JP4027524B2 - Vehicle height and attitude control device for combine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention To combine The present invention relates to a vehicle height and attitude control device.
[0002]
[Prior art]
Traveling on the field Combine If there is a step such as a saddle on the left and right in the direction of travel of the traveling body, the traveling body tilts to the side where the traveling body falls and the driver's sitting comfort deteriorates and there is also inconvenience in farm work. -69331 discloses a lift driving means for moving the right and left traveling devices up and down separately with respect to the traveling machine body, an inclination angle detecting means for detecting an inclination angle of the traveling machine body with respect to the horizontal horizontal reference, and a lateral inclination angle of the traveling machine body. Control means for controlling to maintain a predetermined angle, vehicle height detection means for detecting the relative height (vehicle height) of the left and right traveling devices with respect to the traveling vehicle body, and vehicle height for setting the relative height (vehicle height) A setting device, and in the automatic mode, the control means predetermines a right and left inclination angle of the traveling machine body set in advance by the inclination angle setting device based on information of each of the detection means and the vehicle height setting device. At an angle of One vehicle height can be configured to actuate the elevating drive means to maintain the set height has been disclosed.
[0003]
When driving on the road or traveling over the ridge or the like, set the left and right traveling devices in the lift position (the height of the traveling machine body is the lowest) that is closest to the traveling machine body. It is disclosed that the vehicle can run.
[0004]
[Problems to be solved by the invention]
However, in the conventional example, during the non-working traveling, the traveling machine body is always (uniformly) closest to the ground, so when traveling on a soft soil field such as a wet field, The traveling device sinks into the soil, and the lower surface of the traveling machine body is supported by the field scene or on the ridge when crossing the ridge, which causes a problem that smooth traveling cannot be achieved.
[0005]
On the other hand, the vehicle height is adjusted by manually operating the control lever when the field condition changes from a hard soil part to a soft soil part during farming (for example, during mowing and threshing). Since it is a time when farm work cannot be continued successfully with the set vehicle height, it was preferable to reflect the vehicle height changed with the operation lever in the vehicle height at the next work, but this was realized with the conventional technology described above There was a problem that I could not.
[0006]
The present invention has been made to solve the above-described problem, and is capable of automatically setting the traveling position of the traveling machine body to a predetermined position higher than the lower limit position during non-working. Combine It is an object of the present invention to provide a vehicle height / posture control apparatus.
[0007]
[Means for Solving the Problems]
Therefore, the invention according to claim 1 Combine The vehicle height and attitude control device in A threshing device, a grain tank for storing threshed grain, and a swivelable discharge auger for discharging the grain out of the machine from the grain tank are provided as a working unit. A traveling unit raising / lowering driving means for independently raising and lowering the left and right traveling units with respect to the traveling machine body, a vehicle height detection sensor for detecting a relative height of the traveling machine body with respect to the traveling unit, and a left and right inclination angle of the traveling machine body are set. A tilt setting device, a tilt detection sensor for detecting the degree of left-right tilt of the traveling vehicle body, and control means for operating each of the traveling unit lifting / lowering drive means so that the left-right tilt angle of the traveling vehicle body becomes a set tilt angle. Prepared Combine In A threshing switch for turning on and off the drive of the threshing device, and a rest stand detector or the rest stand for detecting whether or not a horizontal pipe in the discharge auger is placed on a rest stand provided on the grain tank And a sensor for detecting that the horizontal pipe has approached, the threshing switch is OFF, and the rest base detector is ON or the sensor has caused the horizontal pipe to approach the rest base, When detecting the work end of the working unit, The left and right traveling unit elevation drive means are driven separately or simultaneously so that the elevation position of the traveling machine body becomes a predetermined vehicle height higher than the lower limit position. ,and The left and right sides of the traveling machine body are controlled to be in a horizontal posture.
[0008]
In addition, the invention described in claim 2 is described in claim 1. Combine In the vehicle height and posture control device in the above, when the lift position of the traveling machine body before the work of the working unit is higher than the predetermined vehicle height, the working unit is lowered to the predetermined vehicle height position when the work of the working unit is finished, When the lift position of the traveling machine body before the work of the working unit is lower than the predetermined vehicle height, the vehicle height is controlled to be maintained at the end of the work of the working unit.
[0009]
The invention described in claim 3 is described in claim 1 or claim 2. Combine In the vehicle height and attitude control device in FIG. 2, a manual variable operation unit that operates the left and right traveling unit elevation drive means separately or simultaneously to change the elevation position of the traveling machine body, and mode switching for switching between automatic mode and manual mode The vehicle height can be changed according to the amount of operation of the manual variable operation section regardless of whether the switch and the automatic mode or the manual mode, and the vehicle height of only one of the left and right sides of the traveling machine body at the end of the operation Is provided with vehicle height storage means.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment embodying the present invention will be described. FIG. 1 is a left side view of a combine having a pair of left and right traveling units 2 provided with a traveling crawler 2a, FIG. 2 is a plan view of the combine, and FIG. FIG. 5 is a side view of the lifting and lowering drive means of the traveling unit 2 with respect to the traveling machine body 1 of the combine, FIG. 6 is a sectional view taken along the line VI-VI in FIG. 5, and FIG. 7 is the line VII-VII in FIG. FIG. 8 is an explanatory view of the posture control means of the discharge auger, FIG. 9 is a perspective view of the operation panel unit, FIG. 10 is a hydraulic circuit, and FIG. 11 is a functional block diagram of the control device.
