JP3725313B2 - Combine leveling device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a combine level control device for maintaining the machine level by supporting the left and right sides of the combine machine in a traveling unit such as a crawler so that the support height can be adjusted.
[0002]
[Problems to be solved by the invention]
Conventionally, the vehicle height control of the left and right aircraft has been performed so that the detected value of the inclination angle sensor that detects the right and left inclination of the aircraft matches the target setting value of the inclination angle setting volume. When the left and right inclination of the aircraft changes abruptly, there is a problem that the control does not follow and delays so that the cutting part enters the field and the aircraft becomes unstable. In addition, when a pendulum type tilt angle sensor is used, the sensor erroneously outputs due to the centrifugal force generated when the aircraft is turning left and right, and the aircraft enters the next process while the aircraft is tilted. There is an inconvenience.
[0003]
[Means for Solving the Problems]
Accordingly, the present invention provides a combined horizontal control device that adjusts the left and right support heights to maintain the aircraft horizontally, and includes an inclination angle sensor and an angular velocity sensor that detect the left and right inclination of the aircraft, A combine horizontal control device configured to perform horizontal control of the airframe based on detection of an inclination angle sensor and the angular velocity sensor, wherein the detected value of the angular velocity sensor is less than a certain value during the turning operation of the airframe. If the detected value of the inclination angle sensor is equal to or greater than a certain value during the turning operation of the airframe, the detected value of the inclination angle sensor and the angular velocity sensor are controlled. In addition to performing horizontal control with the detected value of
When the vehicle speed of the combine is slow, the control amount of the horizontal control is suppressed according to the vehicle speed .
[0004]
In addition, when detecting the angular velocity above a certain level during the turning operation of the aircraft, the horizontal control is prohibited to prevent the horizontal control based on the erroneous output of the tilt angle sensor during the aircraft turning and to improve the accuracy of this control. It is intended.
[0005]
Furthermore, when detecting the angular velocity above a certain level during the turning operation of the aircraft, the detection value of the tilt angle sensor is corrected according to the angular velocity value, the horizontal control is continued, and the control is interrupted even when the aircraft is turning. The horizontal control is performed continuously and with good accuracy.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below in detail with reference to the drawings. 1 is a control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view thereof. In the figure, (1a) and (1b) are equipped with left and right traveling crawlers (2a) and (2b) which are traveling portions. (3) is a machine base installed on the track frames (1a) and (1b), (4) is a feed chain (5) stretched to the left side, and a handling cylinder (6) and a processing cylinder (7). Built-in threshing part, (8) is a cutting part provided with a cutting blade (9) and a culm conveying mechanism (10), and (11) is moved up and down through the cutting frame (12). Hydraulic cutting lift cylinder, (13) is a waste disposal unit (14) facing the end of the waste chain (14), (15) is a grain that carries grains from the threshing unit (4) via the milling cylinder (16) A tank, (17) is a discharge auger that carries the grain of the tank (15) out of the machine, and (18) is a steering A driving cabin provided with a driving operation unit (19) and a driver's seat (20) such as a handle (19b), (21) is an engine provided below the driving cabin (18), so that the cereals are continuously harvested and threshed. It is configured.
[0007]
As shown in FIGS. 4 to 5, the left and right traveling crawlers (2a) (2b) are connected to a transmission case (22) on the machine base (3) side and a drive sprocket (23) and the track frame (1a) ( 1b) is supported by a plurality of track rollers (24), an equalizer wheel (25) and an idler wheel (26), and the track frame (1a) (1b) is supported by the front and rear lateral pivot shafts (27) ( 28) and the front and rear bell crank links (29) and (30) are supported on the machine base (3) so as to be movable up and down. The crank links (29) and (30) are intermediately connected to the front and rear connecting horizontal frames (31) and (32) at the lower part of the machine base (3) via the bearings (33) and (34) and the support shafts (35) and (36). Each of the pivot shafts (27) and (28) is rotatably supported on one end side of the link (29) and (30), and the front and rear crank links (29) and (30) are supported. The left and right sides of the vehicle height control mechanism are linked to each other through the shafts (37) and (38) and the rod (39), and the base end is pivotally supported by the machine base (3) through the bracket (40). By connecting the other end of the rear crank link (30) to the tip of the piston rod (41a) (42a) of the hydraulic lifting cylinder (41) (42) via the pivot (43), the left and right traveling crawlers (2a) (2b) ) Of the cylinders (41) and (42) provided respectively. The left and right track frames (1a) and (1b) are moved up and down individually by moving the ton rods (41a) and (42a) appropriately, and the left and right traveling crawlers (2a) and (2b) are moved. The support height of the table (3), that is, the vehicle height (H) is made variable.
