JP3250106B2 - Combine attitude control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention, the figure of combine
Power control device.

[0002]

2. Description of the Related Art In a field of soft soil in a wet field, the cutting device is quickly raised at the lowered position of the mowing device because the weeding frame tends to rush into the soil surface. For this reason, it is common to adopt a hydraulic circuit control mode for giving priority to raising the mowing device.

[0003] Japanese Patent Application Laid-Open No. 3-143324 discloses that
Harvester height to detect the rise of the mower above a certain height
Sensor and pitching cylinder that tilts the chassis back and forth
In the combine having the reaping vertical cylinder
When a rise above a certain height of the reaper is detected,
The lowering of the chassis is automatically performed by the pitching cylinder.
Attitude control of a combine configured to be able to
The invention of a device is described .

[0004]

However, when the reaping device side is in a forward descending state, or when the vehicle body or the undercarriage is likely to be in a backward ascending state due to a driving reaction force such as when retreating, the reaping device section is moved. It may be difficult to raise the swiftly, and the operation is often not easy. Further, when the combine comes to field edge, reap culms is it is necessary to change direction so eliminated, since the reverse operation is executed immediately when this situation, black
-The front part of the combine was lowered by the driving reaction force of the la . Especially, the lower part of the reaper was damaged by contact with the field scene .
A problem that the vehicle could not run . Also,
If the culm is clogged during mowing, stop mowing
A similar problem occurs when the vehicle moves backward.

Further , Japanese Patent Application Laid-Open No. 3-143324 discloses
In the invention described, in order to lower the chassis
Must first raise the reaper more than a certain height.
In short, the lowering of the chassis was started by the time required for this rise
This causes a delay, and as described above, the reverse
The force lowers the front of the combine and lowers the harvester
May be damaged by contact with the field scene or the vehicle may not run.
I can't eliminate my condition.

[0006]

Means for Solving the Problems The present invention, in order to solve the above problems, it shall take the following such technical means. That is, in the first aspect of the present invention, in a combine having a culms sensor 48 for detecting the presence or absence of culms, and a pitching cylinder 5 which Ru is longitudinal tilting movement of the chassis 4,
Before when KiKoku稈sensor 48 no longer detects the reaper culms lowered after undercarriage 4 it's the pitching cylinder 5
It shall be the combined attitude control apparatus characterized by being configured so as to be able to perform automatically.

According to the second aspect of the present invention, the presence or absence of cereal culm is detected.
And culms sensor 48 to output, in a combine which have a pitching cylinder 5 which Ru is longitudinal tilting movement of the chassis 4, the
When culms sensor 48 no longer detects the reaper culms, the lowered after chassis 4 by pitching cylinder 5 upper and lower cylinders 3 by the cutting device following the automatic Rise same Toki乃 <br/> Solstice 2 This Reaper by being configured so that it can automatically carry out shall be the combined attitude control device according to claim.

According to the first aspect of the present invention, one side of the field is cut.
When you have finished harvesting or when you
When the culm sensor 48 stops detecting the grain culm, the pitching
Automatic lowering of chassis 4 by Linda 5
Will be able to This allows the crawler to reverse
The driving reaction force lowers the front of the combine and the harvester
The lower part of 2 is less likely to contact the field scene.

According to the second aspect of the present invention, one side of the field is cut.
When you have finished harvesting or when you
When the culm sensor 48 stops detecting the grain culm, the cutting
Simultaneously with or following the automatic raising of the reaper 2 by the
And automatically lowers the chassis 4 by the pitching cylinder 5
Will be able to do it. This allows the reverse
Sometimes the front of the combine lowers due to the reaction reaction of the crawler.
And the lower part of the mowing device 2 comes into contact with the field scene.
So less.

[0010]

According to the first aspect of the present invention, when the vehicle is traveling in reverse,
The front of the combine is lowered by the driving reaction force of the crawler.
The problem that the lower part of the reaper 2 contacts the field scene is reduced.
Comb and reaping work can be performed smoothly.

