JP4041355B2 - Lift control device for work equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lift control device for a farm work machine such as a combine or tractor, a special work vehicle such as a crane truck, or a work machine such as a passenger car.
[0002]
[Prior art]
Generally, an agricultural machine such as a combiner has a hydraulic cylinder that moves the left and right traveling crawlers up and down independently of each other with respect to the traveling machine body, a vehicle height adjustment lever that simultaneously operates the left and right hydraulic cylinders, and a left and right inclination angle of the traveling machine body. A pair of left and right vehicle height sensors that detect the relative height (vehicle height) of the traveling machine body with respect to each traveling crawler, an inclination sensor that detects the left and right inclination angle of the traveling machine body, And a controller that controls the operation of each hydraulic cylinder based on the detected value. The vehicle body height is suitable for farm work, and the posture is substantially horizontal with respect to the direction of gravity (vertical direction) (hereinafter referred to as absolute horizontal posture). It is configured so that automatic lifting control can be executed.
[0003]
Then, in recent agricultural machines, when performing the automatic lifting control, a certain range of the lifting range of the traveling machine body is set as a reference range in which both hydraulic cylinders are driven in opposite directions, and the average of the current left and right vehicle heights is set. When the value is within the reference range, both the hydraulic cylinders are driven in opposite directions, so that the traveling machine body quickly becomes an absolute horizontal posture.
[0004]
[Problems to be solved by the invention]
FIG. 14 shows an example of automatic lift control in a conventional combine. With reference to FIG. 14, the control mode when the traveling crawler on the left side in the traveling direction gets on the kite will be described.
[0005]
When the traveling machine body on the field 80 that is executing the automatic lifting control at a relatively high vehicle height (see the solid line state Pa in FIG. 14A), the left traveling crawler rides on the ridge 81 that rises to the left, The posture is as shown by a solid line state Pb in FIG.
[0006]
If the average value Hb of the left and right vehicle heights at this time (see the white circles in FIG. 14B) is within the reference range RA, the hydraulic cylinder for the left traveling crawler is shortened and the hydraulic cylinder for the right traveling crawler is expanded. (The left and right hydraulic cylinders are driven in directions opposite to each other) to maintain the traveling machine body in a substantially horizontal posture with respect to the direction of gravity (see the solid line state Pc in FIG. 14C).
[0007]
However, in the conventional combine, the reference range RA is set so that the posture can be quickly changed regardless of the position where the current average values Ha, Hb, Hc of the left and right vehicle heights are in the ascending / descending range of the traveling machine body. Is set to be as wide and constant as possible in the lifting range, so long as the average values Ha, Hb, Hc of the left and right vehicle heights are within the reference range RA, both hydraulic cylinders are driven in opposite directions. It will be.
[0008]
For this reason, the vehicle height Hc after the automatic raising / lowering control can quickly change the attitude of the traveling machine body, but the original vehicle height Ha shown in FIG. 14 (a) (corresponding to the dotted line state Pa in FIG. 14 (c)). There was a problem of falling (displaced).
[0009]
In addition, since the expansion / contraction speed of each hydraulic cylinder may be different from left to right, for example, when the shortening speed vl of the left hydraulic cylinder is larger than the extension speed vr of the right hydraulic cylinder (vl> vr) (FIG. 14 (b )), The vehicle height Hc of the traveling vehicle body in the absolute horizontal posture is greatly deviated from the desired vehicle height Ha set by the operator (see FIG. 14C).
[0010]
This invention makes it a technical subject to eliminate such a problem.
