JP2881970B2 - Combine height adjustment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a combine height adjustment method for a combine.
More specifically, in the case of adjusting the vehicle height position of the vehicle body in the low-speed range and the high-speed range of the vehicle speed in the vertical direction, particularly, when raising the vehicle height, the rising position is controlled by a separately set vehicle height reference value. Available to

(Conventional technology and problems to be solved by the invention) Conventionally, in this type of combine having a horizontal control function of a vehicle body, in this horizontal control, a high-speed driving is performed from a low-speed driving in which a mowing operation is performed to a road driving. When the vehicle is shifted to the high speed range, the vehicle height is lowered from the normal vehicle height position during the low speed range to prevent the danger from the viewpoint of danger prevention. When the vehicle travels again from low-speed driving to low-speed driving, the adjustment operation for adjusting the position to return to the vehicle height position where the mowing work was performed was very troublesome and troublesome. And it was troublesome.

According to the present invention, when the vehicle shifts from a high speed range to a low speed range, the vehicle height position is automatically raised and returned to a position determined by a vehicle height reference value that is set separately. The purpose of the present invention is to eliminate the need for an adjustment operation for adjusting the position of the camera.

(Means for Solving the Problems) The present invention has a horizontal control function of controlling the posture of a vehicle body to a horizontal state. When the vehicle speed is shifted to a high speed range during traveling by the horizontal control, the vehicle height position is changed. When the vehicle speed is shifted to the low speed range again after running at high speed in a combine that is automatically lowered, the vehicle automatically returns to the vehicle height position according to the set vehicle height reference value. The height of the combine is adjusted.

(Effects and Effects of the Invention) In a combine traveling in which the vehicle body is maintained in a horizontal state by the horizontal control function, in the case of traveling in a lateral direction due to turning harvesting work, traveling after finishing the harvesting work, or the like, when traveling in a high speed region. When driving in this high-speed area, the vehicle travels while lowering the vehicle height position from the viewpoint of danger prevention, etc. The vehicle height position can be automatically adjusted to raise the vehicle height position until the vehicle height position matches the stored vehicle height reference value. Eliminates the need for adjustment operations to adjust the height of the vehicle to the optimal position every time the vehicle is driven, eliminating the need for cumbersome, cumbersome and time-consuming adjustment operations. The harvesting work of the combine can be performed well.

(Example) In the illustrated example, a pair of crawlers 2 are vertically movable on the lower left and right sides of a vehicle body 1 constituting a combine traveling device A, and a reaper B is supported on an upper side, and a threshing device is also provided. An undercarriage 3 on which C and the like are mounted is provided so as to be able to pivot forward and backward.

A pair of left and right crawlers 2 are arranged along a crawler frame 6 provided in a parallel state so as to be vertically movable via a pair of front and rear link arms 4, 5 disposed on the left and right sides with respect to the vehicle body 1. 7 and a drive sprocket 9 at the front end of the vehicle body 1, the crawler 2 mainly composed of a rubber material is wound around the drive sprocket 9 to drive and run.

The link arms 4 and 5 are pivotally supported by the arm shafts 10 and 11 with respect to the vehicle body 1.
The upper end of the link arm 5 is connected with a rod 12, and a retractable rolling cylinder 13 is provided between the upper end of the link arm 5 and the vehicle body 1 on the rear side.
Rolling valve 15 of hydraulic circuit 14 with hydraulic pump P
, The right and left crawlers 2 are moved up and down with respect to the vehicle body 1 so that the vehicle height and the left and right rolling of the vehicle body 1 are performed.

The chassis 3 supports a front end portion of the chassis 3 so as to rotate around the arm shaft 10, and a link arm 16 that can expand and contract vertically is provided between the rear end of the chassis 3 and the vehicle body 1. A pitching cylinder 17 is provided between the link arm 16 and the chassis 3.
The pitching cylinder 17 is hydraulically expanded and contracted by switching the pitching valve 18 of the hydraulic circuit 14,
The chassis 3 is rotated around the arm axis 10 to control the inclination in the front-rear direction. 19 is an unload valve of the hydraulic circuit 14, and 20 is a relief valve.

