JP3347979B2 - Combine rolling control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling body provided with a traveling device, wherein a mowing portion is provided so as to be able to move up and down and to be adjustable in position by manual operation. Inclination angle detecting means for detecting,
Rolling operation means capable of freely changing the left-right inclination angle of the traveling body with respect to the ground part of the traveling device, and the left-right inclination angle of the traveling body is set to a set inclination angle based on detection information of the inclination angle detecting means. And a control means for executing a rolling control for causing the rolling operation means to perform a rolling operation.

[0002]

2. Description of the Related Art In the above-mentioned combine rolling control device, proper work is performed by a threshing device, a sorting device, and the like, and
In order to ensure the stability of the aircraft during traveling, for example, the right and left inclinations of the traveling aircraft are raised and lowered with respect to the traveling aircraft by rolling operation means such as a hydraulic cylinder. A change operation is performed so that the angle is maintained at a set inclination angle (for example, a horizontal state), and a target height of the reaping unit, which is manually set by a cutting height setting device such as a volume, and a height of the reaping unit with respect to the machine are detected. The value is compared, and when the height detection value is lower than the target height, the reaper is operated to rise, while when the height detection value is higher than the target height, the reaper is operated to lower. By configuring, the position of the mowing part can be adjusted by manual operation.

[0003]

However, in the above-mentioned prior art, an operator who has boarded the operating section at the front of the machine body has determined the position of the lower end of the cutting section at the cut side (see FIG. 2) in front of the operating section. Since the position of the mowing part is adjusted by manually operating the mowing height setting device while visually confirming, as shown in (a) of FIG. From the position at the time, the upper end position of the dead zone (the width of each F is provided up and down from the set inclination angle), that is, the uncut side is the lower end position of the dead zone and the target of the reaping unit is in the lowest position. If the above-mentioned position adjustment is performed with the height set to h, there is a possibility that the uncut side portion of the reaping portion may be damaged due to being pushed into the ground due to the rolling state of the body during traveling. In addition, as shown in (b) of FIG. 9, when the position is adjusted in a state where the uncut side is at the highest position at the upper end position of the dead zone, the position of the reaping part against the ground may be reduced. Is the most secure state.

The present invention has been made in view of the above circumstances, and an object of the present invention is to adjust the position of a reaping unit by looking only at the lower end of the reaping unit at a previously cut side of a driving unit. Another object of the present invention is to appropriately avoid such a problem that an uncut side portion of the cutting unit, which is not visible from the driving unit, is damaged by being stuck into the ground.

[0005]

According to the first aspect of the present invention, the uncut side portion of the mowing portion provided in the traveling body provided with the traveling device so as to be able to move up and down and adjust the position by manual operation in the lateral direction of the machine is raised. In the state where the control sensitivity in the direction to perform is more sensitive than the control sensitivity in the direction in which the uncut side descends,
A rolling operation is performed to change the left-right inclination angle of the traveling body with respect to the ground portion of the traveling device so that the detected angle of the left-right inclination angle with respect to the horizontal reference plane of the traveling body becomes the set inclination angle.

Accordingly, for example, in order to set the target height of the reaping section only by looking at the reaping side in front of the operating section, the cutting section of the reaping section is set lower than the reaping side. When the position adjustment is performed, when the rolling operation is performed in the ascending direction because the left and right inclination angle of the traveling aircraft deviates from the set inclination angle and the uncut side is displaced downward.
The uncut side portion can be quickly raised by making the control sensitivity of the rolling operation more sensitive than the descending direction, and the uncut side portion can be appropriately prevented from plunging into the ground.

According to a second aspect, in the first aspect, as illustrated in FIG. 8, a dead zone with respect to a deviation between the left-right inclination angle of the traveling body and a set inclination angle (indicated by H in the figure) is defined by an uncut side position. The dead zone M when the rolling operation is performed in the upward direction (right side of the drawing) is smaller than the dead zone N when the rolling operation is performed in the direction in which the uncut side is lowered, and the dead zone M is moved in the direction in which the uncut side is raised. Is made more sensitive to the rolling operation than when the uncut side is in the downward direction.