[0011]
The traveling machine body 1 in the combine of the present invention is configured to be able to move up and down via a traveling unit lifting / lowering driving means described later with respect to a pair of left and right traveling crawlers 2a. A threshing device 3 as a working unit is mounted on the left side in the traveling direction of the traveling machine body 1, and a pre-cutting processing device 4 as a working part disposed at the front part of the traveling machine body 1 is provided via a lifting frame 14. It is supported so as to be rotatable with respect to the traveling machine body 1, and can be moved up and down by a single-action reaping part lifting hydraulic cylinder 9 as a reaping part lifting actuator mounted between the lifting frame 14 and the traveling body 1. Has been.
[0012]
A clipper-type cutting blade device 5 is arranged on the lower side of the lower frame of the pre-cutting processing device 4, and a cereal groin raising device 6 for six strips is arranged on the front side. Between the two, a cereal haul conveying device 8 is arranged, and a weed body 10 protrudes in front of the lower portion of the cereal haul raising device 6. A cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 is arranged on the rear side thereof.
[0013]
As shown in FIGS. 3 and 8, a vertical pipe 28 b disposed at the rear end of the traveling machine body 1 from a screw conveyor provided in the lower part of the grain tank 12, and a horizontal pipe continuously connected to the upper end of the vertical pipe 28 b so as to be vertically rotatable. 28a, and the grain accumulated in the grain tank 12 can be discharged to a part such as a truck bed via a discharge auger 28 in which a screw conveyor is installed in each pipe. The vertical pipe 28b can be turned around the vertical axis by the drive motor 64b and the gear mechanism 57, and the horizontal pipe 28a is connected to the vertical pipe 28b, and the discharge auger hydraulic cylinder 64a and the link mechanism. 58, the inclination angle can be changed.
[0014]
An angle sensor 85 such as a rotary encoder provided in the drive motor 64b can detect the horizontal turning angle of the vertical pipe 28b and consequently the turning position of the horizontal pipe 28a, and is provided at the link mechanism 58 or the hydraulic cylinder 64a. The angle sensor 86 such as a potentiometer can detect the elevation angle of the horizontal pipe 28a, and hence the height position of the discharge portion at the tip of the horizontal pipe 28a. When the discharge auger 28 is not used, the middle portion of the horizontal pipe 28a is placed on a rest base 87 provided on the upper surface of the grain tank 12 or the like. Further, the rest base 87 is provided with a rest detector 88 such as a contact sensor for detecting whether or not the horizontal pipe 28a is placed.
[0015]
As shown in FIG. 5 and FIG. 6, the traveling unit 2 includes a plurality of drive wheels 51, driven wheels 52, and a plurality of middle portions disposed on the lower surface of the track frame 50. The left and right track frames 50 and 50 and the traveling machine body 1 are made up of left and right lifting control hydraulic cylinders 54a and 54b and L-shaped side views of the front and rear positions. The left and right lifting control hydraulic cylinders 54a and 54b are connected via a traveling unit lifting and lowering drive means comprising levers 55a and 55b and connecting rods 56 and 56, etc. for connecting the front and rear levers 55a and 55b simultaneously. By operating independently of each other, the left and right traveling units 2, 2 are raised and lowered independently with respect to the left and right of the traveling machine body 1.
[0016]
Therefore, when the piston rods of the left and right hydraulic control cylinders 54a and 54b are projected at the same time, the traveling machine body 1 is separated upward (raised) with respect to the traveling parts 2 and 2 on the left and right sides. The relative height (vehicle height) with respect to the traveling units 2 and 2 is increased. Conversely, when the piston rods are simultaneously retracted, the traveling machine body 1 moves downward (lowers) with respect to the traveling parts 2 and 2 on both the left and right sides, and the relative height (vehicle height) of the traveling machine body 1 with respect to the traveling part. Becomes lower.
[0017]
Then, the piston rod of the left hydraulic cylinder 54a is protruded, or the piston rod of the right hydraulic cylinder 54b is retracted (or both operations are performed simultaneously). The vehicle height decreases (the vehicle height of the traveling machine body 1 with respect to the left traveling unit 2 increases), and the traveling machine body 1 tilts downward to the right. Conversely, the piston rod of the right hydraulic cylinder 54b is protruded, or the piston rod of the left hydraulic cylinder 54a is retracted (or even if both of these operations are performed simultaneously), the traveling machine body for the left traveling unit 2 The vehicle height of 1 is lowered (the vehicle height of the traveling machine body 1 with respect to the right traveling unit 2 is increased), and the traveling machine body 1 is inclined downwardly to the left.
