaneously with or prior to the rolling control, and the left and right rolling control valves 52 and the rolling control valve are detected by a height sensor that detects the height of the pitching frame 1 with respect to the soil surface. The hydraulic cylinder 2 is controlled to expand and contract to maintain a constant height. In addition, as the height sensor, the height may be calculated by an average value obtained by the stroke sensors 63 and 64 of the rolling control.

The traveling transmission for transmitting the left and right crawlers 4 is provided with an auxiliary transmission, and the auxiliary transmission is shifted from the normal cutting traveling speed shifting position to the low cutting traveling speed shifting position by the auxiliary shifting operation. When operated, the auxiliary transmission switch 73 is turned on, and the solenoid valve 51 is
The vehicle body 10 is switched to the rear raising (front lowering) side, and the vehicle body 10 is moved by the extension of the pitching hydraulic cylinder 8.
Rotate forward and downward.

As a result, in the mowing device at the front of the vehicle body 10, the weeding frame at the front end approaches the ground surface of the mowing traveling soil or touches the ground, thereby properly scooping up the grain culm in the lying state.

When the mowing traveling speed is returned to the high-speed range, the vehicle body 10 is controlled to be maintained in the front-rear horizontal posture maintained by the normal pitching control.

It should be noted that the vehicle body 10
Instead of the means for controlling the forward and downward direction,
Change or adjust the rear slope down to 60 with respect to the car body 10,
The vehicle body 10 may be indirectly controlled in the forward-downward direction by changing the horizontal setting value or the like.

In the illustrated example, when the grain stalk sensor 59 stops detecting the grain stalk, the cutting control valve 49 is output, the cutting vertical cylinder 48 is extended, and the cutting device is raised from the cutting position to the non-cutting position. However, at the same time, the vehicle body 10 may be configured to be inclined forward and downward. In this case, in a case where the traveling direction is changed at the end of the cutting process, the threshing sorting is reduced due to the decrease of the culm of the harvested grain, but the rearward discharge of the sorted material of the threshing sorting unit is caused by the forward inclination of the vehicle body 10. Good sorting can be maintained by suppressing the flow to the outlet side and continuing the sorting while delaying the flow of the sorting object to the discharge port side.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a side view of a traveling device, FIG. 2 is an exploded side view thereof, FIG. 3 is a plan view, and FIG. 5, FIG. 5 is a side view of a part thereof, FIG. 6 is a front sectional view of a part indicated by an arrow VI in FIG. 1, FIG. 7 is a side view thereof, FIG. 8 is a hydraulic circuit diagram, FIG. The figure is a control block diagram. DESCRIPTION OF SYMBOLS 1 ... Pitching frame 4 ... Crawler 6 ... Crawler frame 7 ... Pitching shaft 8 ... Pitching hydraulic cylinder 9 ... Pitching link mechanism 10 ... Vehicle body 60 ... Front / rear inclination sensor 73 ... Sub transmission switch

──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Takeshi Hagiyama 1st Hachikura, Tobe-cho, Iyo-gun, Ehime Prefecture Iseki Agricultural Machinery Co., Ltd. Hidehiko Nishida, Examiner, Corporate Technology Department (56) References JP-A-3-139411 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A01D 67/00-69/12

Claims (1)

(57) [Claims] 1. A combine which is capable of changing a front-rear inclination posture of a vehicle body 10 by changing a front-rear relative posture of a vehicle body 10 and a crawler type traveling device. An attitude control device for a combine, wherein the attitude is changed in a forward-downward inclination direction.