Accordingly, a state in which the uncut side is displaced below the already cut side (left side in the figure) (state in FIG. 8).
Then, when the height h, that is, the position of the cutting unit A is adjusted,
When the left and right inclination angle of the traveling body is deviated from the set inclination angle in a direction in which the uncut side part descends, the small cutoff immediately exceeds the dead zone M, so that the rolling operation is performed in a direction in which the uncut side part rises, and the uncut part is not cut. It is possible to prevent the uncut side portion from piercing the ground more appropriately while preventing the side portion from deviating downward as much as possible.
Advantageous measures of claim 1 are obtained.

According to a third aspect, in the first or second aspect,
In the high cutting state in which the cutting section is raised above the set height to perform the cutting operation, the control sensitivity to the rolling operation is made equal between the state where the uncut side is raised and the state where the uncut side is lowered.

Therefore, for example, by setting the set height to a position slightly higher than the height in a normal low cutting state,
In a normal low-cutting state in which the cutting unit is lowered below its set height, the control sensitivity to the above-described rolling operation is made more sensitive when the uncut side is raised than when the uncut side is lowered. While it is possible to appropriately prevent the side portion from penetrating into the ground, in a high mowing state in which the mowing portion is raised above the set height, there is no possibility that the mowing portion will protrude into the ground, so the control sensitivity to the rolling operation is reduced. Omit the complicated control of making a difference,
The left and right rolling operations can be stably performed in a well-balanced manner while maintaining the set inclination angle as much as possible. Thus, the preferable means of the first or second aspect is obtained.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A case where an embodiment of the present invention is applied to a normal type combine will be described below with reference to the drawings. As shown in FIGS. 1 and 2, a traveling machine body V including a pair of left and right crawler traveling devices 1 (corresponding to traveling devices) includes an operating cabin 2, a threshing device 3, and threshing grains from the threshing device 3. A harvesting pretreatment device A (corresponding to a harvesting unit) for harvesting planted grain culms such as rice and wheat and supplying it to the threshing device 3 is moved up and down to the front of the traveling machine V. They are freely connected to form a combine.

In the pre-cutting device A, a cutting frame 5 is attached to the front of the threshing device 3 so as to be vertically swingable around a horizontal support axis X by an elevating cylinder CY. 6 and a clipper-type mowing device 7, a rotary reel 38 is rotatably mounted on a support arm 8 extending from the mowing frame 5, and a first conveyor 41, an auger 42 and a second A conveyor 43 is provided inside. The rotation operation section of the potentiometer type lifting / lowering detection sensor 24 supported on the machine body side is linked to the reaping frame 5 by the arm 24a, and when the reaping frame 5 swings up and down, the lifting / lowering detection sensor 24 is operated. It is.

In the pre-cutting device A, the planted grain culm weeded by the weeding implement 6 is raked toward the rear of the machine by the rotary reel 38, and the harvested grain culm is reaped by the cutting device 7. The first conveyor 41 transfers the harvested grain culm to the auger 42 while laterally transporting it to the center side, and the second conveyor 43 transports the harvested grain culm from the auger 42 to the rear side of the machine body, and the handling room 3A of the threshing device 3. To supply.

The threshing device 3 has a handling room 3A in which a handling drum 3a that is driven to rotate around an axis in the longitudinal direction of the machine body is provided, and a harvesting culm thrown into the handling room 3A from the pre-cutting processing device A. The threshing process is carried out while being conveyed to the rear of the machine body by the handling cylinder 3a, and the threshing product is dropped and supplied to the sorting unit located below the handling room 3A through the net 3b, and the swinging operation by the swing sorting device 3c is performed. It is sorted into grains and straw waste by the sorting wind from Kara 3d.

