JP2906525B2 - Running attitude control method for mobile agricultural machine - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling attitude control method for a mobile agricultural machine such as a combine.

(Prior Art and Problems to be Solved by the Invention) A chassis supporting a mowing device, a threshing device, and the like is pitched and inclined in the front-rear direction with respect to the vehicle body, and the left and right crawlers are moved up and down with respect to the vehicle body. In a control mode such as rolling control of the vehicle body to the left and right horizontal postures or parallel control of moving the left and right crawlers up and down in a parallel state with respect to the vehicle body, a normal flat running ground is used. If the vehicle is in the horizontal position, the heights of the left and right crawlers relative to the vehicle are in the same state, so there is no need to perform rolling control to bring the vehicle to the horizontal position. In many cases, when the rolling control for the vehicle is released, the heights of the left and right crawlers with respect to the vehicle body are the same, and the left and right crawlers are in a parallel state.

As described above, in the running posture control having various control modes, the manual or automatic switching of the control mode may cause a sudden change in the vehicle body posture, which may hinder other operations. . For example, during the execution of the rolling control, when the harvested grain is full in the grain tank, the grain is discharged from the grain discharge auger to another accompanying car tank, etc., and the rolling control is performed. When the vehicle body in the horizontal position is changed to a position parallel to the left and right crawlers by the vertical movement of the left and right crawlers, the discharge auger is released. The angle is changed, and the grain discharge position is deviated, so that the grain is taken out of the accompanying vehicle tank, and the discharge position of the grain discharge auger is difficult to determine.

The present invention checks in such a case so as not to switch from the rolling control to the parallel control.

(Means for Solving the Problems) A first invention is a rolling control for moving the left and right crawlers 2 up and down with respect to a vehicle body 1 to control the left and right crawlers 2 left and right, or a chassis 9 for supporting a working device. The car body 1
Pitching control to perform pitching control to the front and rear inclination with respect to the vehicle body, and parallel control to move the left and right crawlers 2 up and down in a left-right parallel state with respect to the vehicle body 1 can be switched. A traveling attitude control device for a mobile agricultural machine characterized in that switching to control is suppressed. A second aspect of the present invention is the traveling attitude control device for a mobile agricultural machine according to the first aspect, wherein when the threshing operation is being performed, switching to the parallel operation is suppressed. The third invention is
The running posture control device for a mobile agricultural machine according to the first aspect of the present invention is characterized in that when the grain discharging operation is being performed, switching to the parallel control is suppressed. The fourth invention is the first invention according to the first invention, characterized in that switching to the parallel control is suppressed when detecting that there is a cereal stalk in the mowing device even when the mowing operation is not performed. It is a running attitude control device for a mobile agricultural machine.

(Operation) When the vehicle body 1 is tilted to the left and right, the left and right crawlers 2 are moved up and down with respect to the vehicle body 1 so that the vehicle body 1 can be controlled to be rolled into a horizontal posture.
The pitch of the chassis 9 is changed in the longitudinal direction with respect to the vehicle body 1 by the pitching control, so that the chassis 1 can be brought to the front-rear horizontal position, the working height can be changed, and the like.
In the parallel control, the height between the vehicle body 1 and the left and right crawlers 2 is the same, and the posture is parallel to the left and right directions.

When switching to the parallel control by the above-described rolling control, or during or during the pitching control,
If the predetermined work deficiency condition is detected, the switching to the parallel control is not performed, and the vehicle body 1 or the chassis 9 maintains the posture or position as it is. In particular, when the threshing operation and the grain discharging operation are being performed, or when it is detected that there is a grain culm in the mowing device even if the mowing operation is not being performed, the switching to the parallel control is not performed. To

(Effect of the Invention) As described above, the switching from the rolling control of the vehicle body 1 or the pitching control of the chassis 9 to the parallel control is performed when a predetermined work defect condition is detected, particularly when threshing work and grain discharging work are performed. Is performed, or when it is detected that there is a grain culm in the mowing device even if the mowing operation is not performed, since the rolling control posture of the undercarriage 1 is not performed, or The pitching control attitude of the chassis 9 is maintained until a predetermined end, and a stable working attitude can be obtained, so that safe and simple operation can be performed.

(Example) In the illustrated example, a vehicle body 1 includes a pair of left and right crawlers 2 on a lower side before and after a parallel link mechanism is formed.
5, 6 and the right and left are independently moved up and down by a rolling cylinder 7 and the like for rotating the front and rear link arms 5, 6. On the upper side, there is provided a chassis 9 which is rotatable forward and backward about a pitching shaft 8 at a front part, and a pitching cylinder.
It is configured to incline forward and backward through the link mechanism 11 due to expansion and contraction of 10.