In addition, a controller 21 having a microcomputer
The left side of the left rolling valve 15 for moving the vehicle body 1 up and down by expanding and contracting the left rolling cylinder 13, and the upper left solenoid 22 and the lower left solenoid 23, and similarly moving the vehicle body 1 up and down by expanding and contracting the right rolling cylinder 13 The upper right solenoid 24, the lower right solenoid 25 of the right rolling valve 15
And a lower front solenoid of a pitching valve 18 that expands and contracts the pitching cylinder 17 to tilt the chassis 3 back and forth.
26, rear lower solenoid 27, and the unload valve
A sun load solenoid 28 for operating the motor 19 is provided.
Reference numeral 29 denotes an automatic display lamp that lights up during automatic control.

On the input side of the controller 21, a vehicle speed sensor 30 provided in the transmission path of the vehicle body 1, for example, on the traveling shaft 8 of the traveling gear box, for detecting a vehicle speed, and a detection value of the vehicle speed sensor 30 are provided. Threshing is performed by the vehicle height raising switch 31 that operates at the time of shifting in the low speed region, the vehicle height lowering switch 32 that operates at the time of shifting in the high speed region, and the threshing lever a that turns on and off the driving of the threshing device C. A threshing clutch switch 33 for performing left and right horizontal control for controlling the vehicle body 1 to the left and right horizontal state and fore and aft horizontal control for controlling the chassis 3 to a front and rear horizontal state, and performing a horizontal control in the same manner as the threshing clutch switch 33. A horizontal control switch 34, a left / right tilt sensor 35 for detecting the left / right tilt state of the vehicle body 1, a front / back tilt sensor 36 for detecting the front / back tilt state of the chassis 3, and an extension of the left and right rolling cylinders 13. A left stroke sensor 37 for detecting a long amount, a right stroke sensor 38, a front-rear stroke sensor 39 for detecting an extension amount of the pitching cylinder 17, and the like are provided.

In addition, the microcomputer of the controller 21 automatically lowers the vehicle height position when the vehicle speed is shifted to the high speed range during the horizontal control, and conversely, when the vehicle speed is changed to the low speed range during the horizontal control. The vehicle height (high, low), the reference value, the horizontal reference control value of the left and right crawlers 2 with respect to the vehicle body 1 during the left and right horizontal control, and the front and rear horizontal control At this time, the reference value of the inclination of the chassis 3 in the front-rear direction with respect to the crawler 2 is set and stored.

In the combine configured as described above, the harvesting operation is performed by the operation of the traveling device A, the reaper B, the threshing device C, and the like. During the harvesting operation, if the vehicle body 1 tilts to the left by the horizontal control function set in the controller 21, the upper left solenoid 22 and the lower right solenoid 25 are simultaneously turned on.
If the vehicle body 1 leans to the right, the lower left solenoid 23
And the upper right solenoid 24 are turned on at the same time, and the left and right rolling cylinders 13 and 13 are extended and contracted by the action of the left and right rolling valves 15 and 15, and the amount of operation is transmitted to the left and right inclination sensor 35 and the left and right inclination sensors 35 and 35. Feedback control is performed by the right and left stroke sensors 37 and 38, and the vehicle body 1 is rolled downward or leftward with respect to the crawler 2 to return to a horizontal state. When the vehicle body 1 is tilted back and forth, the pitching cylinder 17 is extended and contracted by the action of the pitching valve 18 by turning on the front lower solenoid 26 or the rear lower solenoid 27, and the operation amount is determined by the front and rear tilt sensor 36. Feedback control is performed by the front and rear stroke sensor 39, and the chassis 3 is tilted in the front and rear direction to return the vehicle body 1 to the horizontal state.