[0011] According to the second aspect of the present invention, when the vehicle reverses,
The driving reaction force of the roller lowers the front of the combine,
The problem that the lower part of the reaper 2 contacts the field scene
The reaping operation can be performed more smoothly with less cutting.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION A combine is a pair of left and right
A chassis 4 that can be tilt-controlled in the front-rear direction is provided on a vehicle body 1 having a height change controllable having a rack 7, and on this chassis 4 a threshing device 8, a control device 9, an engine 10, a Glen tank 11,
And a reaper 2 and the like. The reaper 2 has a weeding frame,
It has a grain stalk raising device, a grain stalk raking device, a cutting blade device, a grain stalk transport device, and the like, and is provided so as to be vertically moved with respect to the chassis 4 by the expansion and contraction of the cutting vertical cylinder 3 by hydraulic pressure. The harvested culm is conveyed backward and supplied to the threshing device 8 to thresh ears, the threshed culm is discharged rearward, and the grains are stored from the threshing device into the horizontal Glen tank 11. Also, Glen tank 1
When the grains contained in the tray 1 are full, they can be taken out by the dumping auger 12.

A pair of front and rear rows are provided on both left and right sides of the vehicle body 1.
Ring arms 13 and 14 are vertically rotatable around arm shafts 15 and 16, and a lower end of the rolling arms 13 and 14 is pivotally supported with a roller frame 17 to form a rolling arm. The upper portions of the drums 13 and 14 are connected by a rod 18, and one of the rods
A rolling cylinder 19 is connected between the upper end of the ring arm 14 and the vehicle body 1, and the crawler frame 17 is moved up and down in parallel with the vehicle body 1 by the expansion and contraction of the rolling cylinder 19 by the hydraulic pressure. Then, control is performed so that the vehicle body 1 is rolled right and left and the vehicle height is changed. A rolling wheel 20 is provided on each of the crawler frames 7, and a sprocket shaft 22 which is supported by a bracket 21 at a front portion of the vehicle body 1.
The crawler 7 is stretched between the driving sprockets 23 at both ends and the rolling wheels 20 so that the crawler 7 can be transmitted through a transmission device in a transmission case 24 to travel.

An undercarriage 4 is provided on the upper side of the vehicle body 1 so as to be substantially horizontal, and a front portion is vertically rotatable around a pitching shaft 26 at a front portion of the vehicle body 1 by a bracket 25, and a rear portion of the pitching cylinder 5 is provided. It is provided so as to move up and down by expansion and contraction by hydraulic pressure. The pitching cylinder 5 and a crank arm 27 rotated by the pitching cylinder 5 are provided on the chassis 4 side, and a link 28 pivotally supported on the vehicle body 1 side and the crank arm 27 are provided.
When the crank arm 27 is rotated by the expansion and contraction of the pitching cylinder 5, the angle with the link 28 is changed, and the chassis 4 is raised and lowered about the pitching shaft 26.

A hydraulic circuit 6 having a hydraulic pump P, a tank port T and the like has a pitching cylinder 5, the left and right rolling cylinders 19L and 19R, the cutting vertical cylinder 3, and steering in the transmission case 24. Push cylinder 30 for operating a clutch, steering brake, etc., and auger turning cylinder 3 for moving auger 12 to a selected position.
1 and an auger vertical cylinder 32 and the like. The cutting vertical cylinder 3 can be operated by a raising valve 33, a lowering valve 34, an unloading valve 35 and the like. The pitching cylinder 5 is a pitching valve 36, and the rolling cylinders 19L and 19R are rolling valves 37L and 37R.
The auger swivel cylinder 31, the auger vertical cylinder 32
Are the auger valves 38 and 39 and the unload valve 40
And so on. Also, a pair of right and left push cylinders 30
The steering clutch can be disengaged by switching by the steering valve 41, and the piston stroke of the push cylinder 30 on the steering clutch disengagement side is increased by adjusting the pressure of the relief valve 42 by power steering operation. It is designed to be able to turn quickly by using the direction brake.

The circuit of the pitching cylinder 5 is provided with a rear lowering valve 43 for switching to a tank port. 44 is a check valve, and 45 and 46 are apertures. Each of these valves 33 to 41 and 43 is controlled by an output from a controller CPU having a microcomputer.
Among them, the relationship between the raising valve 33 of the cutting vertical cylinder 3 and the lowering valve 43 of the pitching cylinder 5 is such that when a signal of harvesting and a signal of lowering after pitching are input to the controller CPU, The output of the raising valve 33 raises the mowing device 2 and the lowering valve 4
By switching 3, the pitching cylinder 5 is shortened by the weight of the undercarriage 4 and operates in the rearward lowering direction. The output of the lowering is performed simultaneously with or subsequent to the output of the raising valve 33.

