JP3090608B2 - Combine tilt controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention can take advantage <br/> in Turkey Mumbai down to have a supported vehicle body by a pair of left and right traveling devices.

[0002]

2. Description of the Related Art Conventionally, in order to maintain a running vehicle body in a horizontal position at a predetermined height at all times regardless of a change in unevenness of a soil surface and a sinking of a running device, a pair of left and right running vehicles is conventionally used. The traveling device such as a crawler or wheels is moved up and down by extending and retracting a hydraulic cylinder.

[0003] However, during the automatic control for maintaining the running vehicle body at a predetermined height and the horizontal posture in the left-right direction as described above,
It was not possible to arbitrarily change and adjust the vehicle height and the left-right inclination posture of the running vehicle body. In addition, in such a control mode, a reference vehicle height setting device such as a vehicle height adjustment dial for setting the height of the traveling vehicle body with respect to the traveling device according to conditions such as the sinking state of the traveling device is required. It is.

[0004]

In the prior art,
If it becomes necessary to change the vehicle height or the left-right inclination posture of the traveling vehicle body during the horizontal control, the change cannot be adjusted unless the automatic control state is released, and the operation is complicated. Also, when trying to control the traveling body horizontally at an arbitrary height, the height at which the left and right horizontal posture is maintained,
Further, it is necessary to determine a reference vehicle height so that the height of the vehicle body does not change even if the horizontal control is repeated.

[0005] However, according to the conventional method of adjusting the reference vehicle height setting device to set the reference vehicle height,
The state of the running soil surface, such as when the vehicle height changes during running
Adjustment is necessary again depending on the state and the like, and it is troublesome if the adjustment operation occurs frequently. In addition, if the reference vehicle height setting device is not operated to actually raise and lower the traveling vehicle body by the adjusting operation of the reference vehicle height setting device, the pilot recognizes how much the set reference vehicle height is actually at the present time. Therefore, it is not possible to set an accurate reference vehicle height according to the current situation.

[0006]

The present invention employs the following technical means in order to solve the above-mentioned problems. That is, the traveling vehicle body 3 is supported by a pair of left and right traveling devices 1 and 2, and left and right swing arms 13 and 13 and left and right vehicle height cylinders are provided between the traveling devices 1 and 2 and the traveling vehicle body 3. -16, 17 interposed, the left and right vehicle height cylinders -1
The left and right swing arms 13 and 13 are actuated by the expansion and contraction of the arms 6 and 17.
In combine <br/> formed by elevation control the vehicle body 3 is swung to a tilt sensor 4 for detecting the lateral inclination angle of the vehicle body 3, the vehicle body on the basis of a result of detection by the tilt sensor 4 Tilt control means for reciprocally expanding and contracting the left and right vehicle height cylinders 16 and 17 so as to maintain the set angle 3 at a set angle, and the traveling vehicle body from the swing position of the left and right swing arms 13 and 13. Left and right traveling devices 1 with respect to 3,
Vehicle height detecting means 5 and 6 for detecting the height of the vehicle body 2, and a vehicle height cylinder 16 for matching the vehicle height of the traveling body 3 to a reference vehicle height based on the detection results by the vehicle height detecting means 5 and 6. ,
And vehicle height control means for extending and retracting 17
Vehicle height cylinders-manual operation means 31, 32, 3 for arbitrarily expanding and contracting the left and right vehicle height cylinders 16, 17 in order to adjust the vehicle height and the left and right inclination angles of the traveling vehicle body 3.
3, 34, the vehicle height cylinder-manual operating means 31,
The expansion and contraction operations of the left and right vehicle height cylinders 16 and 17 based on the operations of the vehicle height cylinders 16 and 17 are performed with priority over the vehicle height control means. , 33, 34, a new reference vehicle height is set based on the vehicle height detected by the vehicle height detecting means 5, 6 , and this reference vehicle is set.
A tilt control device for a combine is characterized in that the tilt control and the vehicle height control are performed based on the height .