[0018]
As shown in FIGS. 5 to 7, by detecting the protruding amount of the piston rod of the left and right lifting control hydraulic cylinders 54 a and 54 b, the relative height (vehicle height) of the traveling machine body 1 with respect to the left and right traveling portions 2 and 2. For example, a rotary encoder type vehicle height detection sensor 71a, 71b is configured to be interlocked via a connecting rod 72 and a link mechanism 73 that are connected to the connecting rod 56.
[0019]
In addition, the inclination detection sensor 74 for detecting the degree of left and right inclination of the traveling machine body 1 is configured by a pendulum type (gravity type) or the like, and is disposed at an arbitrary position of the traveling machine body 1 such as the cab 11. Yes. In addition, as shown in FIG. 4, the ultrasonic sensors 20a and 20b serving as cutting height sensors for detecting the cutting height by detecting the height between the pre-cutting processing device 4 and the field scene are before the cutting. Arranged on brackets (not shown) provided on the back side of the grain raising device 6 at the left and right ends of the processing device 4, transmitter units (horn units) and receivers of the ultrasonic sensors 20 a, 20 b The receiver is placed so as to face the farm scene. When the installation height of each ultrasonic sensor 20a, 20b and the installation height of the cutting blade 5 are different, the cutting height detection value is obtained by predetermined conversion from the detection values of the ultrasonic sensors 20a, 20b. .
[0020]
Further, the lift position sensor 75 for detecting the relative height between the traveling machine body 1 and the pre-cutting processing device 4 is configured to be obtained by detecting the rotation angle of the lift frame 14. .
[0021]
The control panel 11a (see FIG. 9) in the cab 11 includes a changeover switch 76 for switching between the automatic mode and the manual mode, and the vehicle height control regardless of the automatic mode or the manual mode. An operation lever 77 as a manually variable operation unit capable of changing and adjusting the height (vehicle height) of the traveling machine body 1, an inclination setting device 78 for setting the left and right inclination angle of the traveling machine body 1, and the traveling machine body 1 are absolutely horizontal. A horizontal set switch 79 to be in a state is arranged.
[0022]
FIG. 10 shows a hydraulic circuit for the elevating hydraulic cylinders 54a, 54b, etc., which branches through a diverter valve 63 that diverts the pressure oil discharged from the hydraulic pump 60, and cuts the reaping from one of the discharge paths. This is sent to the first hydraulic circuit 61 for the hydraulic cylinder 9 as a cutting unit lifting actuator for raising and lowering the pretreatment device 4 and the right (operating cab 11 side) lifting control hydraulic cylinder 54b. From the other discharge path of the diversion valve 63, a discharge auger hydraulic cylinder 64 for raising and lowering for changing the inclination angle of the horizontal pipe 28a of the discharge auger 28 with respect to the vertical pipe 28b, and a left and right lifting control hydraulic cylinder 54a, The electromagnetic control valves 65, 66, 67, 68, check valves, relief valves, etc. for the respective hydraulic cylinders 9, 64, 54a, 54b are connected.
[0023]
FIG. 11 shows a functional block diagram of a control device (control means) 70 for controlling the attitude and vehicle height of the traveling machine body 1, and the control device 70 is an electronic control device such as a microcomputer, not shown. A central processing unit (CPU) for executing various arithmetic processes and controls, a read-only memory (ROM) that stores a control program, and a readable / writable memory that temporarily stores various detection values, data, etc. RAM), a non-volatile memory for holding stored data even when the control device is turned off, a clock as a timer function, an interface, a bus, and the like. Reference numeral 84 denotes a memory connected to the control device 70, which is a so-called nonvolatile memory (flash memory) whose stored value does not disappear even when the power is turned off. The memory 84 sequentially stores vehicle height values when the vehicle height is changed by the manual operation lever 77 as will be described later. That is, when the operator manually turns the operation lever 77 forward from the neutral position (substantially vertical state), the lowering direction occurs, and the amount of lowering of the vehicle height increases in proportion to the turning time in that direction. On the contrary, when the vehicle is rotated backward from the neutral position, the vehicle moves upward, and the vehicle height increases in proportion to the rotation time in that direction. Since the amount (the descending amount or the ascending amount of the vehicle height) is updated and stored, the vehicle height (the ascending position or the descending position) of the most recent operation amount (at the end of the operation) of the operation lever 77 is stored.
[0024]
When the operating lever 77 is rotated to the right, the right side is low and the left side is inclined high (this is referred to as right inclination hereinafter). Conversely, when the operating lever 77 is rotated to the left, the left side is low and the right side is The left and right lifting control hydraulic cylinders 54a and 54b are operated so as to be in a high inclination posture (this is referred to as left inclination hereinafter). The operation amount of these inclinations is configured to be proportional to the rotation time of the operation lever 77.
