JP3419111B2 - Combine horizontal control system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine body level control device, and more particularly, to an unevenness of a soil surface detected by an ultrasonic sensor provided in a reaper. It can be used for things that operate the vehicle body horizontally. 2. Description of the Related Art An ultrasonic sensor which receives a reflected ultrasonic wave and detects irregularities on a soil surface is directed downward on a lower surface of a mowing device. In a combine equipped with a body level control device that is mounted and operated horizontally when the vehicle body is tilted, an ultrasonic sensor detects the unevenness of the soil surface during the harvesting operation, and sends the detected value to the body level control device. When the traveling crawler encounters an uneven portion and tilts according to the calculation result, the chassis is moved up and down in synchronization with the inclination of the traveling crawler to hold the vehicle body in a horizontal state. [0003] However, conventionally, this running cross
Since the response speed of raising and lowering the chassis against the inclination of the la is constant, when the running crawler is greatly inclined due to the unevenness of the soil surface, the response speed of raising and lowering the chassis in a horizontal state is delayed. Will be inclined. Also,
If the response speed is increased, the response speed for raising and lowering the chassis in a horizontal state is fast even when the traveling crawler is not inclined so much because the unevenness of the soil surface is small. There was a problem that the operation was too sensitive and the riding comfort was poor. [0004] Therefore, the present invention adjusts the operation response speed for operating the vehicle body in a horizontal state by collating the unevenness state of the soil surface detected by the ultrasonic sensor with a predetermined reference value and based on the collation result. Let it. In addition, manual operation
Adjust the vehicle body by tilting it to the right, left,
The adjustment by manual operation is reflected in the automatic adjustment control.
To do. SUMMARY OF THE INVENTION The present invention is directed to a combine having a vehicle body level control device 2 for operating a vehicle body 1 inclined by unevenness on a soil surface in a horizontal state, and an ultrasonic wave provided to a reaper 3. detection values of the unevenness of the soil surface by the sensor 4 is larger time to speed up the operation response speed with respect to the reference value of the irregularities to be set in advance, when small is configured to slow the operation response speed, combine the operating device 18 One side
A waster lever 46 is provided, and an upper surface of the power steering lever 46 is provided.
In order to properly tilt the body 1 back and forth and left and right
A manual switch 45 composed of a push button is provided.
Adjustment of the vehicle body 1 to a horizontal state within a predetermined time after the switch 45 is operated.
Turn on the automatic horizontal switch 44 that performs the adjustment control
And the vehicle body 1 manually operated by the manual switch 45
The inclination state of the vehicle to the memory of the vehicle body level control device 2
And the rewritten slope state is used as the reference value.
The structure of the combine vehicle body horizontal control device is characterized in that it is configured to control the vehicle body 1 . According to the above construction, during the harvesting operation of the combine, the detection value obtained by detecting the unevenness of the soil surface by transmitting and receiving the ultrasonic sensor 4 is used in advance to detect the unevenness of the body level control device 2. When the detected value is determined to be larger than the reference value by this comparison,
By increasing the response speed of the raising and lowering operation of the chassis by the vehicle body level control device 2, the operation of the vehicle body 1 to the horizontal state is not delayed when the traveling crawler is inclined at a large angle. When it is determined that the vehicle body 1 is lower than the value, the response speed of the up / down operation of the chassis is slowed down by the vehicle body level control device 2 to excessively respond to the operation of the vehicle body 1 to the horizontal state when the inclination of the traveling crawler is small. Do not let it. When the detected value is substantially equal to the reference value, the operation response speed is set to an intermediate speed. As described above, during the mowing operation, the detected value of the unevenness of the soil surface by the ultrasonic sensor 4 is sent to the vehicle body horizontal control device 2 to perform the arithmetic control, thereby solving the problems as in the prior art. If the unevenness of the is larger than the reference value,
The operation response speed of the vehicle body 1 to the horizontal state can be increased to prevent the vehicle body 1 from tilting due to the operation delay, and when the unevenness of the soil surface is smaller than the reference value, the vehicle body 1 is moved to the horizontal state. , The unnecessary vibration of the vehicle body 1 due to the excessive response of the operation can be suppressed, and a good ride quality can be secured. When the automatic horizontal switch 44 is off
Operates a manual switch 45 composed of four push buttons.