According to this configuration, the traveling vehicle body 3 is supported by a pair of left and right traveling devices 1 and 2, and the left and right vehicle heights are controlled based on the operation of the vehicle height cylinder-manual operation means 31, 32, 33 and 34. The swing arms 13 and 13 are swung by the expansion and contraction operations of the cylinders 16 and 17, whereby the left and right traveling devices 1 and 2 are moved up and down independently of the traveling body 3 both left and right or independently. The vehicle height and the left-right inclination angle of the third vehicle can be arbitrarily changed and adjusted.

Further, when the traveling devices 1 and 2 climb on the convex portion of the soil surface or fall into the concave portion due to sinking or the like, the posture of the traveling vehicle body 3 changes. In addition, in soft land such as wetlands
Therefore, the settlement amounts of the left and right traveling devices 1 and 2 are different.
As a result, the posture of the traveling vehicle body 3 changes. Then, the inclination sensor 4 detects the inclination, and the inclination control means supplies and discharges hydraulic oil to the left and right vehicle height cylinders 16 and 17 to expand and contract in a reciprocal manner. By swinging 13, the traveling devices 1 and 2 are raised and lowered reciprocally, and the posture of the traveling vehicle body 3 can be maintained at the set angle (horizontal). In addition, this
As a result, the sorting provided for the traveling vehicle body 3 of the combine
The posture of the device is naturally maintained in the prescribed posture, and the posture changes.
Therefore, there is little bias in the sorting
The sorting state is maintained at a predetermined state.

When the vehicle height changes in such tilt control, the vehicle height detecting means 5 and 6 detect the change in vehicle height from the change in the swing position of the left and right swing arms 13 and 13. , Vehicle height control means, left and right vehicle height cylinder -16,
Supply and drain hydraulic oil to 17 and expand and contract it, and swing left and right
The traveling devices 1 and 2 are raised and lowered by swinging the systems 13 and 13, and the vehicle height of the traveling vehicle body 3 can be made to match the reference vehicle height being set.

Further, the vehicle height cylinder-manual operation means 31,
32, 33, 34, left and right vehicle height cylinders-16,
17 can be arbitrarily extended / contracted, and the extension / contraction operation of the right and left vehicle height cylinders 16 and 17 based on the operation of the vehicle height cylinder / manual operation means 31, 32, 33 and 34 is performed by the aforementioned vehicle height This is performed prior to the expansion / contraction operation by the control means. Therefore, for example, when the traveling devices 1 and 2 sink,
Therefore, when it is necessary to increase the vehicle height and work,
The operator visually judges the vehicle height cylinder and the manual operation means 3
By operating 1,32,33,34, the vehicle height is adjusted. Then, the vehicle height cylinder-manual operation means 31, 32, 33,
34, the left and right vehicle height cylinders 16 and 17 are operated to extend and contract, and when the vehicle height adjustment is completed,
Based on the vehicle height detected by the vehicle height detection means 5, 6,
A new reference vehicle height for vehicle height control as described above is set. So
Then, based on this newly set reference vehicle height,
Thus, the inclination control and the vehicle height control are performed.

[0011]

According to the present invention, the traveling vehicle is supported by a pair of left and right traveling devices, and left and right swing arms and left and right vehicle height cylinders are interposed between the traveling devices and the traveling vehicle. to, the left and right vehicle height cylinders - the right and left rocking a by expansion and contraction operation of - Con obtained by lifting controls the vehicle body by swinging the arm
In Vine, a tilt sensor for detecting the lateral inclination angle of the vehicle body, said left and right vehicle height cylinder to maintain the vehicle body based on a detection result of the tilt sensor to the setting angle - is contradictory stretchable operate the Inclination control means, vehicle height detection means for detecting the height of the left and right traveling devices with respect to the traveling vehicle body from the swing position of the left and right swing arms, and a detection result obtained by the vehicle height detection means. A vehicle height cylinder to match the vehicle height of the running vehicle body with a reference vehicle height.
Vehicle height control means for extending and retracting the vehicle body, and a vehicle height cylinder-manual operating means for arbitrarily expanding and contracting the left and right vehicle height cylinders in order to adjust the vehicle height of the traveling vehicle body and the right and left inclination angles. The expansion and contraction operation of the left and right vehicle height cylinders based on the operation of the vehicle height cylinder-manual operation means is performed with priority over the vehicle height control means, and the operation of the vehicle height cylinder-manual operation means is performed. set the new reference vehicle height based on the height of the vehicle height adjustment is detected by the vehicle height detecting means upon completion by, the standard vehicle
The combine inclination control device is characterized in that the inclination control and the vehicle height control are performed based on the height.
The vehicle height of the traveling vehicle body 3 can be maintained at the reference vehicle height being set by the vehicle height control means.

