JP3243645B2 - Work machine horizontal controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal control device for a working machine such as a combine for maintaining a machine body supported by a left-right traveling crawler horizontally.

[0002]

Conventionally, as shown in JP-flat 2-189217, opportunity of right and left traveling crawlers through left and right lifting members
Mounted on the table so that it can move up and down, and can detect the horizontal inclination of the machine base.
Raises or lowers the traveling crawler based on the result of the angle sensor.
To automatically control the level of the machine base.
The closest position of the left and right traveling crawlers to the machine
Left and right lower limit switches to detect and left to machine stand
Left and right upper limit to detect the farthest position of right traveling crawler
There is a technique of Ru provided with a switch.

[0003]

The prior art is based on a dry field.
And the entry and exit of the wetland and the field that runs with the threshing section stopped
Because horizontal control is not performed separately for harvesting,
, Harvesting in wet fields, entering and exiting fields, etc.
Not obtained not readily perform appropriate horizontal control operation, the horizontal control function
Improvement and driving operability cannot be easily achieved
There are problems such as .

[0004]

According to the present invention, a left and right traveling crawler is mounted on a machine base via a left and right elevating member so as to be able to move up and down freely, and a detection result of an inclination angle sensor for detecting a left and right inclination of the machine base is obtained. based, the travel crawlers to lift, in the horizontal control device for a working machine which automatically horizontally machine base, providing the left and right lower limit switch for detecting the closest position of the left and right traveling crawlers for machine base, said up-ramp side limit
When the switch is off, move the left and right traveling crawlers upside down
After the horizontal control for automatically moving up and down, while maintaining the horizontal dead zone, the right and left lower right crawlers are controlled by the same amount to the right or left lower limit to one of the left and right lower crawlers.
When the horizontal control for raising and lowering the
Switching between wetland mode control to maintain the aircraft height
Which was constructed to cause operating the pitch, switching
Switch to dry or wetland mode by operating the switch.
Change the harvesting work, and run the crawler right and left in the dry field mode.
The horizontal control that raises and lowers the
Responsiveness enables quicker control response, enabling high-speed running during dry field work
And fast control action corresponding to high-speed work
A flat state can be realized, while maintaining the horizontal
Control to lower the aircraft height
Can support the aircraft as low as possible in dry fields where
Lowering the center of gravity allows for control that emphasizes aircraft stability,
In paddy field mode, paddy weight in tank increases due to harvesting
As the crawler on the tank side sinks greatly
However, since the aircraft height is maintained after leveling,
Good running performance in the field was obtained, and
Mobility with emphasis on running through wet fields and maintaining the aircraft high
And the mission case at the bottom of the fuselage
This can eliminate problems such as moving in the mud .

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a horizontal control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view thereof. In FIG. ) Is a machine body which is a machine built on the track frame (1), and (4) is a threshing machine in which a feed chain (5) is stretched to the left and a handling cylinder (6) and a processing cylinder (7) are built in. , (8) a cutting section provided with a cutting blade and a grain culm transport mechanism, (9) a straw processing section facing the end of a straw chain (10), (11) a driver seat (12) and a driving operation Department (1
A cab including 3), (14) an engine section in which an engine (15) is provided, (16) an engine section (14)
The grain from the threshing unit (4) is arranged in front of the
A grain tank (7), which is stored via 7), is an upper discharge auger for taking out grains in the grain tank (16) to the outside, and is configured to continuously perform harvesting and threshing operations.