A structure for attaching the left and right crawler traveling devices 1 to the traveling machine V will be described. As shown in FIGS. 3 and 4, a horizontal frame 10 is connected to a lower part of a main frame 9 in a front-rear posture, which constitutes the traveling machine body V, and the horizontal frame 1
At 0, the left and right track frames 11 are connected and fixed.
A drive sprocket 12 and a tension sprocket 13 are attached and fixed to the front and rear ends of the track frame 11, respectively. A pair of front and rear movable frames 15A, 15 pivotally supporting a plurality of idler wheels 14 is provided on the track frame 11.
B is mounted so as to be able to move up and down relatively. A large-diameter idler wheel 16 is supported by the track frame 11 at an intermediate position of the idler wheel group 14 so as to be able to swing up and down.

The lower ends of the front and rear bell cranks 17A and 17B pivotally supported on the track frame 11 are attached to the front and rear movable frames 15A and 15B, respectively, and the front and rear bell cranks 17A and 17B are connected to a connecting rod 18 respectively. And a hydraulic lifting cylinder 19 for driving the ground contact portion of the crawler traveling device 1 up and down with respect to the traveling machine body V is coupled to the upper end of the rear bell crank 17B. 15A, 1
5B is moved up and down by the same amount in the same direction so that the left and right ground contact portions of the crawler traveling device 1 can be moved up and down separately from the traveling machine body V on the left and right sides. That is, the rolling elevating cylinder 19 corresponds to a rolling operation unit that can freely change the left-right inclination angle of the traveling machine body V with respect to the ground portion of the crawler traveling device 1.

As shown in FIG. 3, limit switches 20 and 22 are provided at both ends of the swinging operation of the left and right rear bell cranks 17B, and the rear bell crank 17B and, consequently, the rolling up / down cylinder 19 are moved to the movable stroke ends. Detect if it has been reached. That is, the upper limit switch 20 for detecting a state where the ground contact portion of the crawler traveling device 1 is located farthest from the traveling machine body V, and the lower limit switch 22 for detecting a state where the ground contact portion is located closest to the traveling body V. is set up.

The power transmission system of the combine will be described. As shown in FIG. 5, the driving force of the engine E is transmitted to a continuously variable vehicle speed transmission 34 via a belt transmission,
The output after the speed change of the vehicle speed transmission 34 is transmitted via the transmission case 35 to rotate the drive sprocket 12 of the crawler traveling device 1. The output of the vehicle speed change device 34 after the speed change is transmitted through the transmission case 35 to the pre-cutting device A via the one-way clutch 36. In addition, the crawler traveling device 1 includes:
A forward / backward traveling state can be switched freely by a forward / backward traveling switching clutch (not shown) inside the transmission case 35. The driving force of the engine E is
The power is transmitted to the threshing device 3 via the threshing clutch 37, and the threshing clutch 37 is provided with a threshing switch 32 for detecting the on / off state of the threshing clutch 37.

As shown in FIG. 6, a control device 21 using a microcomputer is provided.
The elevation detection sensor 24 for detecting the elevation position of the cutting pre-processing device A with respect to the traveling body V, the gravity type inclination sensor 23 as inclination angle detecting means for detecting a lateral inclination angle of the traveling aircraft V with respect to a horizontal reference plane, Detection information of each of the limit switches 20 and 22 and the threshing switch 32 is input.

As shown in FIG. 7, a tilt angle setting device 28 for setting the right and left tilt angles with respect to the horizontal reference plane of the traveling vehicle V is provided on an operation panel inside the driving cabin 2 to turn on and off the operation of the horizontal control. A horizontal auto switch 26 to be selected, and a volume-type cutting height setting device 40 for setting a ground height, ie, a cutting height, of the pre-cutting device A for the traveling vehicle V.
Are provided to the control device 21 as well.