[0011]
[Means for Solving the Problems]
  In order to solve this technical problem, the lifting control device according to the invention of claim 1 includes a lifting drive means for moving the left and right traveling parts independently of each other with respect to the traveling machine body, and a traveling machine body for each of the traveling parts. A pair of left and right vehicle height sensors for detecting a vehicle height; an inclination sensor for detecting a right and left inclination angle of the traveling machine body; and a control means for controlling the operation of each lifting drive means based on detection information of each sensor. In the working machine, the traveling machine body is provided with manual operation means for simultaneously operating both the lifting drive means, and after changing the vehicle height of the traveling machine body according to the operation amount of the manual operation means, When executing the automatic lift control so as to obtain a predetermined inclination angle, the control means sets the average value of the left and right vehicle heights changed according to the operation amount of the manual operation means as a reference vehicle height at the time of the automatic lift control. Setting Rutotomoni, the predetermined range of the lifting range of the traveling machine body, set in the reference range wherein both vertically driving means is driven in opposite directions,The control means sets the reference range such that the reference vehicle height becomes narrower as the reference vehicle height approaches the upper limit or the lower limit of the lift range,When the current average value of the left and right vehicle heights is within the reference range, both the lifting drive means are driven in opposite directions to control the predetermined inclination angle.
[0012]
According to a second aspect of the present invention, in the lift control device according to the first aspect, the control means is configured to perform the control when the current average value of the left and right vehicle heights is out of the reference range when the automatic lift control is performed. Only the lifting drive means on the side far from the reference range is driven to control the predetermined inclination angle.
[0013]
According to a third aspect of the present invention, in the elevation control apparatus according to the first or second aspect, the control means is configured such that when the one vehicle height reaches an upper limit or a lower limit of the elevation range during the execution of the elevation automatic control. Then, only the lifting drive means corresponding to the other vehicle height is driven to control the predetermined inclination angle.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment embodying the present invention will be described with reference to the drawings (FIGS. 1 to 13) when applied to a combine as a work machine. 1 is a left side view of the combine, FIG. 2 is a right side view of the combine, FIG. 3 is a front view of the combine, and FIG. 4 is a skeleton diagram of the power transmission system.
[0016]
In the following embodiments, the up-and-down automatic control is not only for maintaining the traveling vehicle body in the absolute horizontal posture in a state where the traveling vehicle body is at a predetermined vehicle height, but also in the state where the traveling aircraft body is in a predetermined vehicle height. The case of maintaining an angle (absolute horizontal posture or a predetermined right / left inclined posture) is also included.
[0017]
The combine traveling machine body 1 in this embodiment is configured to be movable up and down to a pair of left and right traveling crawlers 2 and 2 as a traveling unit via an elevating drive means 3 described later. On the left side in the traveling direction of the traveling machine body 1, a threshing device 3 including a handling cylinder 13 and a processing cylinder 20 (see FIG. 4) is mounted. The pre-cutting processing device 4 arranged at the front of the traveling machine body 1 is supported by the traveling machine body 1 via the lifting frame 14 so as to be capable of moving up and down, and is mounted between the lifting frame 14 and the traveling machine body 1. The hydraulic cylinder 9 for reaping part as an actuator is configured to be adjustable up and down.
[0018]
A clipper-type cutting blade device 5 is arranged at the lower part of the pre-cutting processing device 4, and a culm pulling device 6 for six strips is arranged at the front (see FIG. 3). Between the grain raising apparatus 6 and the front end of the feed chain 7 in the threshing apparatus 3, a grain conveying apparatus 8 is arranged, and the lower part of the grain raising apparatus 6 is directed in the traveling direction of the traveling machine body. The weeding body 10 which protrudes is attached. Further, a cab 11 is arranged at the front right side of the traveling machine body 1, and a grain tank 12 for storing grains is arranged behind the cab 11.
[0019]
In addition, the bracket (not shown) provided in the back surface side of the grain raising apparatus 6 on both the left and right sides of the pre-cutting processing device 4 is used to detect the height of the ground between the pre-cutting processing device 4 and the field scene. The acoustic wave sensors 44a and 44b are arranged in a state where the transmitter (horn unit) of the transmitter and the receiver of the receiver are directed to the farm scene. Further, the lifting position sensor 45 attached to the base end of the lifting frame 14 can determine the relative height between the traveling machine body 1 and the pre-cutting processing device 4 by detecting the rotation angle of the lifting frame 14. It has become.