As shown in FIGS. 4 and 5, the traveling crawlers (2a) and (2b) on the left and right are provided in a transmission case (1).
9) and the drive sprocket (2
0), a plurality of track rollers (21) attached to the track frame (1) and an equalizer wheel (22).
(22) and the idler wheel (23), and the track frame (1) is supported by the front and rear horizontal pivots (24) (2).
5) and the front and rear bell crank links (26) and (27) are supported on the machine base (3) side so as to be able to vertically move up and down. The crank links (26) and (27) are attached to the front and rear connecting horizontal frames (28) and (29) at the lower part of the machine base (3) by bearings (30).
And the intermediate portion is swingably supported via a support shaft (31), and the pivot shafts (24) and (25) are connected to the link (2).
6) While being rotatably supported at one end of (27), the other ends of the front and rear crank links (26) and (27) are connected to each other via a rod (32) so as to be interlocked with each other. The piston rod (3) of a hydraulic lifting cylinder (34) (35), which is a lifting element that pivotally supports the base end via a bracket (33).
6) The other end of the rear crank link (27) is connected to the front end via a pivot (37), so that the left and right traveling crawler (2) is connected.
a) The cylinder (34) provided in each of (2b)
The left and right track frames (1) and (1) are individually moved up and down with respect to the machine base (3) by appropriately expanding and contracting the piston rod (36) of (35), so that the left and right traveling crawlers (2a) and (2b) are moved. , The support height of the machine base (3), that is, the ground height (H) is made variable.

[0007] The right and left lifting cylinder (34)
Between the (35) and the rear crank link (27), left and right cylinder type supports for detecting the upper and lower limits of the support height (H) of the machine base (3) by the left and right traveling crawlers (2a) and (2b). A machine (3) and a crawler (2a) which are provided with a height sensor (38) and have a maximum and minimum support height.
In the state of being farthest and closest to (2b), the left and right upper limit switches (39a) (40) of the sensor (38)
a) and left and right lower limit switches (39b) (40)
b) (hereinafter, the limit switch is abbreviated as LS) is turned on to perform these detections, while a weight type inclination angle sensor (41) installed on the machine base (3) is used to detect the main body, that is, the machine base. It is configured to detect the left-right inclination of (3).

As shown in FIG. 1, a left ascending and descending solenoid (34a) (34b) for switching a hydraulic switching valve (not shown) for operating the right and left elevating cylinders (34) and (35).
And a control circuit (42) for appropriately energizing or turning on the right ascending and descending solenoids (35a) and (35b) to perform horizontal control of the fuselage.
3) A threshing switch (43a), which is a work switch that is turned on when the clutch is turned on, a cutting switch (44a), which is turned on when the cutting clutch lever (44) is turned on, and a manual priority switch (45), which is turned on when the side clutch is operated. ), An automatic switch (46) for starting automatic horizontal control, and switching between dry fields and wet fields (dry fields are off, wet fields are on).
The dry / wet selector switch (47) and each of the aforementioned solenoids (3
4a) Left and right manual up / down switches (48a) (48) for manually operating (34b) and (35a) (35b)
b) and (49a) and (49b), and the inclination angle sensor (4).
1), a dial-type inclination angle setting device (50) for setting a dead band which is a reference value of the sensor (41), and the limit switches (39a) (39b) and (40a) (4)
0b) is input-connected to the control circuit (42), and the control circuit (42) is output-connected to an automatic lamp (51) that is turned on during the automatic horizontal control. Based on the detection of the sensor (41), the left and right elevating cylinders (34) and (35) are appropriately expanded and contracted to maintain the body level.

The present embodiment is configured as described above, and the operation will be described below with reference to the flowcharts of FIGS. 6 to 12 and the output tables of FIGS.

Now, as shown in FIG. 6, the automatic switch (4)
6) ・ Mowing switch (44a) ・ Threshing switch (43)
When all of a) are on, the automatic control mode is set to start the automatic horizontal control. At this time, the threshing flag is set to 1, the automatic lamp (51) is turned on, and each switch (46) is turned on.
(44a) When at least one of (43a) is off,
In the automatic control off mode, the threshing flag is set to 0, the automatic lamp (51) is turned off, and the automatic horizontal control is stopped.

In the automatic control mode, when the field condition is a dry field, the dry / wet selector switch (47) is turned off, and when the field is a wet field, the switch is turned on, thereby controlling the dry field mode and the wet field mode. At the same time, when the vehicle is turned or the ridge is crossed while the threshing clutch (43a) is turned off during the control in each of these modes, the control in the non-operation mode is performed.