Also, the posture of the traveling vehicle body 3 is maintained at a set angle.
The sorting work of the sorting device provided on the traveling vehicle body 3
To maintain the required conditions and maintain the efficiency of the harvesting operation.
You. Also, during such automatic control, the vehicle height cylinder-manual operating means 3 can be operated without releasing the automatic control state.
The operations of 1, 32, 33, and 34 can arbitrarily change and adjust the vehicle height and the left-right inclination angle of the traveling vehicle body 3, so that the operation is simplified.

The vehicle height cylinder-manual operation means 3
1, 32, 33, and 34 are operated to actually change and adjust the vehicle height, and the vehicle height after the change adjustment is set as a new reference vehicle height, and the reference height and the detected vehicle height after the output of the tilt control are output. The vehicle height control is performed by comparison with the conventional device. Therefore, the configuration is simpler than that of the conventional device, and the adjustment operation is also simplified since a reference vehicle height setting device such as a vehicle height adjustment setting dial is not required. You.

In setting the reference vehicle height, the vehicle height is actually changed and adjusted by manual operation.
As a result, the changed vehicle height is set as a new reference vehicle height, and inclination control is also performed based on this vehicle height. it is possible to recognize whether or become a thing of the, in the work
An appropriate reference vehicle height can be set according to the situation .

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to the drawings. First, the structure will be described. Reference numeral 3 indicates a traveling vehicle body of a combine.
A cockpit and a control device (not shown) are provided, a cutting device that can move up and down at the front is provided, and a threshing device that threshes after receiving the culm harvested and conveyed from the cutting device is provided.

On the lower side of the traveling body 3, a pair of left and right
The traveling devices 1 and 2 are provided to transmit the rotational power of the engine to the traveling transmission device in the traveling transmission case 8, and the rotational power decelerated by the traveling transmission device is transmitted to the traveling devices 1 and 2. Can be 9 is a traveling shaft of the combine, 10 is a driving sprocket, and 11 is a wheel supporting the lower side of the crawler.
A plurality of rolling wheels 11 are provided along a traveling frame 12 which can move up and down with respect to the traveling vehicle body 3.
The traveling frame 12 can be moved up and down in parallel by rotating the armatures 3 and 13 around the arm shaft 14 with respect to the traveling body 3, and the relative height of the traveling devices 1 and 2 with respect to the traveling body 3 is changed. can do.

Reference numeral 15 denotes the traveling frame 12 of the swinging arms 13, 13.
A pivot for The vertical movement of the traveling frame 12 is performed by telescopic vehicle height cylinders 16 and 17 interposed between the traveling vehicle body 3 and the swing arm 13. These vehicle height cylinders 16 and 17 As shown in the hydraulic circuit 22 of FIG. 3, the control is performed by switching control of the vehicle height control valves 23 and 24.
In the figure, reference numeral 18 denotes a hydraulic pump, 19 denotes a filter, 20 denotes a relief valve, 21 denotes an unload valve,
25 is a check valve.

Reference numerals 5 and 6 denote swing arms 1 for the traveling vehicle body 3.
3 is a sensor (vehicle height detecting means) for detecting the rotation angle of the vehicle 3 and detects the amount of vertical movement of the traveling devices 1 and 2 with respect to the traveling vehicle body 3. In addition, instead of this sensor, the vehicle height cylinder-1
A configuration in which a potentiometer such as a stroke sensor or the like is directly attached to the lateral sides of the sensors 6 and 17 to detect the vehicle height may be adopted.