[0025]
The control device 70 detects the relative height (vehicle height) of the traveling machine body 1 with respect to the left and right traveling portions 2 and 2 corresponding to the protruding amount of the piston rod of the left and right lifting control hydraulic cylinders 54a and 54b. Detection values of vehicle height detection sensors 71a and 71b such as a rotary encoder type, detection values of an inclination sensor 74, and detection values of ultrasonic sensors 20a and 20b provided at both right and left ends of the pre-cutting processing device 4 as the cutting height sensor. , A detection value of the cutting part lifting position sensor 75, a detection value of the angle sensor 85 for detecting the horizontal turning angle of the discharge auger 28, and Horizontal pipe The detected value of the angle sensor 86 that detects the elevation angle of the elevation of 28a is input. In addition, Horizontal pipe When 28a is placed on the rest base 88, the detected value of the angle sensor 86 is 0 degree, and the angle when it rises more than that is detected. Also, Horizontal pipe The angle sensor 85 can detect the angle of left and right horizontal turning with reference to the rest position when 28 a is placed on the rest base 88.
[0026]
Operations such as raising and lowering and horizontal turning of the discharge auger 28 are performed by an operation unit 90 disposed in the cab 11 and Horizontal pipe In the tip operation part 91 provided beside the discharge part at the tip of 28a. Ru It can be commanded from the command switch (see FIG. 8).
[0027]
An upper limit switch 82 and a lower limit switch 83 are connected to the control device 70 as detection means for detecting the upper limit (lower limit) of each of the left and right vehicle heights. The upper limit switch 82 for detecting the upper limit of the vehicle height senses the maximum position of the extension of the piston rod of the left and right hydraulic cylinders 54a, 54b, and the lower limit switch 83 for detecting the lower limit of the vehicle height. It is sufficient to sense the minimum position of the extension of the rod, and it may correspond to the maximum and minimum values detected by the left and right vehicle height detection sensors 71a and 71b.
[0028]
Further, the control device 70 includes a mode changeover switch 76 for switching the control mode between an automatic mode and a manual mode, and an elevation position of an operation lever 77 as a manual variable operation unit capable of manually changing and adjusting the vehicle height. A detector, a tilt setter 78 for setting the left and right tilt degree of the traveling machine body 1, a horizontal set switch 79, a cutting height setter 80, and a threshing switch 81 are connected to each other. Input each set value and ON / OFF detection signal. The left and right lifting control hydraulic cylinders 54a, 54 are actuated by actuation of electromagnetic control valves 67, 68 connected to the output side of the control device 70. b , And the height of the left and right traveling units 2 and 2 are independently raised and lowered to control the right and left inclined posture of the traveling machine body 1 and thus the right and left inclined posture of the pre-cutting processing device 4. By operating the electromagnetic hydraulic switching valve 65 connected to the output side of 70, the elevating hydraulic cylinder 9 can be driven to control the height of the pre-cutting processing device 4, in other words, the cutting height.
[0029]
When the threshing switch 81 is turned on, the threshing clutch for power transmission to the threshing unit is turned on, and power transmission is possible. When the threshing switch 81 is OFF, power transmission is interrupted. Then, when the threshing switch 81 is OFF or the mode change switch 76 is OFF (switching in the manual mode direction) (or condition), the “manual mode” is set.
[0030]
In the manual mode, the operator manually operates the operation lever 77 to adjust the vehicle height and the left / right inclination of the traveling machine body 1. In the vehicle height control (elevation control), the left / right lifting control hydraulic cylinders are provided. 54a, 54 b To change the vehicle height on the left and right at the same time. In the tilt control based on the right vehicle height, the tilt is first adjusted only by the left vehicle height, and only when the tilt angle is still insufficient, it is adjusted by the opposite (right) vehicle height. On the contrary, in the tilt control based on the left vehicle height reference, the tilt is first adjusted only by the right vehicle height, and is adjusted by the left vehicle height only when the tilt angle is still insufficient.
[0031]
When the threshing switch 81 is ON and the mode switch 76 is ON (AND condition), the “automatic mode” is set. In the automatic mode, the vehicle body 1 is automatically tilted left and right so as to have the inclination set by the inclination setter 78, and there are a right vehicle height reference case and a left vehicle height reference case.
[0032]
Next, the vehicle height and posture control during the mowing and threshing operation will be described. When the mode switch 76 is switched to the “manual mode” or the threshing switch 81 is turned off, the vehicle height control / posture control in the manual mode is performed according to the operation amount operated by the operation lever 77 by the operator. It becomes possible. In this case, when the operation lever 77 is in the upright state, the vehicle height change is stopped, and as shown by the arrow in FIG. On the other hand, when it rotates backward, it moves upward only during the rotation. When the vehicle height is changed by the operation lever 77, the left and right lifting drive hydraulic cylinders 54a and 54b are simultaneously operated in the same direction to the same extent.
[0033]
Depending on the conditions of the field, for example, when manually cutting and threshing while traveling on a field such as plain soil that is not soft, the horizontal set switch 79 is turned on so that the traveling machine body 1 is in an absolutely horizontal state. While being maintained, the operator can adjust the vehicle height visually.