Further, a cross-operated manual lever 31a for manually operating the attitude of the machine body V when the operation of the horizontal control is off is provided, and a horizontal lever operated according to the operation position of the manual lever 31a is provided. Operation information from the manual switch 31 is input to the control device 21. The manual operation information includes information on an upper right operation, an upper left operation, a lowering operation for lowering the vehicle body V to the lowermost position, and an raising operation for raising the vehicle body V to the uppermost position.

On the other hand, from the control device 21, a control valve 2 for operating the rolling elevating cylinder 19 is provided.
9 and a drive signal for a control valve 30 for operating the elevating cylinder CY.

The control device 21 includes the cutting height setting device 4
The lifting cylinder CY is operated in a direction to eliminate the difference (deviation) between the cutting height set value set by manually operating 0 and the cutting height detected value by the lifting detection sensor 24. That is, when the cutting height setting value is larger than the cutting height detection value (the cutting height is lower than the target height), the lifting cylinder CY is raised, and the cutting height setting value becomes the cutting height detection value. When the cutting height is smaller than the target height (the cutting height is higher than the target height).
Is operated to descend. As a result, the mowing pre-processing device A is configured so that the position can be freely adjusted by manual operation.

Using the control device 21, based on the detection information of the gravity type inclination sensor 23, the right and left inclination angle of the traveling body V is set to a set inclination angle (set angle of the inclination setting device 28). The rolling lifting cylinder 1
Control means 101 for executing rolling control for rolling operation of the motor 9 is configured. The control means 10
1 activates the rolling elevating cylinder 19 in a state where the ground contact portions of the pair of left and right crawler traveling devices 1 approach the traveling machine body V side.

That is, the control means 101 calculates the right and left inclination angles of the traveling body V as information of the gravity type inclination sensor 23,
By providing a dead zone for a declination (corresponding to the deviation), which is a difference from the inclination set by the inclination setting device 28, and operating the rolling lift cylinder 19 so that the declination falls within the dead zone, the traveling body The horizontal inclination angle of V is maintained at the set inclination angle (for example, in a horizontal state). In this case,
The ground contact portion of one crawler traveling device 1 is moved to the highest position in the direction in which the declination enters the dead zone, and the ground contact portion of the other crawler traveling device 1 is moved in a direction in which the declination enters the dead zone. The rolling elevating cylinder 19 is operated so as to be moved.

Therefore, for example, when the traveling body V is tilted right so that the declination falls within the dead zone, the right crawler traveling device 1 is first operated toward the lower limit position, and the lower limit switch 22 is turned on. If the declination does not fall within the dead zone even after actuation, the left crawler traveling device 1 is operated toward the upper limit position to adjust the left-right inclination angle to the set inclination angle. Traveling aircraft V
Is tilted to the left, an operation is performed in which the relationship between the left and right is reversed from the above case.

Further, the control means 101 controls the control sensitivity to the rolling operation of the pre-cutting device A in the direction in which the uncut side in the lateral direction of the machine rises, and the control means 101 in the direction in which the uncut side drops. The rolling control is executed in a state where the control sensitivity is higher than the control sensitivity for the rolling operation.

More specifically, as shown in FIG. 8, the dead zone M for the rolling operation in the direction in which the uncut side portion rises is smaller than the dead zone N for the rolling operation in the direction in which the uncut side portion descends. To make the control sensitivity to the rolling operation sensitive. That is, when the uncut side deviates downward from the reference position in the horizontal state shown by H in the drawing, the dead zone M is small, so even if the deviation is small, the dead zone M
Rolling operation is performed in the direction in which the uncut side portion rises beyond the threshold value, and the control sensitivity becomes sensitive. However, when the uncut side portion is displaced upward, the dead zone N is large, so that when the uncut portion is small, the dead zone N is small. , The control sensitivity of the rolling operation in the direction in which the uncut side part descends becomes insensitive.