[0020]
As shown in FIG. 4, a part of the power from the engine 15 disposed in the lower rear part of the cab 11 is vertically and horizontally in the bottom screw conveyor 17 in the grain tank 12 and in the discharge auger 28 via the auger clutch 16. While being transmitted to the screw conveyors 18a and 18b, the remaining power from the engine 15 is transmitted via a power branching mission 19 to a hydraulic pump hydraulic motor type traveling drive unit 24, a handling cylinder 13 and a processing cylinder 20 of the threshing device 3, Rotating and driving the Karatsu 21, the first receiving screw conveyor 22 a, the second receiving screw conveyor 22 b, the feed chain 7, the cereal screw conveyor 23 to the grain tank 12, the peristaltic sorting mechanism 40, and the waste cutter 27. It is supposed to let you.
[0021]
The power to the pre-cutting processing device 4 is transmitted via the output shaft 26 from the travel drive unit 24 when synchronized with the travel speed, and when not synchronized with the one-way clutch 25, the branch power from the power branch mission 19 is transmitted. To be transmitted through.
[0022]
A vehicle speed sensor 42 a (42 b) such as a rotary encoder is attached to each of the left and right drive shafts 34 in the travel drive unit 24 (see FIG. 9), and these vehicle speed sensors 42 a (42 b) drive the left and right travel crawlers 2. By detecting the rotation speed of the wheel 36, the traveling speed (vehicle speed) of the traveling machine body 1 is measured.
[0023]
As shown in FIG.1 and FIG.2, the discharge | emission auger 28 for discharging | emitting the grain in the grain tank 12 outside the machine is the vertical cylinder 28a arrange | positioned in the rear end of the traveling body 1, and this vertical cylinder 28a. It consists of a horizontal cylinder 28b that is connected to the upper end so as to be vertically rotatable. A vertical screw conveyor 18a is housed in the vertical cylinder 28a, and a horizontal screw conveyor 18b is housed in the horizontal cylinder 28b.
[0024]
The vertical cylinder 28a is configured to be rotatable about a vertical axis by a drive motor 29 and a gear mechanism 30, and the horizontal cylinder 28b is an auger hydraulic cylinder 31 and a link mechanism 32 mounted between the vertical cylinder 28a. The vertical inclination angle can be changed.
[0025]
Then, a turning angle sensor (not shown) such as a rotary encoder provided in the drive motor 29 can detect the horizontal turning angle of the vertical cylinder 28a and consequently the horizontal turning position of the horizontal cylinder 28b, and the auger hydraulic cylinder 31 or the link mechanism. A vertical rotation angle sensor (not shown) such as a potentiometer provided at 32 locations can detect the vertical inclination angle of the horizontal cylinder 28b and, in turn, the height position of the discharge portion at the tip of the horizontal cylinder 28b.
[0026]
When the discharge auger 28 is not used, the middle part of the horizontal cylinder 28b is placed on a rest base 33 provided on the upper surface of the grain tank 12. A rest detector (not shown) such as a contact sensor for detecting whether or not the horizontal cylinder 28b is placed is attached to the rest base 33.
[0027]
Next, the structure which controls the vehicle height and attitude | position of the traveling body 1 is demonstrated, referring FIG.1, FIG.2, FIG.5-7. 5 is a side view of the lifting drive means, FIG. 6 is a sectional view taken along the line VI-VI in FIG. 5, and FIG. 7 is a hydraulic circuit diagram.
[0028]
Each of the left and right traveling crawlers 2 is wound around the outer periphery of a drive wheel 36 and a driven wheel 37 disposed at the front and rear ends of the track frame 35 and a plurality of rolling wheels 38 disposed in the middle of the lower surface of the track frame 35. Each of the left and right track frames 35 and the traveling machine body 1 simultaneously operates a traveling portion hydraulic cylinder 39a (39b) and L-shaped front and rear levers 54a and 54b provided in front and rear positions of the track frame 35. It is connected via the elevating drive means 3 comprising the connecting rod 55 connected in this way.