The detected value of the tilt angle sensor (41) is Va, the set value of the tilt angle setting device (50) is Vb, the dead zone value is V1, and the horizontal deviation as the tilt value is Vx (Vx = Vx
b−Va), the deviation (V
x) is in the horizontal state of the dead zone (V1 ≧ Vx> −V1), the left or right lower limit L as shown in FIGS.
The left and right descending solenoids (34b) and (35b) are turned on at the same time until one of the S (39b) and (40b) is turned on. 3) is lowered.

Further, when the machine (3) satisfies Vx> V1 other than the dead band (V1 ≧ Vx> −V), the right lower limit LS (40b) and the left upper limit LS (39a) are inclined. When both of them are off, horizontal control is performed in a state in which the left ascending solenoid (34a) and the right descending solenoid (35b) are turned on, and the left and right traveling crawlers (2a) and (2b) are moved up and down in the opposite direction, and the dead zone (V1 ≧ When Vx> -V1) is entered, the lowest descent control is performed while maintaining the horizontal position until one of the left or right lower limit LS (39b) (40b) is turned on. When the lower right limit LS (40b) is off and the upper left limit LS (39a) is on, the right lowering control of the machine (3) with only the right lowering solenoid (35b) is on, and the lower right limit LS (40b) is on. At left upper limit LS
When (39a) is off, only the left ascending solenoid (34a) is on, the right ascending control of the machine (3) is performed, and similarly, the deviation (Vx) is put in the dead zone (V1 ≧ Vx> −V1). Control is performed, and when the left and right lower limit LS (39b) (40b) is off, the lowest descent control is performed while maintaining the same horizontal level as described above.

Further, as shown in FIGS. 8 and 13, -V1
When the right upper limit LS (40a) and the lower left limit LS (39b) are both off in a state where the machine (3) satisfies the condition> Vx, the right ascending solenoid (35a) and the left descending solenoid (34b). On left and right running crawler (2a)
Horizontal control is performed in a state where (2b) is reversed in the vertical direction, and the upper right limit LS (40a) is off and the lower left limit LS (3
9b) is ON, only the right ascending solenoid (35a) is ON, and the right upper limit LS (40a) is ON and the left lower limit LS
When (39b) is off, the right ascending and descending controls of the machine (3) are performed by turning on only the left descending solenoid (34b), so that the horizontal zone in which the dead zone (V1 ≧ Vx> −V1) is obtained. When the left and right lower limits LS (39b) and (40b) are turned off in this state, the lowest descent control is performed while keeping the horizontal level as described above. Also, in the state of Vx> V1 or -V1> Vx, the upper right or the lower left is inclined, and the lower right limit and the upper left limit LS are set.
(40b) When both the solenoids (34a) (35b) or (35) are on when both (39a) are on or both the upper right limit and the lower left limit LS (40a) (39b) are on.
a) Turn off (34b) and flash the automatic lamp (51) to notify the operator.

On the other hand, when the deviation (Vx) in the wetland mode is in the horizontal state of the dead zone (V1.gtoreq.Vx> -V1), as shown in FIG. 9 and FIG. The body height at the time of the dead zone without being performed is maintained, and the dead zone (V1 ≧ Vx>
At the time of control of Vx> V1 or -V1> Vx other than -V1), the left side is usually fixed, and the right side of the driver's seat (12) side where the sinking amount is large is preferentially raised and lowered. It performs horizontal control, is in a right-upward inclination state of Vx> V1, and performs a right-down control by turning on a right-down solenoid (35b) when the lower right-hand LS (40b) is off, and a right lower-limit LS When (40b) is on and the upper left limit LS (39a) is off, the left ascending solenoid (34a) is turned on to perform left ascending control, and each of these LSs (39a) (40b) is controlled.
Are on, each solenoid (34a) (35
b) is turned off and the automatic lamp (51) blinks.