The left and right crawlers 2 extend between a rotatable rolling wheel 13 disposed along the crawler frame 12 and a driving sprocket 14 transmitted through a transmission of a traveling transmission case at the front end of the vehicle body 1. It is configured to be driven by the rotation of the drive sprocket 14 over the endless track belt 15. The crawler 2 attaches this crawler frame 12 to
The front and rear link arms 5 and 6 are configured to be moved up and down in parallel with the vehicle body 1 by the rotation of the link arms 5 and 6 to move up and down. Reference numeral 16 denotes a rod for interlocking the front and rear link arms 5, 6, and the rolling cylinder 7 is provided to extend and contract between the front link arm 5 and the vehicle body 1. Each crawler 2 is vertically moved with respect to the vehicle body 1 independently. The vertical movement of the left and right crawlers 2 causes the vehicle body 1 to incline to the left and right to be horizontal, or the whole vehicle body 1 is moved up and down.

The pitching shaft 8 is provided on a rotation axis of the front link arm 6 with respect to the vehicle body 1, and is controlled by a pitching cylinder 10 at the rear end of the chassis 9 so as to be extendable and contractible. By rotating the link mechanism 11 therebetween, the chassis 9 is rotated at an appropriate angle from the front-rear parallel state to the vehicle body 1 over a forward downward inclination.

In the case of a combine, a harvesting device and a control device are mounted on the front of the chassis 9 and a threshing device and a grain tank are mounted on the rear.

The rolling control device 3 and the descent control device 4 are constituted by a controller 17 having a microcomputer, various sensors on the input side, various solenoids on the output side, and the like.

On the input side, the left and right rolling cylinders 7 are simultaneously expanded and contracted, and the entire up / down switch 18 for raising or lowering both the left and right sides of the vehicle body 1 together, and the operating lever is rotated and tilted back and forth or left and right, A tilt lever switch 19 for causing the chassis 9 to tilt forward and backward (pitching) with respect to the vehicle body 1 by expansion and contraction of the pitching cylinder 10 and for tilting (rolling) the vehicle body 1 to left and right by expansion and contraction of the left and right rolling cylinders 7; Engage the transmission clutch of the threshing device,
A threshing clutch switch 20 for disengaging and performing automatic horizontal control when the transmission clutch is engaged, a vehicle body horizontal switch 21 for controlling the vehicle body 1 to the left and right horizontal posture by the rolling control and the pitching control as described above, Left / right tilt sensor 2 for detecting tilt angle, horizontal, etc.
2. Front and rear inclination sensor 23 for detecting the inclination angle and horizontal of the chassis 9 in the front and rear direction, left and right stroke sensors 24 and 25 for feedback control while detecting the extension of the left and right rolling cylinders 7, and extension of the pitching cylinder 10. Stroke sensor 26 that performs feedback control while detecting the auger, an auger discharge lever switch 40 for discharging harvested grains from the grain tank to the outside of the machine by an auger, and detects that the grain culm has been guided to the reaper. A grain stalk sensor 41 and the like are provided.

On the output side, an upper left solenoid 28, a lower left solenoid 29 for switching the left rolling control valve 27 between the upside and the downside so as to move the left rolling cylinder 7 up and down by moving the left rolling cylinder 7 up and down, The pitching control valve 33 is switched so that the upper right solenoid 31, the lower right solenoid 32, and the front and rear rolling cylinders 10 for switching the right rolling control valve 30 of the right rolling cylinder 7 are extended and retracted to rotate the chassis 9 around the pitching shaft 8. Before and after solenoids 34 and 35, unload solenoid 37 that operates unload valve 36, and automatic lamp that lights when horizontal control is automatically performed by turning on threshing switch 20
38 and so on.

The hydraulic circuit 39 of the hydraulic pump P is provided with the left and right rolling control valves 27 and 30, the pitching control valve 33, the left and right rolling cylinder 7, the pitching cylinder 10, the unload valve 36, and the like.

The rolling control device 3 includes the tilt lever switch 19, the vehicle body horizontal switch 21, or the threshing switch 20.
, Manual rolling control, automatic rolling control, and the like.

