JP3334158B2 - Combine horizontal control system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine horizontal control device for a vehicle body, in which a chassis on which a threshing device or the like is mounted is controlled to a horizontal position in the front-rear direction.

[0002]

2. Description of the Related Art In a combine operation in a field with a weak cultivator, the front and rear postures of a chassis are likely to change due to a driving reaction force or the like.
The front side tends to rise and the rear side tends to sink. In forward and backward travel, the ground contact angle of the crawler greatly changes from a backward descent to a forward descent, so even if front-rear horizontal control is performed,
The level control by the level sensor is difficult to follow. In particular, in a combine harvester, the mowing device projects forward and away from the crawler, so that when moving backwards, the mowing device is lowered forward, and in the worst case, the lower portion of the mowing device comes into contact with the field scene and the cutting blade is damaged. was there. The present invention is intended to enhance the responsiveness of the horizontal control in such a case.

[0003]

SUMMARY OF THE INVENTION The present invention takes the following technical means in order to solve the above-mentioned problems. In other words, according to the first aspect of the present invention, the traveling of the vehicle body frame 2 having the pair of right and left crawlers 1 is controlled so that the chassis 3 on which the threshing device or the like is mounted on the upper side is maintained in a front-rear horizontal posture. Automatic switch 2
8 into the entering state, and when moving forward, raise the rear of the chassis 3
To keep the front and rear
When the vehicle starts to reverse, a reverser that detects reverse
The switch 39 is switched, and this reverser switch 3
9 is switched, the chassis 3 is brought into contact with the ground surface of the crawler 1.
The posture is controlled to be approximately parallel to
By detecting the slope sensor 31 that detects the inclination,
3 is configured to be controlled to a substantially horizontal front and rear posture
The structure of the combine body level control device of the combine.

According to the second aspect of the present invention, the vehicle body frame 2 having a pair of right and left crawlers 1 and driven and driven,
In a traveling vehicle body for maintaining and controlling a chassis 3 mounted with a threshing device or the like on the upper side in a front-rear horizontal position, an automatic switch 28 is provided.
When entering reverse, raise the front of chassis 3 when
The rear is in a state where it is kept almost horizontal, and the combine
When starting to move forward, a reverse
Switch 39 is switched, and the reverser switch 39 is
When switched, the chassis 3 is substantially the same as the ground surface of the crawler 1.
Controlled to a parallel attitude, then the front and rear tilt of the combine
Is detected by the slope sensor 31 that detects
Japanese that have configured to control back and forth substantially horizontally orientation
The configuration of the vehicle body horizontal control device of the combine will be described.

[0005]

The running body of the combine harvester harvests while traveling forward by the drive of the crawler 1, and in a steerable turn, etc., repeats forward and backward movements while repeating the direction of the next harvesting travel. It will be along. During such traveling, when the undercarriage 3 is in a backward-downward inclined posture due to the softness of the soil tillage or the like, the body level control device is automatically controlled by detection of a horizontal sensor or the like, and the undercarriage 3 is horizontally moved in the front-back direction. It is controlled so as to be in a posture of a shape.

When such horizontal control of the undercarriage 3 is performed at the time of forward movement, and when the running is changed to the reverse direction,
The rear side of the crawler 1 and the undercarriage 3 are lifted by the driving reaction force of the crawler 1 and the front side of the crawler 1 is lowered, so that the crawler 1 and the chassis 3 change to a forward and downward inclined posture. According to the first aspect of the present invention, the automatic switch
With the switch 28 in the up position, raise the rear part of the chassis 3 when moving forward.
To keep the front and rear roughly horizontal.
When Vine starts reverse, river that detects reverse
The user switch 39 is switched. This reverse switch
When the switch 39 is switched, the combine
The slope sensor 31 has just started
The front lowering state of the chassis 3 is not detected. Like this
In the state, the undercarriage 3 is quickly brought into contact with the ground surface of the crawler 1 in advance.
The posture is controlled to be substantially parallel to the part. Then before the combine
The vehicle is detected by the slope sensor 31 that detects the rear inclination.
The table 3 is controlled to have a substantially horizontal front and rear posture.