[0034]
When the horizontal set switch 79 is turned off, the operator rotates the operation lever 77 in either the left or right direction from the neutral position, so that the left and right inclined postures of the traveling machine body 1 according to the rotation amount (operation amount). Can be changed and adjusted to an arbitrary inclination angle. The relative height (vehicle height) between the left and right traveling units 2 and 2 and the traveling machine body 1 is changed and adjusted so that the inclined posture can be maintained. The operations of the vehicle height control and the attitude control will be described in detail below.
[0035]
First, following the start of control, the detector value θo of the latest tilt sensor 74 is read and stored in the memory unit of the control device 70 in both the manual mode and the automatic mode immediately before the control is started.
[0036]
Next, the operator turns the operation lever 77 forward or backward, and visually raises and lowers the left and right vehicle heights simultaneously so that the traveling machine body 1 or the pre-cutting processing device 4 is at a predetermined height (FIG. 12). (See the change from posture Po to P1). In this case, when it is easy to visually discriminate the current vehicle height on the side where the operator is seated (in the embodiment, the right side of the traveling machine body 1), the vehicle height on the right side ( Since the reference vehicle height value) HRo is stored (see FIG. 12), the right side of the traveling machine body 1 is set as the reference side in the present embodiment.
[0037]
Next, the operator can manually change and adjust the left-right inclined posture of the traveling machine body 1 by rotating the operation lever 77 in either the left or right direction. At this time, when the right reference is set, the reference side (right side) vehicle height (the reference vehicle height value = HRo in the embodiment) is not changed, and firstly, the opposite side (left side) lifting drive hydraulic cylinder 54b is set. The posture is controlled so as to approach the predetermined inclination angle θx1 (change from the posture P1 to the posture P2, see FIG. 13A). If the desired height is not reached even when the vehicle height on the opposite side (left side) reaches the upper limit or the lower limit, the vehicle height on the reference side is changed to HR1 and the posture is controlled so as to approach the desired inclination angle θx2. (Change from posture P3 to posture P4, see FIG. 13B).
[0038]
14 (a) and 14 (b) show posture change control in the case of the left reference, in which the left vehicle height is set as a reference vehicle height value HLo, and the right vehicle height is changed while the left vehicle height is maintained. In this way, the tilt posture is changed from P5 to P6. If the desired tilt angle is not reached even when the right vehicle height becomes the upper or lower or lower limit, the left vehicle height on the reference side is adjusted to the desired tilt posture. Attitude control is executed so as to approach. In these cases, even if the vehicle height of one of the work machines is the upper limit and the other is the lower limit, when the predetermined inclination posture is not achieved, the upper limit value and the lower limit value are maintained.
[0039]
On the other hand, at the time of automatic mowing and threshing such as cutting or reciprocating mowing around the inner periphery of the field, the mode changeover switch 76 is switched to the “automatic mode” and the cutting height setting unit 80 sets the cutting height. Keep it.
[0040]
In this state, when the threshing switch 81 for turning the threshing clutch ON / OFF is turned ON, the vehicle height / posture control in the “automatic mode” is automatically executed. That is, the operator sets the set inclination value in advance with the inclination setting device 78 in accordance with the degree of inclination of the field or according to the traveling conditions such as where the left and right traveling units 2 and 2 pass through the bottom and top of the fence. By doing so, the height of the left and right traveling units 2 and 2 can be raised and lowered independently to maintain the left and right inclined posture of the traveling machine body 1 in the state of the set inclination value for cutting and traveling. The vehicle height in this case is the latest vehicle height value changed by the vehicle height change by the operation lever 77 operated during the manual mode or the vehicle height change operation interrupted by the operation lever 77 during the automatic mode. The vehicle height is controlled so as to be the reference vehicle height value stored in the memory 84 as the high storage means.
[0041]
As one embodiment, in order to start the operation of the threshing device 3, the threshing switch 81 as an instruction switch is in the ON state, and the mode switch 76 is at the edge of the signal switched from OFF to ON. The reference vehicle height value stored in the memory 84 can be set to be the reference vehicle height value in the automatic mode.
[0042]
In this state, when the combine is run and the cereal culm planted in the field is harvested and threshing work, the cutting height setting value and the average value of the left and right both cutting height detection values are substantially equal. Actuates the hydraulic cylinder 9 for raising and lowering the pre-cutting device 4 The Thus, the cutting height can be adjusted so as to cut the cereal so as to obtain a substantially uniform cutting height on the left and right of the pre-cutting processing device 4.
[0043]
At this time, the vehicle height detection values by the left and right vehicle height detection sensors 71a and 71b indicate the relative heights (vehicle heights) between the left and right lower surfaces of the traveling machine body 1 and the left and right track frames 50 and 50 below the vehicle body detection values. In other words, the left and right inclination angle of the traveling machine body 1 can be maintained horizontal or at a predetermined set value due to the difference in the operation amount between the left and right lifting drive hydraulic cylinders 54a and 54b. The state can be determined by the detection value of the tilt sensor 74, and feedback control is performed by the control device.