[0029]
Each of the traveling crawlers 2 is configured to move up and down independently with respect to the left and right of the traveling machine body 1 by independently operating the left and right traveling unit hydraulic cylinders 39a and 39b.
[0030]
That is, when the piston rods of the hydraulic cylinders 39a and 39b for the left and right traveling parts are projected at the same time, the traveling machine body 1 moves upward (rises) from the left and right traveling crawlers 2 and 2, and both traveling crawlers of the traveling machine body 1 The relative height with respect to 2 and 2 (hereinafter referred to as the overall vehicle height) is increased. Conversely, when the piston rods are simultaneously retracted, the traveling machine body 1 approaches (lowers) the left and right traveling crawlers 2 and 2, and the overall vehicle height of the traveling machine body 1 decreases.
[0031]
Then, when the piston rod in the left traveling unit hydraulic cylinder 39a is protruded or the piston rod in the right traveling unit hydraulic cylinder 39b is retracted (or both operations are performed simultaneously), the right traveling is performed. The vehicle height of the traveling machine body 1 with respect to the crawler 2 is lowered (the vehicle height of the traveling machine body 1 with respect to the left traveling crawler 2 is increased), and the traveling machine body 1 is inclined downwardly to the right.
[0032]
Conversely, when the piston rod in the right traveling unit hydraulic cylinder 39b is protruded, or when the piston rod in the left traveling unit hydraulic cylinder 39a is retracted (or both operations are performed simultaneously), The vehicle height of the traveling machine body 1 with respect to the left traveling crawler 2 is lowered (the vehicle height of the traveling machine body 1 with respect to the right traveling crawler 2 is increased), and the traveling machine body 1 is inclined downwardly to the left. Therefore, even if one traveling crawler 2 rides on a paddle or the like in the field or falls into a mud or the like, the left and right of the traveling machine body 1 can be held substantially horizontally.
[0033]
As shown in FIG. 7, the hydraulic circuit for the hydraulic cylinders 9, 31, 39 a, 39 b is branched through a branch valve 47 that splits the pressure oil from the hydraulic pump 46. From the discharge path, pressure oil is fed to the first hydraulic circuit 48 to the auger hydraulic cylinder 31 and the left traveling section hydraulic cylinder 39a, and from the other discharge path, the cutting section hydraulic cylinder 9 and the right side The hydraulic oil is supplied to the second hydraulic circuit 49 for the traveling portion hydraulic cylinder 39b.
[0034]
The hydraulic circuits 48, 49 are connected to electromagnetic control valves 50, 51, 52, 53, check valves, relief valves, etc. for the respective hydraulic cylinders 9, 31, 39a, 39b.
[0035]
Next, the configuration of the lifting control device according to the present invention will be described with reference to FIGS. FIG. 8 is a schematic perspective view showing a part of the operation panel in the cab, and FIG. 9 is a functional block diagram of a controller as control means.
[0036]
As shown in FIG. 5, a vehicle height sensor 41 a such as a rotary encoder that detects the vehicle height of each traveling crawler 2 with respect to each traveling crawler 2 by detecting the protruding amount of the piston rod of each traveling portion hydraulic cylinder 39 a (39 b). (41b) is configured to be interlocked via a connecting rod 59 or a link mechanism 60 provided continuously to the connecting rod 55.
[0037]
Further, a pendulum type (gravity type) inclination sensor 43 (see FIG. 8) for detecting the right and left inclination angle of the traveling machine body 1 is disposed at an arbitrary position of the traveling machine body 1, for example, in the cab 11 or the like.