To appropriately tilt the vehicle body 1 in the front, rear, left and right directions. This manual switch
After the operation of the switch 45 is completed, the automatic horizontal switch
When the switch 44 is turned on, the manual switch 45
Of the vehicle body level control device 2
Rewrite and store in memory. Then this rewritten
Using the stored value as a reference value,
Control body 1. As a result, the vehicle body 1 is
Control. An embodiment of the present invention will be described below with reference to the drawings. A traveling device 7 having a pair of left and right traveling rollers 6 traveling on the soil surface is disposed below the undercarriage 5 of the combine, and the culm supplied by being sandwiched between the feed chains 8 is provided on the undercarriage 5. Threshing is carried out, and a threshing apparatus 10 provided with a grain tank 9 for selectively collecting, collecting, and temporarily storing the threshed grains is mounted. At the front side of the threshing device 10, a weeding body 11 for weeding the trichomes from the front end position, a raising part 12 for causing the weeded stalks, a cutting blade part 13 for cutting the raised stalks, A cutting device 3 having a scraping transporting section 14 and a supply transporting section 15 for transferring a cut culm to the feed chain 8 while changing it to a side-down posture while transporting the harvested culm to the rear end, The suspension unit 16 is supported by a suspension unit 16 and is mounted on a soil surface by a hydraulically driven lifting cylinder 17 so as to be able to move up and down. An ultrasonic sensor 4 for emitting ultrasonic waves and receiving the reflected waves to detect the unevenness of the soil surface is attached to the rear side of the weeding body 11 of the mowing device 3 so as to face the soil surface. Operating device 1 for controlling the operation of the combine on one side of 3
8 and an operation seat 19 for this operation. The grain tank 9 is arranged behind the operation seat 19, and the reaper 3, the traveling device 7, the threshing device 10, and the operation device 18 are arranged. The combine body 1 is formed by the above-described steps. [0010] Support frames 21 are provided at the lower front ends of left and right vertical frames 20 vertically fixed to the center left and right sides of the chassis 5, respectively, and the left and right vertical frames 20 are mounted on the left and right support frames 21.
The front ends of the left and right pitching frames 22 located on the lower side are pivotally supported by support shafts 23, respectively. A pitching shaft 25 is pivotably supported on a pitching metal 24 fixed to the rear lower portion of the left and right vertical frames 20, respectively;
One ends of the pitching arms 26 are fixed to the left and right sides of the pitching shaft 25, and the other ends of the left and right pitching arms 26 are rotatably pin-connected to the rear ends of the left and right pitching frames 22, respectively. I do. One end of a drive arm 27 is fixed to the right pitching arm 26 so as to form an L-shape, and the other end is connected to the tip of a movable piston 28a of a pitching cylinder 28 which expands and contracts by hydraulic pressure or the like. Pitching cylinder 28
Is fixedly connected to the mounting frame 29 which is connected and fixed to the left and right vertical frames 20 to constitute a pitching mechanism. The left and right rolling frames 30 are disposed substantially parallel to and adjacent to the outer sides of the left and right pitching frames 22, respectively.
The rolling mechanism for operating the left and right rolling frames 30 has the same shape on the left and right, and only one side will be described. Rolling metal 31 fixed to the front and rear lower portions of the pitching frame 22, respectively.
In addition, the intermediate portions of the front and rear rolling arms 32 in the shape of an inverted letter are pivotally supported, and one end thereof is rotatable to the front and rear adaptive positions of the rolling frame 30, respectively. Connect to the pin. At the other end of the rear rolling arm 32,
The distal end of a movable piston 33a of a rolling cylinder 33 that expands and contracts by hydraulic pressure or the like is pin-connected, and
The fixed side of the ring cylinder 33 is set to the pitching frame 22.
A pin is connected to a fixed frame 34 provided on the upper part of the
A position near the connecting portion of the piston 33a of the ring arm 32 and the other end of the front rolling arm 32 are pin-connected to each other by a connecting rod 35 so as to form a four-point parallel link. A support arm 37 for rotatably supporting a rear wheel 36 is provided above the rear end of the rolling frame 30.