[0044]
In this state, if the operation lever 77 is operated again during execution of the vehicle height control / attitude control in the automatic mode, the vehicle height can be changed and adjusted as manual priority, and then the mode changeover switch 81 is set to the “automatic mode”. When the threshing switch 81 is switched from ON to OFF (operation end command signal), the vehicle height when the operation lever 77 is operated and changed most recently is stored (saved) in the memory 84 as a reference vehicle height value, and in that state The vehicle height is set to a predetermined low height. Thereby, it can move to the location of a new cutting line by the turning in an agricultural field. If the threshing switch 81 is switched from OFF to ON while the mode changeover switch 81 is in the “automatic mode”, the stored reference vehicle height value is restored to the stored value and the cutting and threshing work can be executed in the automatic mode. Therefore, it is not necessary to adjust (adjust) the vehicle height again because the vehicle height is restored to the state that the operator operated last time.
[0045]
When interrupting mowing and threshing work during lunch breaks, etc., simply turn off the mode switch 76 with the threshing switch 81 turned on, the automatic mode is switched to the manual mode and the automatic control is terminated. It is not changed unless the lever 77 is operated.
[0046]
As described above, when the tilt posture is executed after the left and right vehicle heights are changed by the manual operation of the operation lever 77, the side that holds the vehicle height (reference side) is set to the side on which the operator sits (right side in the embodiment). If this is done, the height of the vehicle that is easy to see from the operator will not fluctuate so much, and the pre-cutting device will not collide with the ground, such as reeds. As a result, the chance that the traveling body tilts to the left and right increases, so that the operator's awareness of the tilt control instruction and the control result are easily matched.
[0047]
Therefore, for example, when cutting 2 to 3 grain culms planted at the heel, the operator operates the operation lever 77 while maintaining the left / right inclination angle so as to increase the vehicle height on the side close to the heel. If the cutting and threshing operation is performed while running, the left and right traveling are visually observed so that one lower end of the pre-cutting processing device 4 is not supported by the heel and the other lower end of the pre-cutting processing device 4 is not supported by the field scene. The relative height (vehicle height) between the parts 2 and 2 and the traveling machine body 1 can be manually adjusted.
[0048]
On the other hand, if the reference side for maintaining the vehicle height is set to the side farther from the operator (left side in the embodiment) in the case of tilt attitude control, the pre-cutting processing device even if the left and right tilt of the traveling machine body 1 is changed Since the height position of the left weed body 10 far from the operator in 4 does not move up and down so much, the herb body 10 can be observed at all times, and there is an effect that the trimming can be reliably performed.
[0049]
Next, when the amount of the grain stored in the grain tank 12 becomes large and must be discharged to a truck bed or the like, that is, to temporarily terminate the harvesting and threshing work, Switch 81 is turned off. In this state, a command for raising and turning the discharge auger is executed by the operation unit 90 or the tip operation unit 91 so that the discharge auger 28 is separated from the rest base 87, and the power transmission to the discharge auger 28 is turned ON. The grain can be discharged from the grain tank 12. In such a case, the operator can change and adjust the height of the combine traveling machine body by the operation lever 77 so that the discharge portion (tip portion) of the discharge auger 28 does not serve the loading platform or the like.
[0050]
When such work is finished, vehicle height / posture control in the work finish mode as shown in FIG. In other words, the operator returns the discharge auger 28 to the position of the rest base 87 by pressing a command switch at the operation unit 90 or the tip operation unit 91.
[0051]
And the threshing switch 81 for commanding the start and end of the work of the threshing device 3 is in an OFF state (work end) (S1: yes), and the discharge auger 28 is placed on the rest base 87, When the ON signal of the rest stand detector 87 for detecting the end of work of the discharge auger 28 is output (S2: yes), or Horizontal pipe When the angle sensors 85 and 86 detect that 28a has approached the rest base 87, the "work end mode" is set. In this “work end mode”, hydraulic cylinders 54a, which are traveling unit raising / lowering drive means of the left and right traveling devices 2, 2, so that the vehicle height of the traveling machine body 1 becomes a predetermined vehicle height that is higher than the lower limit position of elevation. 54b is driven so that the left and right postures are forcibly returned to the horizontal state.
[0052]
As an example, the vehicle height before the end of work (for example, the right vehicle height HRx as the reference side) is higher than approximately 20% of the lifting stroke from the lower limit position. Higher than HE (S3: yes), at the end of the work (when the "work end mode" is entered), a position that is higher than the lower limit position by approximately 20% of the lifting stroke. HE The vehicle is lowered to a predetermined vehicle height (referred to as a vehicle height position at the end), and the left and right sides of the traveling machine body are held horizontally with the same left and right vehicle heights (S4). Conversely, the vehicle height before the end of work (right vehicle height HRx as the reference side) is a position that is 20% higher than the lower limit position and the lower / lower stroke than the lower limit position. HE (S3: no), at the end of the work (when the "work end mode" is entered), the vehicle height before the end of the work is maintained and the left and right sides of the traveling machine body are leveled. (S5).