[0038]
In the driver's cab 11, a driver's seat 56, a steering round handle 58 for steering the traveling machine body 1, a main transmission lever 65 for steplessly changing the traveling speed (vehicle speed), and a traveling drive unit 24 according to the working state. An operation panel 68 or the like having an auxiliary transmission lever 66 or the like for setting and holding the output and the rotational speed within a predetermined range is disposed (see FIGS. 3 and 8).
[0039]
On the operation panel 68, a vehicle height adjusting lever 62 as manual operating means for manually changing and adjusting the overall vehicle height of the traveling machine body 1, an automatic lifting control switch for switching between the automatic lifting control mode and the manual mode. 63, an inclination setting device 64 for setting the right and left inclination angle of the traveling machine body 1, an automatic raising / lowering control lamp 67 that is turned on when switching to the automatic raising / lowering control mode, and the like are arranged (see FIG. 9).
[0040]
The vehicle height adjusting lever 62 is configured to be rotatable in the vertical and horizontal directions (cross direction). When the vehicle height adjusting lever 62 is tilted forward, the left and right traveling unit hydraulic cylinders 39a and 39b are shortened all at once and the entire vehicle height of the traveling machine body 1 is lowered. 39a and 39b extend all at once and the overall vehicle height of the traveling machine body 1 increases.
[0041]
When the vehicle height adjusting lever 62 is tilted to the left, the right traveling unit hydraulic cylinder 39b is extended or the left traveling unit hydraulic cylinder 39a is shortened (or both operations are performed simultaneously). The traveling machine body 1 is inclined downward to the left. When tilted to the right, the left traveling hydraulic cylinder 39a is extended or the right traveling hydraulic cylinder 39b is shortened (or both operations are performed simultaneously), and the traveling machine body 1 is lowered to the right. It is inclined to.
[0042]
When the hand is released from the vehicle height adjusting lever 62, the vehicle height adjusting lever 62 automatically returns to the neutral position, and the driving of the hydraulic cylinders 39a, 39b for the traveling units is stopped. In other words, the driving amount of each traveling unit hydraulic cylinder 39a, 39b is configured to be proportional to the tilting operation time of the vehicle height adjusting lever 62.
[0043]
The lifting / lowering operation of each traveling unit hydraulic cylinder 39a, 39b by the tilting operation of the vehicle height adjusting lever 62 can be preferentially executed (interrupt processing) even while the lifting / lowering automatic control mode is being executed. .
[0044]
The up / down automatic control changeover switch 63 is a so-called push switch that generates one ON pulse signal when the switch is pressed once, and is a lock type switch. When the automatic lift control switch 63 is pressed once (entering operation), the automatic lift control lamp 67 located diagonally to the left is turned on. When the automatic lift control switch 67 is pressed again and turned off, the automatic lift control lamp 67 is turned off.
[0045]
The tilt setting device 64 is of a variable resistor type, and its knob can be changed continuously (analog) or stepwise (digital) from the left side (right downward slope) to the right side (left downward slope) in FIG. It is configured as follows. In the elevation automatic control mode, the posture of the traveling machine body 1 is controlled to have an inclination angle corresponding to the position of the knob of the inclination setting device 64. For example, when the knob is set at the center of the rotation range, the state where the set inclination angle θo is 0 ° (zero degree), that is, the traveling body 1 is selected to be in an absolute horizontal posture.
[0046]
As shown in FIG. 9, a controller 75 as a control means stores a CPU 77 (not shown) for executing various arithmetic processes and controls, a RAM 77 for temporarily storing data, etc., and a control program, data, etc. An EEPROM 76 as a non-volatile memory, an input / output interface (not shown) that transmits data by connecting to each sensor, actuator, and the like are provided.
[0047]
In the input interface of the controller 75, vehicle height sensors 41a and 41b that detect the left and right vehicle heights of the traveling machine body 1, the inclination sensor 43 that detects the right and left inclination angle of the traveling machine body 1, and the overall vehicle height of the traveling machine body 1 are manually changed. A vehicle height adjusting lever 62 for adjusting, a lift automatic control changeover switch 63 for switching between a lift automatic control mode and a manual mode, a tilt setting device 64 for setting a left and right tilt angle of the traveling machine body 1 and the like are connected. ing.