As described above, when the reverse switch 39 is turned off,
By replacement, it is faster than the detection of the slope sensor 31,
The undercarriage 3 is previously set in a state substantially parallel to the ground surface of the crawler 1.
Control of the undercarriage 3 so that it is substantially horizontal before and after
And the time required for front-rear horizontal control is reduced.
You. Therefore, when reverse, the combine
To prevent damage to the reaper.
Can be stopped. Furthermore, the time during which the threshing device is tilted is short
The sorting performance can be prevented from deteriorating.
You.

According to the second aspect of the present invention, the automatic switch 2
8 into the entering state, raise the front of chassis 3 when moving backward
To keep the front and rear
The reverser detects when the vehicle starts moving forward.
The switch 39 is switched. This reverser switch 3
When the 9 is switched, the combine moves forward
Since it has just started, the slope sensor 31
3 No later falling state is detected. In this state
Then, the chassis 3 is quickly brought into contact with the ground surface of the crawler 1 in advance.
Control to a substantially parallel posture. Then tilt the combine back and forth
The undercarriage 3 is detected by the slope sensor 31 that detects the inclination.
Is controlled to have a substantially horizontal front and rear posture.

As described above, when the reverser switch 39 is turned off,
By replacement, it is faster than the detection of the slope sensor 31,
The undercarriage 3 is previously set in a state substantially parallel to the ground surface of the crawler 1.
Control of the undercarriage 3 so that it is substantially horizontal before and after
And the time required for front-rear horizontal control is reduced.
You. Therefore, when the vehicle is moving forward, the combine
Can be prevented from being in the state
Alignment becomes easy. In addition, the threshing device is inclined
Since the time is shortened, the sorting performance can be prevented from deteriorating.
Become so.

As described above, the vehicle is similarly used in the horizontal control of the undercarriage 3 when the traveling operation is performed from the backward movement to the forward movement.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle body frame 2 of a combine has a cradle frame 6 which can be moved up and down by parallel links 4 and 5 on both left and right sides, and a chassis which can be turned up and down around a pitching shaft 7 on the upper side. Support 3 The rear portion of the chassis 3 is connected to the vehicle body frame 2 by an expansion / contraction link 8, and the expansion / contraction link 8 is expanded / contracted by hydraulic expansion / contraction of the pitching cylinder 9 between the chassis 3 and the chassis 3 so that the chassis 3 is moved. By rotating around the pitching shaft 7, the inclination in the front-back direction can be changed.

A rolling wheel 10 is disposed on the crawler frame 6 and extends between the crawler frame 6 and a driving sprocket 12 which is supported at the front end of the vehicle body frame 2 via a bracket 11. And the drive sprocket 12 transmitted through the traveling transmission of the transmission case 13
The vehicle can run by driving the crawler 1.

Each of the left and right scroll frames 6, which are moved up and down in parallel with the vehicle body frame 2, applies hydraulic pressure between the upper portion of the rear parallel link 5 and the vehicle body frame 2. It is controlled and operated by a rolling cylinder 14 which expands and contracts. The front and rear parallel links 4 and 5 are connected by a rod 15. When the right and left rolling cylinders 14 have the same amount of expansion and contraction, the vehicle height changes in a parallel state between the pair of left and right crawler frames 6 and the vehicle body frame 2. If there is a difference in the amount of expansion and contraction of the ring cylinder 14, it means that the vehicle body frame has been rolled left and right.

The hydraulic circuit 16 includes control valves 1 for the left and right rolling cylinders 14 and the pitching cylinder 9.
7 and 18 are provided, and each control valve 17 and 18 includes a left raising solenoid 19, a left lowering solenoid 20, a right raising solenoid 21, a right lowering solenoid 22, a rear raising solenoid 23,
The output operation is performed by the lowering solenoid 24 or the like. In addition, the vehicle has left and right push cylinders 25 for operating a steering clutch, a steering brake, and the like of the traveling transmission device, and a steering control valve 26 for controlling the switching thereof, a power steering valve 27, and the like.
By controlling the softness or the like of the steering brake, steering or turning can be performed. P is a hydraulic pump and T is a tank port.