[0008]
Also, left and right vehicle height sensors (44a) and (44b) for detecting the vehicle height (H) are provided on the machine base (3), and can swing integrally with the arm shaft (45) of the machine base (3). The base ends of the first and second swing arms (46) and (47) are supported, and the tip of the first swing arm (46) and the shaft (38) are connected by the first detection rod (48). The tip of the meter arm (51) and the second swing arm (47) of the potentiometer (50) installed in the sensor case (49) of the machine base (3) is connected by the second detection rod (52). When the crank link (30) swings, that is, the vehicle height (H) changes due to the expansion and contraction of the left and right lifting cylinders (41) and (42), the amount of change is detected by the potentiometer (50). Yes.
[0009]
As shown in FIG. 6, the operation panel (19a) of the driving operation unit (19) has a cross-tilt type priority manual switch (53) for adjusting the vehicle height and the left / right inclination by manual operation, and shifts the traveling speed. The main and auxiliary transmission levers (54) and (55), the threshing clutch lever (56) for turning on and off the threshing clutch, and the vehicle height (H) which is a reference for the machine base (3) are set steplessly. Setting volume (57), tilt angle setting volume (58) that sets the left and right tilt angles that are the basis of the machine base (3) in a stepless manner, general display (59) that performs various displays and setting operations such as vehicle speed, etc. And a tilt angle sensor (60) such as a capacitance type that detects the left / right tilt of the machine base (3) and a controller (61) are provided in the operation panel (19a).
[0010]
As shown in FIGS. 7 and 8, an angular velocity sensor (62) that outputs an angular velocity signal proportional to a left-right rotational speed (angular velocity) when the machine base (3) tilts to the left and right is substantially centered on the machine base (3). An angular velocity sensor (62) is installed at the turning center position between the left and right crawlers (2a) and (2b) on the tread center line of the left and right crawlers (2a) and (2b), and the angular velocity sensor (62) Accordingly, the horizontal control is started by rapidly detecting the left-right inclination of the machine base (3).
[0011]
As shown in FIG. 1, left and right vehicle height sensors (44a) and (44b), an inclination angle sensor (60), an angular velocity sensor (62), and a vehicle speed sensor provided on the traveling output shaft of the transmission case (22). (63), a vehicle height setting volume (57), an inclination angle setting volume (58), and a steering angle sensor (64) for detecting a steering angle by the steering handle (19b) are connected to the controller (61). At the same time, the controller (61) is connected to the electromagnetic switching valves (65) (66) for driving and controlling the left and right lifting cylinders (41) (42), and the sensors (44a) (44b), (60) ( 62) The vehicle height and level control of the airframe are performed with the outputs of (63) and (64).
[0012]
Thus, as shown in FIG. 8, the detected values of the angular velocity sensor (62) and the inclination angle sensor (60) are input to the controller (61), and the angular velocity value detected by the angular velocity sensor (62) is small (below a certain value). When the tilt speed of the machine base (3) is slow, the tilt angle deviation obtained from the difference between the set value (θ1) of the tilt angle setting volume (58) and the detected value (θ2) of the tilt angle sensor (60) Based on the fuzzy rule data of (Δθ = θ1-θ2) and the inclination angle change rate (dθ = Δθ2 / Δt) expressed by the amount of change per hour of the detected value (θ2) of the inclination angle sensor (60), The drive fuzzy output of the electromagnetic switching valve (65) for driving the lift cylinder (42) is calculated, and the right lift cylinder (42) is calculated with a right rising pulse signal or a right falling pulse signal calculated according to the fuzzy output. Drive control Thus, the set value (θ1) that becomes the target inclination angle is kept constant.
[0013]
On the other hand, when the tilt speed of the machine base (3) where the angular velocity value detected by the angular velocity sensor (62) is large (greater than a certain value) is high, the stationary angular velocity value (ω0) and the detected value of the angular velocity sensor (62). Angular velocity deviation (Δω = ω0−ω1) obtained from the difference from (ω1) and angular velocity change rate (dω = Δω1 / Δt) expressed by the amount of change per hour in the detected value (ω1) of the angular velocity sensor (62). The angular velocity fuzzy output (ωt) is calculated based on the first-stage fuzzy rule data, and then the second-stage fuzzy of the angular velocity fuzzy output (ωt) and the tilt angle deviation (Δθ = θ1-θ2) is calculated. Based on the rule data, the drive fuzzy output of the electromagnetic switching valve (65) for driving the right elevating cylinder (42) at a high speed is calculated, and when the vehicle speed is small (slow), a control value corresponding to a constant value or the vehicle speed (output ) Is controlled, the right elevating cylinder (42) is driven and controlled with a right ascending pulse signal or a right descending pulse signal calculated according to the control amount (output), and a set value (θ1) that becomes a target inclination angle is controlled. ) To keep the machine base (3) constant. In addition, by suppressing the control amount when the vehicle speed is low, it is possible to reduce the hunting in the control and improve the stability of the control, and to improve the operational feeling of the driving operator.