Arm 37a is held rearward so as to be adjustable in the front-rear direction, and a plurality of ground wheels 38 are idled at a predetermined interval below the outer side surface of the rolling frame 30. The above-mentioned running is carried out by freely rotating bearings, these rear wheels 36 and a plurality of ground wheels 38, and driving wheels 40 transmitting power from a running transmission case 39 mounted on the front end of the chassis 5. Crawler 6 is wound and stretched. A vehicle speed sensor 41 for detecting a vehicle speed is provided in engagement with a transmission path of the transmission case 39, a front and rear inclination sensor 42 for detecting a front and rear inclination by a pitching action of the vehicle body 1, and a left and right inclination by a rolling action of the vehicle body 1. An automatic horizontal switch 44 for arranging a left and right tilt sensor 43 for detecting the position of the vehicle body 1 at an adaptive position of the vehicle body 1 and controlling the vehicle body 1 to be in a horizontal state by detecting the tilt state by the sensors 42 and 43; A power steering lever 46 provided on the upper surface with a manual tilt switch 45 for appropriately tilting the vehicle body 1 back and forth and left and right by operating four push buttons as shown in FIG. I do. A vehicle body level control device 2 for performing arithmetic control mainly by a CPU is provided in the vicinity of the operation device 18 and, as shown in FIG. Vehicle speed sensor 41, front and rear inclination sensor 42,
A pitching solenoid valve 47 for operating the pitching cylinder 28 and a left and right rolling solenoid valve for operating the left and right rolling cylinders 33 are connected to the left and right tilt sensor 43, the automatic horizontal switch 44, the manual tilt switch 45, and the like. 48 and the like are connected to each other. When the vehicle body 1 is pitched due to unevenness of the soil surface during the combine work and the vehicle body 1 is tilted forward and backward, the front and rear tilt sensor 42 detects this tilt and the pitching cylinder 28 is operated by the vehicle body horizontal control device 2. The left and right pitching frames 26 are moved up and down with respect to the chassis 5 by moving the left and right pitching frames 22 up and down with respect to the front fulcrum by the vertical pivoting action of the left and right pitching arms 26. Thus, the vehicle body 1 can be adjusted and controlled to be horizontal. When the vehicle body 1 rolls and tilts to the left or right due to rolling, the left and right tilt sensor 43 detects this tilt and activates the left or right rolling cylinder 33 by the vehicle body horizontal control device 2 to move the vehicle forward or backward. Rolling arm 3
By moving the left or right rolling frame 30 up and down in parallel by the parallel linking action of
The vehicle body 1 can be adjusted and controlled to be horizontal by raising and lowering the left or right traveling crawler 6. When the vehicle body 1 is pitched and rolled at the same time and tilts forward and backward and left and right, the front and rear tilt sensor 42 and the left and right tilt sensor 43 detect this tilt as described above, and The control device 2 operates the pitching cylinder 28 and the left or right rolling cylinder 33 separately to move the pitching frame 22 and the left or right rolling frame 30 up and down separately, so that the left or right with respect to the chassis 5. The vehicle 1 can be adjusted and controlled to be horizontal by raising and lowering the traveling crawler 6 separately. When the vehicle body 1 is moved up and down in parallel to the traveling crawler 6, the left and right rolling cylinders 33 are simultaneously operated by the same amount by the vehicle body horizontal control device 2 to move the left and right rolling frames 30 up and down. By moving the right and left traveling rollers 6 in the same manner with respect to the chassis 5, the vehicle body 1 can be controlled to move up and down in parallel with the left and right traveling rollers 6. As described above, the left and right traveling rollers 6 are individually moved up and down with respect to the chassis 5 in response to the front and rear or left and right inclinations of the vehicle body 1 due to unevenness of the soil surface, thereby adjusting the vehicle body 1 to a horizontal state. During the operation of the combine running while traveling, ultrasonic waves are emitted toward the soil surface by the ultrasonic sensor 4 provided in the reaper 3, and the reflection of the emitted waves is received to detect the unevenness state of the soil surface. The detected value is transmitted to the vehicle body level control device 2. A reference value set in advance in the vehicle body level control device 2, for example, based on the average unevenness of the soil surface, is compared with a value detected by the ultrasonic sensor 4, and the detected value is compared with a reference value. In this case, as shown in FIG. 6, a three-stage determination of large, similar, and small is performed. On the other hand, the time lag at the time when the traveling crawler 6 encounters the detection point by the ultrasonic sensor 4 is calculated from the distance between the ultrasonic sensor 4 and the traveling crawler 6 by the vehicle speed by the vehicle speed sensor 41, and is synchronized with this time lag. Then, the response speed of the raising / lowering operation of the chassis 5 with respect to the inclination of the traveling crawler 6 is automatically adjusted and controlled based on the results of the three-stage determination. When the traveling crawler 6 is tilted together with the vehicle body 1 due to the unevenness of the soil surface, and the detected value of the ultrasonic sensor 4 is larger than the reference value, the vehicle body level control device 2 adjusts the vehicle body 1 to a horizontal state. By controlling the operation response speed to be fast, the rolling cylinder 33 (or the pitching cylinder 28) is quickly operated even when the traveling crawler 6 is largely inclined, and the adjustment control of the vehicle body 1 to the horizontal state is performed. Not be late,
Conversely, when the detected value is smaller than the reference value, the operation response speed is controlled to be slowed down, so that when the inclination of the traveling crawler 6 is small, the operation of the rolling cylinder 33 (or the pitching cylinder 28) becomes excessive. It is possible to reduce the shaking of the vehicle body 1 and to achieve a good ride comfort. Note that the determination of the unevenness state of the soil surface is not limited to three stages. As shown in the flowchart of FIG.