[0048]
On the other hand, the output interface includes an electromagnetic solenoid 52a of the electromagnetic control valve 52 for the left traveling unit hydraulic cylinder 39a of the traveling machine body 1, and an electromagnetic solenoid 53a of the electromagnetic control valve 53 for the right traveling unit hydraulic cylinder 39b of the traveling machine body 1. A lift automatic control lamp 67 that is turned on when switched to the lift automatic control mode is connected.
[0049]
The RAM 77 which is a component of the controller 75 is, for example, an automatic lift control mode in which the change value when the overall vehicle height (average value of the left and right vehicle heights) is changed by the forward and backward tilting operation of the vehicle height adjustment lever 62 is executed later. Are sequentially stored as the reference vehicle height Ho (see the white circles shown in FIG. 12).
[0050]
In this case, every time the vehicle height adjustment lever 62 is tilted back and forth, the amount of decrease or increase in the total vehicle height from the detected values Hl and Hr of the left and right vehicle height sensors 41a and 41b detected according to the operation amount, That is, since the average value (Hl + Hr) / 2 of the left and right vehicle heights is obtained, and this average value (Hl + Hr) / 2 is updated and stored, the average corresponding to the most recent operation amount (at the end of operation) of the vehicle height adjustment lever 62 The value (Hl + Hr) / 2 is stored as the reference vehicle height Ho in the automatic lift control mode.
[0051]
The EEPROM 76 stores, for example, the relationship between the output information (set inclination angle θo) of the inclination setting device 64 and the detected value θx of the inclination sensor 43 in a table shape or a map shape, or for the reference vehicle height Ho and the left and right traveling parts. The relationship with the reference range RG (see FIG. 12) in which the hydraulic cylinders 39a and 39b can be driven in opposite directions is stored in a table shape or a map shape.
[0052]
The reference range RG is set to a range having a predetermined vertical width C with the reference vehicle height Ho as a center value, and is represented by RG = Ho ± C. Here, the vertical width C is a constant determined according to the size of the reference vehicle height Ho. In the embodiment, the vertical range C of about ± several tens of% of the ascending / descending range of the traveling machine body 1 (strokes of the hydraulic cylinders 39a and 39b for both the left and right traveling units) is provided.
[0053]
The width of the vertical width C is set to be narrower as the reference vehicle height Ho is closer to the upper limit or lower limit of the ascending / descending range of the traveling machine body 1 (shown in FIG. 13 is close to the upper limit). The absolute horizontal posture or the left / right tilt posture of the traveling machine body 1 can be determined from the detected value θx of the tilt sensor 43 and is feedback-controlled by the controller 75.
[0054]
Next, the aspect of the raising / lowering automatic control mode in the raising / lowering control apparatus based on this invention is demonstrated, referring FIGS. FIG. 10 is a flowchart of the previous stage of shifting to the automatic lift control mode, FIG. 11 is a flow chart of the automatic lift control mode, and FIG. 12 is an operation explanatory view showing a mode in which both traveling hydraulic cylinders are driven in opposite directions. These are operation | movement explanatory drawings which show an example of the raising / lowering automatic control mode.
[0055]
Here, data of the initial set value of the reference vehicle height Ho (reference vehicle height when the vehicle height adjustment lever 62 has never been tilted back and forth) is stored in advance in the EEPROM 76 of the controller 75.
[0056]
First, following the start of the control shown in FIG. 10, the set inclination angle θo set (set) by the inclination setting device 64 and the initial set value of the reference vehicle height Ho are stored in the EEPROM 76 or the RAM 77 of the controller 75 ( S1) After setting the detection flag F to the reset state (F = 0 (zero)) (S2). It is determined whether or not the elevation control switch 63 is in the on state (S3).