[0014]
When the airframe having a small angular velocity is gently inclined in the left-right direction, the horizontal control of the stable airframe is performed while reducing the occurrence of hunting based only on the detected value of the inclination angle sensor (60), while the angular velocity is controlled. When the airframe having a large incline in the left-right direction is taken in, the detected value of the angular velocity sensor (62) with good responsiveness is taken in, and horizontal control of the airframe with good followability is performed.
[0015]
FIGS. 9 and 10 are flowcharts showing that the horizontal control is prohibited or the detection value of the tilt angle sensor (60) is corrected during the turning operation of the airframe to continue the horizontal control. The steering angle by the steering handle (19b) is shown in FIGS. When the angular velocity sensor (62) detects a continuous angular velocity in the same direction of a certain value or more during a turning operation exceeding a certain value, horizontal control is prohibited. When it is desired to continue the horizontal control, a correction value corresponding to the angular velocity sensor value is calculated from the diagram as shown in FIG. 10, and the detection value of the tilt angle sensor (60) is corrected to obtain the corrected detection value. Based on this, level control of the aircraft is continued.
[0016]
【The invention's effect】
As is apparent from the above-described embodiments, the present invention provides an inclination angle sensor (60) for detecting the left and right inclination of the fuselage in the combine level control device that adjusts the left and right support heights to keep the fuselage horizontal. ) And an angular velocity sensor (62), and is a combined horizontal control device configured to perform horizontal control of the aircraft based on the detection of the inclination angle sensor (60) and the angular velocity sensor (62). When the detected value of the angular velocity sensor (62) is less than a certain value during operation, horizontal control is performed based on the detected value of the tilt angle sensor (60), and the detected value of the angular velocity sensor (62) is detected when the aircraft is turning. water There when more than a predetermined value, in particular by adding performs horizontal control with the detected value and the detection value of the angular velocity sensor (62) of the tilt angle sensor (60), when the vehicle speed of the combine is slow, depending on the vehicle speed Since inhibiting the control amount of the control, when the detected value of the angular velocity is less than the predetermined value, that is, when the body tilts gradually in the lateral direction, performs horizontal control based only on the detection value of the tilt angle sensor (60), hunting When the detected value of the angular velocity is equal to or higher than a certain value, that is, when the aircraft is tilted sharply in the left-right direction, detection of the tilt angle sensor (60) is possible. In addition to the value, the detected value of the angular velocity sensor (62) with good responsiveness can be taken in, and the horizontal control of the aircraft with good followability can be performed. Therefore, the body posture can be controlled with good responsiveness to the target tilt angle (horizontal), and the cutting portion (8) can be reliably prevented from entering the field or the like.
[0017]
In addition, since the horizontal control of the airframe is prohibited when detecting a certain angular velocity or more during the turning operation of the airframe, the horizontal control based on the erroneous output of the tilt angle sensor (60) during the airframe turning is prevented. Thus, the accuracy of this control can be improved.
[0018]
Further, when detecting the angular velocity above a certain level during the turning operation of the aircraft, the detected value of the tilt angle sensor (60) is corrected according to the angular velocity value and the horizontal control is continued. However, the horizontal control can be performed continuously and with good accuracy without interrupting the control.
[Brief description of the drawings]
FIG. 1 is a control circuit diagram.
FIG. 2 is an overall side view.
FIG. 3 is an overall plan view.
FIG. 4 is an explanatory side view of a traveling unit.
FIG. 5 is an explanatory view of the back surface of a traveling unit.
FIG. 6 is an explanatory diagram of a driving operation unit.
FIG. 7 is an explanatory diagram of installation of an angular velocity sensor.
FIG. 8 is a flowchart of horizontal control.
FIG. 9 is a flowchart of horizontal control.
FIG. 10 is a diagram showing a relationship between an angular velocity sensor value and a tilt sensor correction value.
[Explanation of symbols]
(60) Inclination angle sensor (62) Angular velocity sensor

Claims (1)

In the combine level control device that adjusts the left and right support height to keep the aircraft level,
A combine horizontal control device provided with an inclination angle sensor and an angular velocity sensor for detecting left and right inclination of the aircraft, and configured to perform horizontal control of the aircraft based on detection of the inclination angle sensor and the angular velocity sensor. hand,
When the detected value of the angular velocity sensor is less than a certain value during the turning operation of the airframe, horizontal control is performed based on the detected value of the tilt angle sensor,
When the detected value of the angular velocity sensor is greater than or equal to a certain value during the turning operation of the aircraft, in addition to performing horizontal control based on the detected value of the tilt angle sensor and the detected value of the angular velocity sensor ,
The combine horizontal control device, wherein when the vehicle speed of the combine is low, the control amount of the horizontal control is suppressed according to the vehicle speed .

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