Further, when the left lower limit LS (39b) is off and the right upper limit LS (40a) is on or off in the wet-upland mode and -V1> Vx, and the left lowering solenoid (34b) is turned on. On or right ascending solenoid (35
a) is turned on, the left descent or right descent control of the machine base (3) is performed, and the left lower limit and the right lower limit LS (39)
b) When all of (40b) are on, right ascending solenoid (35a) is turned on to perform right ascending control. When both left lower limit and right upper limit LS (39b) (40a) are on, Each of the solenoids (34b) and (35a) is turned off and the automatic lamp (51) blinks.

Further, during the traveling operation in the dry rice field and the wet rice field mode, the threshing switch (43a) is switched from on to off by turning off the threshing clutch lever (43) at the turning point or over the ridge. In contrast, as shown in FIGS. 11 and 12, in the non-working mode under wet field working conditions, the left and right lower limit LS is set.
Both (39b) and (40b) are off and the dead band (V
When the lower left limit LS (39a) is off and Vx> V1 other than 1 ≧ Vx> −V1), the left ascending solenoid (34a) and the right descending solenoid (35b) are turned on. Horizontal control is performed in a state in which the left and right traveling crawlers (2a) and (2b) are moved up and down in the reverse direction, and when the upper left limit LS (39a) is on, only the right descending solenoid (35b) is turned on to turn the right. The lowering control is performed, and when the upper right limit LS (40a) is off in a state of -V1> Vx and a left ascending slope, the left lowering solenoid (34)
b) and the right ascending solenoid (35a) is turned on to perform horizontal control in a state in which the left and right traveling crawlers (2a) and (2b) are vertically moved up and down, and a right upper limit LS
When (40a) is ON, the left descent control is performed by turning ON only the left descent solenoid (34b), and the dead band (V
When entering 1 ≧ Vx> −V1, the left / right descending solenoid (3
4b) (35b) is turned on at the same time, and lowers until either the left or right lower limit LS (39b) (40b) is turned on while keeping the horizontal level.

As is clear from the above, the left and right elevating members are used.
The right and left traveling cylinders are moved through certain lifting cylinders (34) and (35).
Rollers (2a) and (2b) are mounted on the machine base (3) so as to be able to move up and down.
Tilt angle sensor that detects the horizontal tilt of the machine base (3)
Based on the detection result of (41), the traveling crawler (2a)
(2b) is raised and lowered to automatically level the machine (3)
In the horizontal control device of the work machine, the left
Detects the closest position of the right traveling crawler (2a) (2b)
Left and right lower limit switches (39b) and (40b)
The limit switch (39b) (4
0b) is off, the left and right traveling crawlers (2a) and (2a)
b) Automatic horizontal control for raising and lowering upside down
After maintaining the horizontal dead zone,
Control of the dry rice field mode to lower the left and right by the same amount to the right and left
Horizontal system that preferentially raises and lowers the right crawler (2b)
Wetland model that maintains the aircraft height when you are in the dead zone
Mode is selected by operating the changeover switch (47).
And the threshing unit (4) was stopped.
Control in non-working mode under wet field conditions.
Provision of a threshing switch (43a) for controlling the wetland mode
Control, and perform almost the same control as in the dry rice field mode.
The left and right traveling crawlers (2a) (2
b) Upper and lower limit switches for detecting the remotest position
(39a) and (40a) are provided, and the dryland mode is lowered most.
The lower right and upper left limit switches (40
b) When both (39a) are on, or when the upper right
Both the lower left limit switch (40a) and (39b)
When ON, stop the control and blink the automatic lamp (51)
On the other hand, by controlling the wetland mode,
Upper left limit switch and lower right limit switch (39a) (40
b) when both are on, or the lower left and upper right limit
Switch (39b) and (40a) are both on.
Control is stopped and the automatic lamp (51) flashes.
Configure to inform. Then, the changeover switch (4
Switch to dry field mode or wet field mode by the operation of 7)
Do harvest work Te, also threshing detection of the switch (43a)
Switch to the non-working mode to enter and exit the field.
Horizontal control is performed separately for dry and wet fields, and
Harvesting work in dry fields, and in wet fields,
Horizontal control operation suitable for each driving state such as entering and exiting the field
To improve the level control function and driving operability.
And automatically detect abnormal inclination of the aircraft during harvesting.
The lamp (51) flashes to make the recognition prompt.