A control device 30 (inclination control means,
The vehicle height control means has a microcomputer and performs horizontal control and vehicle height control of the traveling vehicle body 3. The input side of the control device 30 is turned on and off by a manual lever 7.
Operated switches 31, 32, 33, 34 (vehicle height cylinder-manual operation means) are connected. Switch 31
When the solenoid 26 is turned ON, the vehicle height cylinder 16 on the left side is extended, and the traveling device 1 is pushed down to increase the vehicle height. The switch 32 excites the solenoid 27. When the switch 32 is turned on, the vehicle height cylinder 16 on the left side is shortened, and the traveling device 1 is raised to lower the vehicle height.

When the switch 33 is turned on, the solenoid 28 is excited, the right vehicle height cylinder 17 is extended, and the traveling device 2 is pushed down to increase the vehicle height. When the switch 34 is turned on, the solenoid 29 is excited, the right vehicle height cylinder 17 is shortened, and the traveling device 2 is raised to lower the vehicle height. The input side of the control device 30 is connected to a vehicle body horizontal switch 35, a tilt sensor 4 for detecting the left and right tilt angle of the traveling vehicle body 3, and the sensors 5 and 6. When the vehicle body horizontal switch 35 is turned on, The running vehicle body 3 is controlled so as to be automatically leveled. When the vehicle body horizontal switch 35 is turned off, the left and right traveling devices 1 and 2 are controlled to be at the same height (parallel return state) with respect to the traveling vehicle body 3.

In FIG. 2, reference numeral 36 denotes an automatic mode display lamp for displaying an automatic control state. Next, the operation of the above example will be described based on the flowchart of FIG. When the vehicle body horizontal switch 35 is turned on, that is, in the automatic horizontal control mode, the values of the left and right sensors 5 and 6 are read (steps 1 and 2). When the vehicle height adjustment operation is performed by the manual operation lever 7, it is determined whether or not the manual input is continuously output (step 3). When the manual input is not continuously output, in other words, the manual operation lever is used. When there is no input by the sensor 7, the values of the left and right sensors 5, 6 are read (steps 4, 5). In this embodiment, the detection value of the left sensor 5 is L, the detection value of the right sensor 6 is R, and the sum of these detection values L and R is calculated as the reference height H of the traveling vehicle body 3 (step S1). 5).

During the automatic horizontal control, the inclination sensor 4
Is read (step 6). Further, when the value S detected by the inclination sensor 4 is converted into a voltage, it is determined whether or not the value is within the neutral zone of 2.4 V to 2.6 V, that is, whether or not the traveling body 3 is in the horizontal posture. It is determined (step 7). When the inclination sensor value S is equal to or less than 2.4 V in terms of voltage, the traveling vehicle body 3 is in a lower right inclination state, and the left traveling device 1 is raised to level the traveling vehicle body 3 and the right traveling device 2 is simultaneously lowered. Let it. For this reason, the solenoids 27 and 28 are simultaneously excited to shorten the left vehicle height cylinder 16 to reduce the distance between the traveling device 1 and the traveling vehicle body 3, and conversely, extend the right vehicle height cylinder 17 to extend the traveling vehicle body 3. Then, the distance of the traveling device 2 to the vehicle is increased, and the entire traveling vehicle body 3 is controlled horizontally (step 9).

On the other hand, when the detected value S of the inclination sensor 4 is equal to or higher than 2.6 V in terms of voltage, the traveling vehicle body 3 is in the lower left inclination state, contrary to the above case.
6 and the solenoid 29 are excited together, and the left vehicle height cylinder
16, the distance between the traveling vehicle body 3 and the traveling device 1 is widened, and at the same time, the distance between the traveling vehicle body 3 and the traveling device 2 is reduced by shortening the right vehicle height cylinder -17, thereby controlling the entire traveling vehicle body 3 horizontally. (Step 8).

When the traveling vehicle body 3 returns to the horizontal position, a detection height H ', which is the sum of the detection values L' and R 'of the sensors 5 and 6 at this time, is calculated (step 10). Next, the detected height H 'is compared with the reference height H set before the start of the vehicle body horizontal control (step 11). In the comparison between the reference height H and the detection height H ′, the detection height H ′
Is lower than the reference height H, the solenoids 26, 2
8 to excite the left and right vehicle height cylinders 16 and 17 to increase the height of the traveling vehicle body 3 (step 13).