When traveling by the horizontal control, in the case of traveling in the lateral direction in the round harvesting operation, or in the case of traveling after the completion of the mowing operation, etc., there are many high-speed traveling, and when this high-speed traveling is detected by the vehicle speed sensor 30, there is a danger. The vehicle height lowering switch 32 is turned on from the viewpoint of prevention, etc., and the lower solenoids 23 and 25
Are turned on at the same time, and the left and right rolling valves 15, 15
, The left and right rolling cylinders 13, 13
Is extended and retracted, and based on the detection values of the left and right stroke sensors 37 and 38 for reading the operation amounts, feedback control is performed based on the vehicle height reference value set in the controller 21. Automatically performs adjustment control to lower the vehicle to the lowest vehicle height position.

Also, when traveling in this state, the vehicle speed sensor
When it is detected by 30 that the vehicle speed has been shifted to the low speed range, the vehicle height raising switch 31 is turned on, and contrary to the time of the lowering, the left and right upper solenoids 22, 24 are simultaneously turned on. Then, the left and right rolling cylinders 13, 13 are extended and contracted by the action of the left and right rolling valves 15, 15, and the detected values of the left and right stroke sensors 37, 38 for reading the amount of operation. Based on the controller 21
The feedback control is performed based on the vehicle height reference value set as described above, and the adjustment control for raising and returning the vehicle body 1 to the vehicle height position at the time of the optimal horizontal control for the mowing operation is automatically performed.

The present invention shows an example of a method for detecting high-speed traveling or low-speed traveling, and any method other than the present invention may be used as long as it can detect the high-speed traveling and the low-speed traveling. Absent.

In addition, when the vehicle travels on a flat ground surface as shown in the flowchart of FIG. 4, except for the vehicle height position adjustment control performed by changing the traveling speed, the vehicle body 1 is moved relative to the left and right crawlers 2. Parallel control for maintaining the parallel state is performed, and when the ground surface becomes uneven or inclined, left and right horizontal control for controlling the vehicle body 1 to the left and right horizontal state according to the terrain, or front and rear horizontal control for controlling the front and rear horizontal state is performed. Is performed.

In another embodiment, the vehicle body 1 is moved to the left and right crawlers 2.
When the vehicle speed sensor 30 detects that the vehicle speed has been shifted to a high-speed range during the parallel control for maintaining a parallel state with respect to the vehicle, or when the falling risk angle is detected by the left-right inclination sensor 35 or the like, The controller 21 turns on the vehicle height lowering switch 32 to automatically lower the vehicle height position to the lowermost limit in the same manner as described above. In such a state, the unevenness or inclination state of the ground surface is detected by the subsequent traveling, and when the controller 21 switches from the parallel control state to the horizontal control state, at the time of this horizontal control,
The vehicle speed sensor 30 detects that the vehicle speed has been shifted to a low-speed running range, and the controller detects
Based on the vehicle height reference value set by 21, adjustment control is performed to automatically raise and return until the vehicle reaches the vehicle height position.

[Brief description of the drawings]

1 shows an embodiment of the present invention. FIG. 1 is a partial side view, FIG. 2 is a hydraulic circuit diagram, FIG. 3 is a control block diagram,
FIG. 4 is a flowchart, and FIG. 5 is a side view. DESCRIPTION OF SYMBOLS 1 ... Body 2 ... Crawler 3 ... Chassis 4 ... Link arm (front) 5 ... Link arm (rear) 6 ... Crawler frame 12 ... Rod 13 ... Rolling cylinder 14 ... Hydraulic circuit 16 ... Link arm 17 ... Pitching cylinder 21 ... Controller 30 ... Vehicle speed sensor 31 ... Vehicle height rise switch 32 ... Vehicle height fall switch 33 ... Threshing clutch switch 34 ... Horizontal control switch 37 ... Left stroke Sensor 38 …… Right stroke sensor

Claims (1)

(57) [Claims] The vehicle has a horizontal control function for controlling the attitude of the vehicle body to be horizontal, and when the vehicle speed is shifted to a high speed range during traveling by the horizontal control, the vehicle height position is automatically lowered. In the combine, when the vehicle speed is shifted to the low speed range again after high-speed running, the combine automatically adjusts the vehicle height to the vehicle height position according to the set vehicle height reference value. .