A controller having a micro computer
On the input side of the CPU, an automatic switch 28 for automatically performing the horizontal control of the chassis 3 is provided.
The output of the solenoids 19 to 22 detects the inclination of the horizontal slope sensor 29 provided on the chassis 3 and detects the inclination.
The undercarriage 3 is rolled to be controlled horizontally left and right. Each rolling cylinder 14 has a stroke sensor 30 to control individual feedback. The slope sensor 31 in the front-rear direction of the chassis 3 detects the inclination and outputs the solenoids 23 and 24 to control the vehicle 3 to be horizontal in the front-rear direction. The pitching cylinder 9 has a stroke sensor 32 for performing this feedback control.

Each of the solenoids 19 to 19 is operated by a manual lever.
24 are provided, and the solenoids 19 to 33 are turned on when the left and right switches 33 and 34 are turned on.
22 is output, and the chassis 3 can be rolled. When the upper and lower switches 37 and 38 are turned on, the solenoids 19 to 22 are output, and the chassis 3
Up and down in parallel. When the front and rear switches 35 and 36 are turned on, the solenoids 23 and 24 are output, and the chassis 3 can be pitched.

Reference numeral 39 denotes a reverser switch, which is switched by an operation lever for switching the reverser gear of the traveling transmission. By switching from forward to reverse and from reverse to forward, the output of the solenoids 23 and 24 controls the undercarriage 3 to be in a state substantially parallel to the ground surface, which is the bottom surface of the crawler 1. At this time, the feedback control by the stroke sensor 32 is performed, and the state becomes close to the reference posture in which the preset rolling and pitching control is not performed.

On the undercarriage 3, a cutting device 40, which can be controlled to move up and down, is supported at the front, and a threshing device 41 for threshing after receiving the supply of the grain stalks conveyed by the cutting device 40 is mounted. A grain tank 42 for receiving and accommodating the extracted threshed grains is mounted on the lateral side, and the grain to be accommodated can be discharged in a free direction by a grain discharging auger 43. 44 is a cockpit, 4
5 is a cockpit, and 46 is an engine cover.

When the combine operation is performed by moving forward (FIG. 4), when the automatic switch 28 is turned on to perform horizontal control, when the traveling soil surface 47 is soft, the
When the vehicle is moving forward, the front side of the crawler 1 floats and the rear side descends due to driving reaction force or the like, and as a result, the chassis 3 tilts backward and downward (FIG. 5).

For this reason, by the horizontal control, the solenoid 23 is output by detecting the inclination of the slope sensor 31, and the rear of the chassis 3, which is rearward and downward, is raised by the extension of the pitching cylinder 9, and the front and rear is substantially horizontal. (FIG. 6). In such a state, when the vehicle is switched to the reverse, the pitching cylinder 9 is shortened by the output of the solenoid 24 by the switching of the reverser switch 39, and the rear portion of the chassis 3 in the horizontal state is moved downward, so that the chassis 3 is moved. Black
The attitude is controlled so as to be substantially parallel to the grounding surface of the laser 1 (FIG. 7,
(FIG. 10). At this time, if there is a conflict with the pitching control by the slope sensor 31, the operation is performed prior to the pitching control.

Subsequently, due to the reverse movement, the chassis 3 is closed.
Along with the roller 1, the front side (the side where the front sprocket 12 is located in the cutting forward direction) sinks, and the rear side floats up, contrary to the forward movement, so that the rear side floats. As a result, the horizontal control is performed by the detection of the slope sensor 31 (FIG. 8), and the chassis 3 is about to be controlled to the front-rear horizontal posture.
Since the undercarriage 3 is returned to a posture substantially parallel to the ground contact surface of the crawler 1, the front inclination angle of the undercarriage 3 is small. The time required is shorter.

Such control is performed by the reverser switch 39.
, The same applies to the case where the vehicle is switched from reverse to forward. The undercarriage 3 is lowered by the expansion and contraction of the rolling cylinder 14 and the pitching cylinder 9, and a part of the undercarriage 3 can come into contact with or approach the crawler 1. In particular, when the combine stored for a long time is started, the rolling cylinder 14 and the pitching cylinder 9 are at the dead center position, and the lower part of the chassis 3 is in contact with the crawler 1. If the engine is started and the vehicle starts running, the contact portion of the crawler 1 will be damaged.