[0053]
In addition, if the threshing switch 81 remains ON (S1: no), it will be judged as a working state and cutting and threshing work control will be performed (S6). When the discharge auger 28 is not at the rest position (S2: no), other control such as returning to the mowing and threshing operation is executed (S7).
[0054]
Thus, at the end of the work, the vehicle height of the traveling machine body is maintained at a predetermined vehicle height position (the vehicle height position at the time of completion) higher than the lower limit position, and the traveling machine body is returned to the horizontal position so that the combine is normally stabilized. Even in the case of a soft soil field, the lower end of the traveling aircraft does not support the field scene, and the work over the ridge does not break the ridge, The move can be performed safely.
[0055]
Next, when the mode changeover switch 76 is switched to the “automatic mode” in order to resume the farm work from the work end mode, the operator does not operate the operation lever 77 (the operation amount is not changed in the manual variable operation unit). The vehicle height control is executed so as to return to the latest reference vehicle height value stored immediately before entering the work end mode, which is the data stored in the memory 84. like this In For example, if the vehicle height is changed in advance by operating the operation lever 77 in preparation for the next mowing and threshing operation immediately before the end of the operation, the vehicle height immediately returned to the previously changed vehicle height when the operation is resumed. It is possible to enter the “automatic mode” in which the inclined posture is in a predetermined setting state, and the farm work can be resumed quickly.
[0056]
In addition, if the operator operates the operation lever 77 after switching the mode change switch 76 to the “automatic mode” in order to resume the farm work from the work end mode, the data stored in the memory 84 is also rewritten. Thus, the vehicle height in the “automatic mode” immediately after that is controlled so as to be the rewritten data (the latest stored reference vehicle height value).
[0057]
The operation amount by the operation lever 77 may be configured to be a detection value proportional to the rotation angle of the operation lever 77. Further, as the vehicle height detection sensors 71a and 71b, linear encoders that can detect the expansion and contraction amounts of the piston rods of the hydraulic cylinders 54a and 54b may be used, or the height from the lower surface of the traveling machine body 1 to the field is detected. A non-contact sensor such as an ultrasonic sensor may be used. Instead of the ultrasonic sensors 20a and 20b, a contact type (橇 type) sensor that detects the height by sliding on the farm scene may be used as the cutting height detection sensor.
[0058]
[0059]
【The invention's effect】
As described above, the invention according to claim 1 Combine The vehicle height and attitude control device in A threshing device, a grain tank for storing threshed grain, and a swivelable discharge auger for discharging the grain out of the machine from the grain tank are provided as a working unit. A traveling unit raising / lowering driving means for independently raising and lowering the left and right traveling units with respect to the traveling machine body, a vehicle height detection sensor for detecting a relative height of the traveling machine body with respect to the traveling unit, and a left and right inclination angle of the traveling machine body are set. A tilt setting device, a tilt detection sensor for detecting the degree of left-right tilt of the traveling vehicle body, and control means for operating each of the traveling unit lifting / lowering drive means so that the left-right tilt angle of the traveling vehicle body becomes a set tilt angle. Prepared Combine In A threshing switch for turning on and off the drive of the threshing device, and a rest stand detector or the rest stand for detecting whether or not a horizontal pipe in the discharge auger is placed on a rest stand provided on the grain tank And a sensor for detecting that the horizontal pipe has approached, the threshing switch is OFF, and the rest base detector is ON or the sensor has caused the horizontal pipe to approach the rest base, When detecting the end of work in the working unit, The left and right traveling unit elevation drive means are driven separately or simultaneously so that the elevation position of the traveling machine body becomes a predetermined vehicle height higher than the lower limit position. ,and The left and right sides of the traveling machine body are controlled to be in a horizontal posture.
[0060]
Therefore, at the end of work, Combine Even in the case of a field scene with soft soil, the lower end of the traveling machine body is not supported by the field scene, and the work over the ridge does not break the fence. The movement to the next field can be executed safely.
[0061]
In addition, the invention described in claim 2 is described in claim 1. Combine In the vehicle height and posture control device in the above, when the lift position of the traveling machine body before the work of the working unit is higher than the predetermined vehicle height, the working unit is lowered to the predetermined vehicle height position when the work of the working unit is finished, When the lifting / lowering position of the traveling machine body before the work of the working unit is lower than the predetermined vehicle height, when the work of the working unit is finished, the vehicle height is controlled to be maintained. The vehicle height of the traveling machine body at the end of the work is held at a position higher than the lower limit position, and even in a soft soil field scene, the lower end of the traveling machine body does not support the field scene at the operator's judgment. It is possible to do so.