[0057]
When the elevation automatic control changeover switch 63 is in the off state (S3: No), the manual mode is selected, and the process returns as it is. When the elevation automatic control changeover switch 63 is in the on state (S3: Yes), it is determined whether or not the vehicle height adjustment lever 62 is tilted forward, backward, left or right (S4).
[0058]
The case where the vehicle height adjustment lever 62 is tilted (S4: Yes) is a state in which the posture 1 of the traveling machine body is manually changed (interrupt operation) while the automatic lift control mode is being executed. It is determined whether the tilting direction of the vehicle height adjusting lever 62 is front-back or left-right (S5).
[0059]
If the tilting direction of the vehicle height adjusting lever 62 is the left-right direction (S5: left and right), is it possible to extend one of the traveling portion hydraulic cylinders 39b (39a) in proportion to the tilting operation time of the vehicle height adjusting lever 62? Alternatively, by shortening the other traveling unit hydraulic cylinder 39a (39b) (or by executing both of these operations simultaneously), the traveling machine body 1 is tilted leftward or downwardly to the right (S11). Next, the process returns to step S4 described above.
[0060]
When the tilting direction of the vehicle height adjusting lever 62 is the front-rear direction (S5: front-rear), the left and right traveling unit hydraulic cylinders 39a, 39b are simultaneously driven in proportion to the tilting operation time of the vehicle height adjusting lever 62. As a result, the overall vehicle height of the traveling machine body 1 is lowered or raised (S6).
[0061]
Next, after reading the detection values H1 and Hr of the left and right vehicle height sensors 41a and 41b at this time (S7), the average value of the left and right vehicle heights (H1 + Hr) / 2 is calculated using these detection values Hl and Hr. The calculation result (Hl + Hr) / 2 is set to the reference vehicle height Ho in the automatic lift control mode (S8). Then, the detection flag F is set (F = 1) (S9).
[0062]
Next, after setting a range having a predetermined vertical width C with the reference vehicle height Ho as a center value as a reference range RG (= Ho ± C) (S10), the process returns to step S4.
[0063]
In step S4, when the vehicle height adjusting lever 62 is not tilted, that is, in the neutral position (S4: No), it is then determined whether or not the detection flag F is in the set state (F = 1) (S12). .
[0064]
If the detection flag is in the reset state (F = 0 (zero)), the vehicle height adjusting lever 62 has not been tilted back and forth once after the power is turned on, so the detection flag is set and the reference vehicle height Ho is set. Go to step S9 to set the reference range RG based on the initial setting value.
[0065]
When the detection flag is in the set state (F = 1) (S12: Yes), the vehicle height adjustment lever 62 is tilted back and forth at least once, and the most recent operation amount of the vehicle height adjustment lever 62 (operation end point) ), The automatic lift control is executed (S13).
[0066]
As shown in FIG. 11, in the up-and-down automatic control mode, first, the current detected values H1 and Hr of the left and right vehicle height sensors 41a and 41b and the detected value θx of the inclination sensor 43 are read (T1). Next, the average value Hp (= (Hl + Hr) / 2) of the current left and right vehicle heights is calculated using the detection values Hl and Hr of the vehicle height sensors 41a and 41b (T2), and the calculation result Hp is the reference range RG. (Ho−C <Hp <Ho + C) is discriminated (T3).
[0067]
When the calculation result Hp is out of the reference range RG (T3: No), the traveling unit hydraulic cylinder (39a on the side far from the reference range RG is set so that the left-right inclination angle of the traveling machine body 1 approaches the set inclination angle θo. Alternatively, only 39b) is driven (T14), and then the process goes to Step T6 described later.
[0068]
When the calculation result Hp is within the reference range RG (T3: Yes), whether or not the detected value θx of the tilt sensor 43 is equal to the set tilt angle θo preset by the tilt setting device 64 (substantially detection) It is determined whether or not there is a dead zone in which the value θx is within ± several percent of the set inclination angle θo, which is the target value, is not controlled (T4).