Then, when the vehicle enters the central region (V3> | Vx |) of the median dead zone (V3) (V1> V3) which is set to a value smaller than the dead zone (V1), the machine enters a position where -V3 <Vx <V3. (3) maintains the current height position, and when Vx <-V3, Vx> V3 deviates from the center area, the left or right descending solenoid (34b) on the off side of the left and right lower limit LS (39b) (40b). (35b) is turned on and lowered until the left or right lower limit LS (39b) (40b) is turned on. In addition, even when the non-working mode is set under the dry field working conditions, the dead zone in the dry field mode (V1 ≧ Vx> −
Lower left or right lower limit LS (39b) which is turned off at V1)
The left or right lowering solenoids (34b) and (35b) are turned on until the (40b) is turned on, and the machine base (3) on the left and right ascending side is lowered.

As described above, the dry field mode dead zone (V1 ≧ V
When Vx> V1 and -V1> Vx deviate from x> -V1), the operation directions of the left and right lifting cylinders (34) and (35) are in opposite directions, and the lifting amount is. Horizontal control with excellent controllability at a high control speed is performed. When the vehicle enters a dead zone (V1 ≧ Vx> −V1), the horizontal control is performed to lower the lower limit to the lowermost position, and the body height is maintained. Control to the lowest possible state to enable work with excellent mowing performance and stability. On the other hand, in the wetland mode, horizontal control is performed by preferentially moving up and down on the right side, which is the driver's seat (12) side, and the dead zone (V1 ≧ Vx>)
-V1) A certain level above the ground is secured without performing the lowest descent control as in the dry field mode even when the vehicle enters, and the running performance in wet field running is improved. Further, during the traveling work, when the threshing clutch is turned off and the aircraft turns or crosses over the ridge, in the case of the wetland mode, the lower limit LS (39b) (40b) of one of the left and right is kept on while maintaining the horizontal level. When the horizontal plane is distorted due to the state in which the aircraft is running on the hard ground after the lowering, the off-side crawler (2a) or (2b) is controlled so as to be closest to the machine base (3). In this way, it is possible to make the turning of the aircraft in the wetland field excellent in stability.

[0021]

As is apparent from the above embodiments, the present invention provides the left and right traveling crawlers (2a) and (2b) via the left and right elevating members (34) and (35) so as to be vertically movable on the machine base (3). And a traveling crawler (2a) based on the detection result of the inclination angle sensor (41) for detecting the lateral inclination of the machine (3).
(2b) The horizontal control device for a working machine that raises and lowers the machine (3) to automatically level the machine (3), detects the closest position of the left and right traveling crawlers (2a) and (2b) to the machine (3). A lower limit switch (39b) (40b) is provided, and the limit switch (39b) (4
0b) is off, the left and right traveling crawlers (2a) and (2a)
b) Automatic horizontal control for raising and lowering upside down
After that, while maintaining a horizontal dead zone , control of a dry rice field mode in which the left and right sides are lowered by approximately the same amount to one of the right and left lower limits , and
Horizontal system that preferentially raises and lowers the right crawler (2b)
Wetland model that maintains the aircraft height when you are in the dead zone
Mode is controlled by operating the changeover switch (47).
The changeover switch (47)
Switch to dry field mode or wet field mode by operation and harvest
Work, dry crawler in dry field mode (2a)
(2b) is moved up and down in the vertical direction by horizontal control.
Fast response time with quick response, high speed in dry field work
Running is possible, and fast control operation corresponding to high-speed work
Therefore, a horizontal state can be realized, and the left
The aircraft is controlled by descending to one of the right limits.
Support the aircraft as low as possible in dry fields where there is no need to
Control with low center of gravity and emphasis on aircraft stability.
Harvesting in wetland mode.
Crawler on tank side as paddy weight of ink increases
While (2b) sinks greatly,
Maintains body height to maintain good running in wet fields
To get better wetland running ability
Emphasize, keep the aircraft high, secure mobility and drive
Can, also, such as mission to case of the fuselage bottom is moved through the mud
It is possible to eliminate troubles such as movement .