[0062]
The invention described in claim 3 is described in claim 1 or claim 2. Combine In the vehicle height and attitude control device in FIG. 2, a manual variable operation unit that operates the left and right traveling unit elevation drive means separately or simultaneously to change the elevation position of the traveling machine body, and mode switching for switching between automatic mode and manual mode The vehicle height can be changed according to the amount of operation of the manual variable operation section regardless of whether the switch and the automatic mode or the manual mode, and the vehicle height of only one of the left and right sides of the traveling machine body at the end of the operation Since the vehicle height storage means for storing is stored, the final operation amount when the operation lever is operated is stored, and the vehicle height value at that time is used to change the vehicle height in the work end mode. Since the traveling unit lifting / lowering drive means is activated, the result of the operator's operation of the operating lever while checking the current state of the field can be reliably reflected in the vehicle height position at the end. There is an effect that.
[Brief description of the drawings]
FIG. 1 is a left side view of a combine.
FIG. 2 is a plan view of the combine.
FIG. 3 is a right side view of the combine.
FIG. 4 is a front view of the combine.
FIG. 5 is a side view of an elevating drive unit of a traveling unit.
6 is a cross-sectional view taken along the line VI-VI in FIG. 5;
7 is a cross-sectional view taken along line VII-VII in FIG.
FIG. 8 is an explanatory view of means for raising and lowering the discharge auger and horizontal turning.
FIG. 9 is a perspective view of a manual variable operation unit.
FIG. 10 is a hydraulic circuit diagram.
FIG. 11 is a functional block diagram of a control device.
FIG. 12 is an explanatory diagram showing an example of vehicle height control.
FIG. 13A is an operation explanatory diagram showing a state in which the right vehicle height is used and the right vehicle height is maintained and the left vehicle height is changed to execute the tilt posture control, and FIG. 13B is the right vehicle height. It is effect | action explanatory drawing which shows the state which raises / lowers height.
14A is an operation explanatory diagram showing a state in which the left vehicle height is maintained and the left vehicle height is maintained and the right vehicle height is changed to execute the tilt posture control, and FIG. 14B is the left vehicle height reference. It is effect | action explanatory drawing which shows the state which raises / lowers height.
FIG. 15 is a flowchart of vehicle height / posture control at the end of work.
[Explanation of symbols]
1 Airframe
2,2 Crawler type traveling part
4 Cutting pre-treatment device
9 Cutting hydraulic cylinder
20a, 20b Ultrasonic sensor
54a, 54b Hydraulic cylinder
65, 66, 67, 68 Electromagnetic control valve
70 Controller
71a, 71b Vehicle height sensor
74 Tilt sensor
76 Mode selector switch
77 Control lever
78 Inclination setting device
82 Upper limit switch
83 Lower limit switch
84 memory
85,86 angle sensor
87 Rest stand
88 Rest detector

Claims (3)

A threshing device, a grain tank for storing threshed grain, and a swivelable discharge auger for discharging the grain from the grain tank to the outside of the machine are provided to the left and right of the traveling machine body. Traveling unit lifting and lowering driving means for independently lifting and lowering the traveling unit, a vehicle height detection sensor for detecting a relative height of the traveling machine body with respect to the traveling unit, and an inclination setting device for setting a right and left inclination angle of the traveling machine body, In a combine provided with an inclination detection sensor for detecting the degree of left-right inclination of the traveling machine body and a control means for operating each of the traveling unit lifting / lowering drive means so that the left-right inclination angle of the traveling machine body becomes a set inclination angle,
A threshing switch for turning on and off the drive of the threshing device, and a rest stand detector or the rest stand for detecting whether or not a horizontal pipe in the discharge auger is placed on a rest stand provided on the grain tank And a sensor for detecting that the horizontal pipe has approached,
When the threshing switch is OFF and the rest stand detector is ON or the sensor detects the end of work of the working unit by the approach of the horizontal pipe to the rest stand by the sensor,
The left and right traveling unit ascending / descending drive means are driven separately or simultaneously so that the elevation position of the traveling machine body is a predetermined vehicle height higher than the lower limit position , and the left and right sides of the traveling machine body are controlled to be in a horizontal posture. A vehicle height and posture control device for a combine .   When the lifting position of the traveling machine body before the work of the working unit is higher than the predetermined vehicle height, the work unit is lowered to the predetermined vehicle height position when the work of the working unit is finished, and the traveling of the working unit before the work is finished. The vehicle height in the traveling agricultural work machine according to claim 1, wherein when the lift position of the machine body is lower than the predetermined vehicle height, the vehicle height is controlled to be maintained at the end of the work of the working unit. And attitude control device. A manually variable operation unit that operates the left and right traveling unit lifting / lowering driving means separately or simultaneously to change the lifting position of the traveling machine body;
A mode switch for switching between automatic mode and manual mode;
Regardless of whether the automatic mode or the manual mode, the vehicle height can be changed according to the operation amount of the manual variable operation unit, and the vehicle height of only one of the left and right of the traveling machine body at the end of the operation is stored. The vehicle height and attitude control device for a combine according to claim 1 or 2, further comprising vehicle height storage means.

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