As an example of the control of the mowing device 2 and the position of the undercarriage, when the control mode switch 47 is used to control the posture of the vehicle body 1 and the undercarriage 4,
The pitching valve 36, the rolling valves 37L, 37R, etc. are output by a horizontal sensor or the like that detects the left-right inclination angle, the front-back inclination angle, etc. of the chassis 4, so that the chassis 4 is positioned at a predetermined height in the horizontal orientation. It automatically controls and maintains the horizontal attitude.

When the culm sensor 48 no longer detects the harvested culm grain, the mode is automatically switched to the steering control mode.
When performing a steering turn, it is set so that the control relationship between the raising valve 33 and the lowering valve 43 can be automatically output. At this time, the steering switch 41 is switched to output the steering valve 41, and when the vehicle starts turning, the mowing device 2 is raised from the mowing posture by the output of the raising valve 33. Simultaneously with or after the raising of the reaper 2, the lowering valve 43 is automatically output, and the pitching cylinder 5 is shortened by the hydraulic pressure and the chassis weight. As a result, the chassis 4 is pivoted backward and downward about the pitching shaft 26 by a predetermined angle. In addition, the mowing device 2 is also raised when the chassis 4 descends.

When the vehicle moves backwards when turning, etc., on soft soil,
As shown in FIG. 6, the front side of the crawler 7 sinks and the rear side rises. In such a case, when the mowing device 2 is raised and pitching control of lowering is performed as described above (see FIG. 6). 7), the weeding frame of the reaper 2 does not stick into the soil surface. The right and left rolling cylinders 19
A stopper 52 is attached to the connecting member 50 of the L and 19R with the pin 51 to the rolling arm 14 by a pin 53 so as to be movable up and down by a pin 53. A stopper pin 54 projecting laterally from the stopper 52 is The lowering of the chassis 4, the vehicle body 1, and the like is stopped by vertically sandwiching the clamping piece 55 integral with the vehicle body 1 and the clamping piece 56 integral with the chassis 4. The stopper pin 54 is sandwiched between the vehicle body 1 and the rolling cylinder 19 located on both left and right sides to restrict swinging in the left and right directions. The lower limit positions of the vehicle body 1, the chassis 4, etc., which are hard to deviate or move from between, are maintained.

[Brief description of the drawings]

FIG. 1 is a hydraulic circuit diagram.

FIG. 2 is a hydraulic circuit diagram of another embodiment.

FIG. 3 is a partial control block diagram.

FIG. 4 is a side view of a crawler unit.

FIG. 5 is a plan view thereof.

FIG. 6 is a side view of the combine.

FIG. 7 is a side view of the combine.

FIG. 8 is an enlarged side view of a crawler section.

FIG. 9 is a front sectional view thereof.

[Explanation of symbols]

 2 Cutting device 3 Cutting vertical cylinder 4 Undercarriage 5 Pitching cylinder 48 Grain stalk sensor

Continuation of front page (56) References JP-A-3-143324 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01D 67/00 B62D 55/116

Claims (2)

(57) [Claims] 1. A grain sensor 48 for detecting the presence or absence of a grain stem.
When, in the combine and a pitching cylinder 5 which Ru is longitudinal tilting movement of the chassis 4, before when KiKoku稈sensor 48 no longer detects the reaper culms, the lowered after undercarriage 4 I'm the pitching cylinder 5 Can be done automatically
An attitude control device for a combine, characterized in that it is configured as follows . (2)Grain stalk sensor 48 for detecting the presence or absence of cereal stalk
And tilt the chassis 4 back and forthMovePitching cylinder 5To
YesTo combineThe culm sensor 48 harvests
When the culm is no longer detected,By the cutting vertical cylinder 3
Harvesting device 2AutomaticUpRiseSame asTokinoSolstice followed by pitch
Lowering the chassis 4 by the pushing cylinder 5Do it automatically
Configured to be able toCombination characterized by that
OfpostureControl device.