Next, the elevation control of the pre-cutting device A and the crawler traveling device 1 will be described with reference to the flowcharts of FIGS. First, the main flow (Fig. 1
0), the horizontal auto switch 26 and the threshing switch 32
And if either switch is off,
A manual posture changing operation based on input information of the horizontal manual switch 31 is performed. On the other hand, when both switches are on, the cutting height deviation (cutting height setting value−cutting height) which is the difference between the cutting height set value by the cutting height setting device 40 and the cutting height detected value by the elevation detection sensor 24. Detected value), the cutting pre-processing device A is raised when the cutting height deviation is (+), while the cutting pre-processing device A is lowered when the cutting height deviation is (-), and when the cutting height deviation is within the dead zone, Stop the lifting operation. Next, horizontal control is performed.

In the horizontal control (FIG. 11), the tilt angle setting device 2
8 and the right and left inclination angle is detected by the gravity type inclination sensor 23, and the difference between the set angle and the detected angle, that is, the declination (in the case of +, the traveling body V is tilted to the right;
In this case, it is assumed that the inclination can be reduced by tilting the traveling machine V to the left.) Then, it is determined whether the traveling body V is to be inclined rightward or leftward according to the magnitude of the declination and the signs (+), (−), and the respective flows c, d, and e are executed.

In the flow c (FIG. 12) where the declination is not within the dead zone and is (+), the traveling body V must be tilted to the right, so if the right lower limit switch 22 is not turned on, the right The rolling lift cylinder 19 is contracted. Then, when the lower right limit switch 22 is turned on (that is, the right traveling device 1 is set to the position where the right traveling device 1 is most elevated with respect to the traveling vehicle V), the left traveling device 1 is moved up and down to the set angle. . In this case, when the left lower limit switch 22 is on, and when both the left lower limit switch 22 and the left upper limit switch 20 are off, the lifting cylinder 19 for left rolling is contracted. When the left upper limit switch 20 is turned on before the declination falls within the dead zone due to the operation of the left rolling lift cylinder 19, the left rolling lift cylinder 1
9 is stopped.

In the flow d (FIG. 13) where the declination is not within the dead zone and is (-), the traveling body V must be tilted to the left, and the flow c and the left and right are performed in reverse.

In the flow e (FIG. 14) when the declination is within the dead zone, the left and right rolling lifting cylinders 19, 1
9 is contracted to turn on the lower limit switch 22 on either side, and the left and right lifting cylinders 19, 1 are turned on.
9 is stopped.

[Another Embodiment] In a high cutting state in which the cutting section (cutting pre-processing device A) is raised above the set height and the cutting operation is performed, the control means 101 reduces the control sensitivity to the rolling operation on the uncut side. The rolling operation is performed only in a normal low-cutting state in which the cutting section (cutting pre-processing device A) is lowered below the set height by making the cutting section (cutting pre-processing device A) lower than the set height. The control sensitivity may be made more sensitive in a state where the uncut side part rises than in a state where the uncut side part falls.

More specifically, as shown in FIG. 15, in the high cutting state, the dead zone F for the deviation between the left and right inclination angle of the traveling machine body V and the set inclination angle (horizontal state) is determined. The same amount F is set in the ascending direction and the direction in which the uncut side part descends (see the broken line in the figure). In the low cutting state, the dead zone for the rolling operation in the direction in which the uncut side part rises is increased to 2F. Thus, the dead zone in the direction in which the uncut side part descends is set to 0 (see the solid line in the figure). In other words, in this example, when the uncut side is slightly deviated downward from the horizontal state shown in FIG. H, the rolling operation is immediately performed in a direction in which the uncut side is raised, and the uncut side is moved to the cut side. Since it is not located below the set height h at the location (left side in the figure), the risk that the uncut side location will poke into the ground is smaller. In the low cutting state, FIG.
As shown in the figure, each dead zone M,
N may be set.

In the above-described embodiment, in order to change the control sensitivity to the rolling operation, the dead zone for the deviation between the left and right inclination angle and the set inclination angle is made different. A difference may be provided. In other words, in the state where the speed of the rolling operation in the direction in which the uncut side portion of the mowing part A in the lateral direction of the machine rises is faster than the speed of the rolling operation in the direction in which the uncut side portion is lowered, the rolling is performed. Execute control.