When the detection angle of the left-right inclination sensor 22 is equal to or larger than a predetermined angle A that is dangerous for the vehicle body 1 to roll over, the descent control device 4 performs a lower left solenoid 29 based on this detection.
And the lower right solenoid 32 are output to switch the left and right rolling control valves 27 and 30, and the left and right rolling cylinders 7 are simultaneously contracted to lower the vehicle body 1. When the descent reaches a preset position, the left and right solenoids 29 and 32 are switched to the neutral position by the detection of the left and right stroke sensors 24 and 25, and the descent of the vehicle body 1 is stopped.

The parallel control device 42 operates the left and right rolling control valves 27, 30 by turning off the vehicle body horizontal switch 21 or by turning off the tilt lever switch 19, etc.
The height of the left and right crawlers 2 is made equal to the body 1,
The body 1 and the left and right crawlers 2 are automatically controlled so as to be parallel to each other, and are maintained at a designated reference vehicle height. When the vehicle height is changed from the designated reference height, the vehicle body 1 is
The vehicle is moved up and down while maintaining a left-right parallel posture with respect to the left and right crawlers 2 to change the vehicle height. Further, the switching operation to the parallel control by the parallel control device 42 may be configured such that a special selection switch is provided to select a control mode.

The parallel control device 42 is provided with a parallelized output restraint device 43, which performs restraint so as not to switch or select the parallel control mode under a predetermined work defect condition. As described above, in this embodiment, the threshing clutch switch 20 is
When operated to OFF, the automatic control is released and the vehicle body 1 is maintained in the left-right horizontal posture by the rolling control. However, since the parallel control is returned, the heights of the left and right crawlers 2 are the same. As a result, in a place where the traveling ground inclines left and right, or where there is a level difference, the parallel control may cause the vehicle body 1 to assume a posture in which the vehicle body 1 inclines left and right.

However, when the auger discharge lever switch 40 or the grain culm sensor 41 or the like is turned on, the parallelized output restraint device 43 works, without switching to the parallel control mode,
Rolling control for maintaining the vehicle body 1 in the left-right horizontal state, or pitching control for maintaining the front and rear inclination of the chassis 9 is maintained.
In addition, when the auger discharge lever switch 40 and the cereal stalk sensor 41 are turned off so that the discharge auger does not discharge the grains, and when the cereal stalk is no longer in the reaper, the parallelized output is performed. Parallel control is performed in order to release the restraint by the restraint device 43.

In this manner, when the harvested grains in the grain tank are discharged to the accompanying vehicle or the like outside the machine by the discharge auger, the switching from the rolling control or the pitching control to the parallel control is suppressed, so that the chassis 9 The correct discharge position is maintained without changing the position of the discharge auger and the position of the discharge port above.

Also, when the work is stopped in the middle of the harvesting operation by the mowing device, when the mowing device is moved up and down, the culm once harvested falls from the cutting blade onto the reaping ground, or the unculled culm is pinched. Even if the cutting action is stopped, when the cereal culm sensor 41 detects that there is a cereal culm in the mowing device, the left and right inclination of the vehicle body 1, the undercarriage 9, etc. And the vertical movement, etc., maintain the posture performed by the rolling control, the pitching control and the like as they are, so that the above-mentioned disturbance of the grain stem and the pulling do not occur.

[Brief description of the drawings]

1 shows an embodiment of the present invention. FIG. 1 is a side view, FIG. 2 is a hydraulic circuit diagram, and FIG. 3 is a control block diagram. (Explanation of reference numerals) 1 ... body 2 ... crawler 9 ... chassis

Claims (4)

(57) [Claims] 1. A left and right crawler 2 is moved up and down with respect to a vehicle body 1 to control rolling of the vehicle body 1 left and right, or a chassis 9 supporting a working device is tilted back and forth with respect to the vehicle body 1. It is possible to switch between pitching control for performing pitching control and parallel control for moving the left and right crawlers 2 up and down in a left-right parallel state with respect to the vehicle body 1, and switch to the parallel control by detecting a predetermined work defect condition. A traveling attitude control device for a mobile agricultural machine, characterized in that the traveling attitude is controlled. 2. The running attitude control device for a mobile agricultural machine according to claim 1, wherein when the threshing operation is being performed, switching to the parallel control is suppressed. 3. The traveling attitude control device for a mobile agricultural machine according to claim 1, wherein switching to the parallel control is suppressed when the grain discharging operation is being performed. 4. The mobile agricultural machine according to claim 1, wherein switching to the parallel control is suppressed when the harvester detects that there is a cereal stalk even when the harvesting operation is not being performed. Running attitude control device.