Therefore, in order to eliminate such a fear, the rolling cylinder 14 and the pitching cylinder 9 are hydraulically operated by starting the engine, so that the chassis 3 does not come into contact with the crawler 1. This chassis 3 is raised to the area. A pair of left and right, or one of either side
When the ring cylinder 14 is shortened, the vehicle body frame 2 is lowered with respect to the crawler frame 6, and the chassis 3 is lowered. The rear of the chassis 3 is lowered by shortening the pitching cylinder 9. Therefore, in such a relationship between the rolling cylinder 14 and the pitching cylinder 9, a prohibited area A (FIG. 9) where the chassis 3 and the crawler 1 contact each other or approach each other is set in the controller CPU. Then, control is performed while discriminating by detecting the stroke sensors 30 and 32 of the two cylinders 14 and 9 so as not to enter the prohibition area A (FIG. 11). When the value detected by the stroke sensors 30 and 32 is in the forbidden area A by the detection of 48, the rolling cylinder 14 and the pitching cylinder 9 are extended to control the position outside the forbidden area A. I do. As a result, even if the crawler 1 is driven and driven by the driving of the engine, the crawler 1 does not contact the chassis 3.

[Brief description of the drawings]

FIG. 1 is a control block diagram.

FIG. 2 is a side view of the combine traveling device.

FIG. 3 is a hydraulic circuit diagram.

FIG. 4 is a schematic side view of the combine showing a running posture.

FIG. 5 is a schematic side view of the combine showing a running posture.

FIG. 6 is a schematic side view of the combine showing a running posture.

FIG. 7 is a schematic side view of the combine showing a running posture.

FIG. 8 is a schematic side view of the combine showing a running posture.

FIG. 9 is a graph showing a prohibited area of vehicle body control when the engine is started.

FIG. 10 is a control flowchart at the time of reverse travel.

FIG. 11 is a control flowchart when the engine is started.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Crawler 2 Body frame 3 Chassis 23 Rear up solenoid 24 Rear down solenoid 28 Automatic switch 31 Front and rear slope sensor 32 Stroke sensor 39 Reverser switch

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-19283 (JP, A) JP-A-3-232418 (JP, A) JP-A-4-24177 (JP, A) 61422 (JP, A) JP-A-4-108313 (JP, A) JP-A-4-258216 (JP, A) JP-A-3-21570 (JP, A) (58) Fields investigated (Int. ⁷ , DB name) B62D 55/116 B62D 55/084 B62D 55/10

Claims (2)

(57) [Claims] An automatic switch is provided in a traveling vehicle body for maintaining and controlling a chassis 3 on which a threshing device or the like is mounted on a vehicle body frame 2 having a pair of left and right crawlers 1 to be driven and traveling in a front-rear horizontal position. 28 is in the entering state,
Raises the rear part of chassis 3 to keep it roughly horizontal
And the combine starts moving backwards
The reverse switch 39 for detecting reverse
When the reverser switch 39 is switched, the vehicle
The platform 3 is controlled so as to be substantially parallel to the ground surface of the crawler 1.
And then the slope to detect the forward and backward inclination of the combine
Based on the detection of the sensor 31, the chassis 3 is in a substantially horizontal front and rear posture.
A combine body level control device , characterized in that it is configured to control the vehicle body level. 2. An automatic switch in a traveling vehicle body for maintaining and controlling a chassis 3 mounted with a threshing device or the like on an upper side in a front-rear horizontal posture with respect to a vehicle body frame 2 driven and traveling having a pair of right and left crawlers 1. 28 is in the entering state,
Raises the front of the chassis 3 to keep it substantially horizontal
The combine is starting to move forward
The reverser switch 39 for detecting the forward
When the reverser switch 39 is switched, the vehicle
The platform 3 is controlled so as to be substantially parallel to the ground surface of the crawler 1.
And then the slope to detect the forward and backward inclination of the combine
Based on the detection of the sensor 31, the chassis 3 is in a substantially horizontal front and rear posture.
A combine body level control device , characterized in that it is configured to control the vehicle body level.