In the above-described embodiment, the traveling device is constituted by the pair of left and right crawler traveling devices 1. However, the traveling device is not limited to this. For example, a single traveling device may be used. A traveling device may be used.

In the above embodiment, the rolling operation means 19
Is constituted by a hydraulic cylinder or the like for vertically moving the traveling body with respect to the ground contact portion of the pair of left and right crawler traveling devices 1, but is not limited thereto, and is supported by, for example, a single traveling device. A hydraulic cylinder or the like may be used for rotating the traveling body around the axis in the longitudinal direction of the body to change the lateral inclination angle of the traveling body.

In the above embodiment, the tilt angle detecting means 23 is constituted by a gravity type tilt sensor. However, the present invention is not limited to this, and various other tilt angle detecting sensors can be used.

In the above-described embodiment, the combine is constituted by an all-culm-input-type ordinary combine. Alternatively, a self-removable combine may be used.

[Brief description of the drawings]

FIG. 1 is a side view showing an overall configuration of a combine.

FIG. 2 is a plan view showing the overall configuration of the combine.

FIG. 3 is a side view showing a lifting drive means of the traveling device.

FIG. 4 is a vertical sectional rear view showing a lifting drive means of the traveling device.

FIG. 5 is a power system diagram of the combine.

FIG. 6 is a block diagram showing a control configuration.

FIG. 7 is a front view showing an operation panel.

FIG. 8 is a diagram for explaining cutting height adjustment and horizontal control;

FIG. 9 is an explanatory diagram of a conventional technique.

FIG. 10 is a flowchart showing a control operation.

FIG. 11 is a flowchart showing a control operation.

FIG. 12 is a flowchart showing a control operation.

FIG. 13 is a flowchart showing a control operation.

FIG. 14 is a flowchart showing a control operation.

FIG. 15 is a view for explaining cutting height adjustment and horizontal control according to another embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traveling device 19 Rolling operation means 23 Inclination angle detecting means 101 Control means A Cutting unit V Traveling body

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-6-319338 (JP, A) JP-A-64-13912 (JP, A) JP-A-8-37865 (JP, A) JP-A-8-37865 37866 (JP, A) Fully open sho 59-107822 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A01D 34/00-69/00

Claims (3)

(57) [Claims] 1. A tilt angle detecting means for detecting a right and left tilt angle of the traveling body with respect to a horizontal reference plane, wherein a mowing portion is provided on the traveling body provided with the traveling device so as to be vertically movable and manually adjustable in position. And, based on the detection information of the rolling operation means capable of freely changing the left and right inclination angle of the traveling body with respect to the ground portion of the traveling device, based on the detection information of the inclination angle detection means,
Control means for performing a rolling control to perform a rolling operation of the rolling operation means so that the right and left inclination angle of the traveling body becomes a set inclination angle, the rolling control device of a combine, wherein the control means, In a state in which the control sensitivity to the rolling operation in the direction in which the uncut side portion in the machine body left-right direction of the mowing part is raised is more sensitive than the control sensitivity to the rolling operation in the direction in which the uncut side portion is lowered,
A combine rolling control device configured to perform the rolling control. 2. The control device according to claim 1, further comprising: a dead zone for a deviation between the left-right inclination angle and the set inclination angle; and a dead zone for the rolling operation in a direction in which the uncut side rises. 2. The combine rolling control device according to claim 1, wherein a control zone for the rolling operation is made sensitive by making the dead zone smaller than a dead zone for the rolling operation in a descending direction. 3. In a high cutting state in which the cutting section is raised above a set height to perform a cutting operation, the control means increases the control sensitivity in a state where an uncut side is increased and a state where the uncut side is lowered. The combine rolling control device according to claim 1 or 2, wherein the control device is configured to be equal in the state.