[Brief description of the drawings]

FIG. 1 is a horizontal control circuit diagram.

FIG. 2 is an overall side view of the combine.

FIG. 3 is an overall plan view of the combine.

FIG. 4 is an explanatory side view of a traveling crawler unit.

FIG. 5 is an explanatory rear view of a traveling crawler unit.

FIG. 6 is a main flowchart.

FIG. 7 is a flowchart in a dry rice field mode.

FIG. 8 is a flowchart in a dry rice field mode.

FIG. 9 is a flowchart in a wetland mode.

FIG. 10 is a flowchart in a wetland mode.

FIG. 11 is a flowchart in a non-working mode.

FIG. 12 is a flowchart in a non-working mode.

FIG. 13 is a table showing a control output state in a dry rice field mode.

FIG. 14 is a table showing a control output state in the wetland mode.

[Explanation of symbols]

(2a) (2b) Traveling crawler (3) Machine stand (34) (35) Elevating cylinder (elevating member) (39a) (40a) Upper limit switch (39b) (40b) Lower limit switch (41) Inclination angle sensor ( 43a) Threshing switch (47) Changeover switch (51) Automatic lamp

Claims (2)

(57) [Claims] The right and left traveling crawlers (2a) and (2b) are mounted on a machine base (3) so as to be able to move up and down via left and right elevating members (34) and (35), and a lateral inclination of the machine base (3) is detected. In the horizontal control device of the working machine which raises and lowers the traveling crawlers (2a) and (2b) based on the detection result of the tilt angle sensor (41), the machine (3) Left and right lower limit switches (39b) (40) for detecting the closest positions of the left and right traveling crawlers (2a) and (2b) to the
b), and the limit switch (39
b) When (40b) is off, the left and right traveling crawler (2)
a) Automatic horizontal control for raising and lowering (2b) upside down
Control in dry field mode where the horizontal dead zone is maintained and the left and right sides are lowered by the same amount to either one of the left and right while maintaining the horizontal dead zone
And preferentially raises and lowers the right traveling crawler (2b).
When the horizontal control becomes a dead zone, maintain the aircraft height.
Operation of the change-over switch (47)
Horizontal control device for working machine, characterized by being configured so as to perform the. 2. The apparatus according to claim 1, wherein the right and left elevating members (34), (35)
The left and right traveling crawlers (2a) and (2b) are moved up and down to the machine base (3).
Tilt that can be freely installed to detect the left-right inclination of the machine base (3)
Crawler traveling based on the detection result of the angle sensor (41)
(2a) (2b) is raised and lowered, and the machine (3) is automatically
In the horizontal control device of the work machine to be flattened,
Closest position of left and right traveling crawlers (2a) and (2b)
Left and right lower limit switches (39b) (40
b), and the limit switch (39
b) When (40b) is off, the left and right traveling crawler (2)
a) Automatic horizontal control for raising and lowering (2b) upside down
And then maintain the horizontal dead zone,
Dry field mode control that lowers by approximately the same amount on either side to one lower limit
And preferentially raises and lowers the right traveling crawler (2b).
When the horizontal control becomes a dead zone, maintain the aircraft height.
Operation of the change-over switch (47)
And the threshing unit (4) is stopped.
Control of the non-operation mode under wet field operation conditions
The threshing switch to perform the control (43a) is provided, Shitsuden mode
Control is stopped and the same control as in dry field mode is performed.
Left and right traveling crawlers (2
a) Left and right upper limit for detecting the farthest position in (2b)
Switches (39a) and (40a) are provided,
Lower right and lower left upper limit switches
H (40b) and (39a) are both on or right
Upper and lower limit switches (40a) (39b)
When both are on, the control stops and the automatic ramp (5
While the flashing of 1) is used for notification, the control of the wetland mode is performed.
The upper left and lower right limit switches (39
a) When both (40b) are on, or
Right upper limit switch (39b) (40a)
When ON, stop the control and blink the automatic lamp (51)
Work characterized by being notified by
Machine horizontal control device.