Conversely, when the detected height H 'is higher than the reference height H, the solenoids 27 and 29 are simultaneously excited,
The right and left vehicle height cylinders 16 and 17 are shortened to lower the height of the traveling vehicle body 3 (step 12). Also, when the vehicle body horizontal switch 35 is turned off, the traveling vehicle body 3 becomes the traveling device 1,
In this case, the left and right sensor values L 'and R' are read and the detected height H 'is calculated (step 14).

Then, the left and right sensor values L 'and R' are compared (step 15). If the right sensor value R 'is larger than the left sensor value L', the solenoid 26,
29 is excited, the left vehicle height cylinder 16 is extended, the left vehicle height is raised, and the right vehicle height cylinder 17 is shortened to lower the vehicle height (step 16). Of the traveling devices 1 and 2 are controlled to be parallel.

Conversely, when the left sensor value is larger than the right sensor value, the solenoids 27 and 28 are excited to control the left and right traveling devices 1 and 2 in parallel with the traveling vehicle body 3 (step). 17). When the left and right traveling devices 1 and 2 are controlled so as to be parallel to the traveling vehicle body 3 in this manner, a comparison is made between the reference height H and the detected height H '(step 18). Is too low, the solenoids 26 and 28 are excited to supply hydraulic oil to the left and right vehicle height cylinders 16 and 17 to lower the traveling devices 1 and 2 and raise the vehicle height of the traveling vehicle body 3 (step 2).
0).

When the height of the traveling vehicle body 3 is too high than the reference height, the solenoids 27 and 29 are excited to shorten the vehicle height cylinders 16 and 17, and the traveling devices 1 and 2 are raised to raise the traveling vehicle body 3 Is lowered (step 19).

[Brief description of the drawings]

FIG. 1 is a flow chart of control in one embodiment of the present invention.
G.

FIG. 2 is a block circuit diagram in one embodiment of the present invention.

FIG. 3 is a partial hydraulic circuit diagram in one embodiment of the present invention.

FIG. 4 is a front view of a main part of the combine according to the embodiment of the present invention.

[Explanation of symbols]

 Reference Signs List 1 traveling device (left) 2 traveling device (right) 3 traveling vehicle body 4 inclination sensor 5 sensor (vehicle height detecting means) 6 sensor (vehicle height detecting means) 13 swing arm 16 vehicle height cylinder 17 vehicle height cylinder 30 control device (inclination control means, vehicle height control means) 31 switch (vehicle height cylinder-manual operation means) 32 switch (vehicle height cylinder-manual operation means) 33 switch (vehicle height cylinder-manual operation means) 34 switch (vehicle) High cylinder-manual operation means)

Claims (1)

(57) [Claims] 1. A traveling vehicle body is supported by a pair of left and right traveling devices, and left and right swing arms and left and right vehicle height cylinders are interposed between the traveling devices and the traveling vehicle. An inclination sensor for detecting a left-right inclination angle of the traveling vehicle body in a combine which controls the elevation of the traveling vehicle body by oscillating the left-right swing arm by expanding and contracting left and right vehicle height cylinders. And tilt control means for reciprocally operating the left and right vehicle height cylinders to maintain the traveling vehicle body at a set angle based on the detection result of the tilt sensor, and the left and right swing arms. Vehicle height detection means for detecting the height of the left and right traveling devices with respect to the traveling vehicle body from the swing position, and a vehicle for matching the vehicle height of the traveling vehicle body to a reference vehicle height based on the detection result by the vehicle height detection means Height control hand to extend and retract the high cylinder And a vehicle height cylinder-manual operating means for arbitrarily expanding and contracting the left and right vehicle height cylinders in order to adjust the vehicle height and the right and left inclination angles of the running vehicle body. The expansion and contraction operation of the left and right vehicle height cylinders based on the operation of the means is performed with priority over the vehicle height control means, and the vehicle height adjustment by the operation of the vehicle height cylinder-manual operation means is completed. A new reference vehicle height is set based on the vehicle height detected by the vehicle height detection means, and based on this reference vehicle height
A combine tilt control device configured to perform the tilt control and the vehicle height control .