By confirming that the automatic horizontal switch 44 for controlling the adjustment of the vehicle body 1 to the horizontal state is OFF, the vehicle body 1 is appropriately tilted to the front and rear or left and right sides by operating the manual tilt switch 45 for manually adjusting the tilt state of the vehicle body 1. The automatic horizontal switch 44 is turned on at the same time when the operation of the manual tilt switch 45 is completed. If the ON timing is within one second after the operation of the manual tilt switch 45, the tilt state of the vehicle body 1 due to the manual operation is determined as a reference. In order to perform horizontal control, the memory value of the vehicle body horizontal control device 2 can be rewritten. Thereafter, since the control is performed with this rewritten reference value being horizontal, the vehicle body 1 can be driven by horizontal control based on an arbitrary tilt state depending on field conditions or the like. In addition,
The ON timing of the automatic horizontal switch 44 is not limited to one second. When the vehicle body 1 rolls and inclines to the left or right due to rolling, the inclination is detected by the left and right inclination sensor 44, and the left or right rolling cylinder 33 is operated by the vehicle body horizontal control device 2, By moving the left or right rolling frame 30 up and down in parallel, and raising or lowering the left or right traveling crawler 6 with respect to the chassis 5, rolling control for adjusting and controlling the vehicle body 1 to a horizontal state is performed. At the time of the rolling control, as shown in the flow chart of FIG. 8, the stroke difference between the left and right rolling cylinders 33 is detected for a certain period of time by confirming that the automatic horizontal switch 44 is turned on. Rolling cylinder 33 set in horizontal control device 2
Is compared with a relation value that changes the vehicle height in proportion to the magnitude of the stroke difference, and when it is determined that the comparison result is different, the left and right rolling cylinders 33 are simultaneously turned to match the relation value. Activate to change the vehicle height to high and low. With such height control of the vehicle height, when the vehicle body 1 has a large left-right inclination on a soft soil surface such as a wetland, the vehicle height can be automatically controlled to increase the vehicle height accordingly. Adaptability is improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view showing an entire combine. FIG. 2 is a side view showing a traveling crawler control mechanism of the traveling device and its operation. FIG. 3 is a plan view showing a traveling crawler control mechanism of the traveling device. FIG. 4 is a plan view showing the form and operation of a manual tilt switch. FIG. 5 is a block diagram showing an electric circuit of vehicle body level control. FIG. 6 is a schematic diagram showing an uneven state of a soil surface. FIG. 7 is a flowchart showing a procedure for rewriting a memory value of the vehicle body level control device. FIG. 8 is a flowchart showing a procedure for changing the vehicle height to a height depending on the magnitude of the stroke difference between the left and right rolling cylinders. FIG. 9 is a diagram showing a relationship between a stroke difference between left and right rolling cylinders and a height change value of a vehicle height. [Explanation of Codes] Body 2. 2. Body level control device Reaper 4. Ultrasonic sensor 18. Operation device 44. Automatic horizontal switch 45. Manual switch 46. Power steering lever

Claims (1)

(1) An ultrasonic sensor provided in a reaper in a combine having a vehicle body level control device for operating a vehicle body tilted by unevenness of a soil surface in a horizontal state. detection values of the unevenness of the soil surface due to the, and faster operation speed of response is greater relative to the reference value of the irregularities to be set in advance, when small is configured to slow the operation response speed, combine
A power steering lever 46 is provided on one side of the operating device 18.
On the upper surface of the power steering lever 46, the vehicle body 1
A manual switch consisting of four push buttons
A switch 45 is provided and within a predetermined time after the manual switch 45 is operated.
The automatic horizontal switch that controls the adjustment of the body 1 to the horizontal state
When the switch 44 is turned on, the manual switch 45
Level control of the body 1 by manual operation
It is configured to be rewritable in the memory of the device 2, and this rewritable
To control the vehicle body 1 using the tilted state as a reference value.
A combined vehicle body level control device characterized in that it is configured .