[0069]
In the case of θx≈θo (when the detected value θx is within the dead zone) (T4: Yes), the traveling machine body 1 is maintained in the posture inclined by the set inclination angle θo, that is, the target is achieved. Go to step T11 to be described later.
[0070]
By controlling in this way, for example, even if mud is bitten in the link mechanism 60 or the like, and the posture of the traveling machine body 1 does not reach the target set tilt angle θo, the posture (set tilt angle) that does not interfere with the work. If the posture is close to θo, there is an advantage that the operation can be continued as it is without causing an error. Further, even if the attitude of the traveling machine body 1 does not reach the set inclination angle θo, the output (operation command) signal is not continuously output, so that it is possible to reduce the load on the controlled object such as the traveling section hydraulic cylinders 39a and 39b. .
[0071]
When θx ≠ θo (T4: No), the left and right traveling unit hydraulic cylinders 39a and 39b are driven in opposite directions so that the lateral inclination angle of the traveling machine body 1 approaches the set inclination angle θo (T5).
[0072]
Next, it is determined again whether or not the detected value θx of the tilt sensor 43 is equal to the set tilt angle θo (substantially, the detected value θx is in a dead zone including the set tilt angle θo) (T6). If θx≈θo (T6: Yes), the target is achieved and the process returns as it is. In the case of θx ≠ θo (T6: No), the traveling machine body 1 is not in the posture inclined by the set inclination angle θo, so whether or not one vehicle height has reached the upper limit or lower limit position, in other words, the traveling unit It is determined whether one of the hydraulic cylinders 39a, 39b has reached the limit of the drive range (T7).
[0073]
In the case of No in step T7, since both the left and right vehicle heights are not in the upper limit or lower limit position, the process returns to the above-described step T1 and repeats the automatic lifting control.
[0074]
In the case of Yes in step T7, the detected value θx of the inclination sensor 43 is not the set inclination angle θo, and one vehicle height is at the upper limit or lower limit position (the other vehicle height is not the upper limit or lower limit). It means that there is room to raise and lower the vehicle height. Therefore, in this case, only the other traveling unit hydraulic cylinder (39a or 39b) is driven (T8). Thereby, within the stroke of each hydraulic cylinder 39a, 39b for each traveling part, it is possible to smoothly make the left-right inclination angle of the traveling machine body 1 approach the set inclination angle θo.
[0075]
Then, it is determined again whether or not the detected value θx of the tilt sensor 43 is equal to the set tilt angle θo (substantially, the detected value θx is in a dead zone including the set tilt angle θo) (T9). If θx ≠ θo (T9: No), the process returns to step T1 described above.
[0076]
If θx≈θo (T9: Yes), the target is achieved. Next, it is determined whether or not a threshing switch (not shown) for driving the threshing device 3 is in a cut state (T11). When the threshing switch is in the on state (T11: No), the process returns to step S4 in the flowchart of FIG. When the threshing switch is in the off state (T11: Yes), it is determined whether or not the discharge auger 28 is placed on the rest base 33 (T12).
[0077]
If the discharge auger 28 is not on the rest base 33 (T12: No), the process returns to the front of step T12, and if the discharge auger 28 is placed on the rest base 33 (T12: Yes), the automatic lift control is switched. Regardless of the switching operation of the switch 63, the traveling machine body 1 is in a substantially horizontal posture with respect to both traveling crawlers 2, 2 and is 20% higher than the total vehicle height Hp (average value of left and right vehicle heights) immediately before the end of work. After being lowered to the end (T13), the process returns to complete the up / down automatic control (see FIG. 10).
[0078]
Therefore, for example, as shown in FIG. 12, in the traveling machine body 1 having a relatively low overall vehicle height and a posture P0 inclined to the left, the operator tilts the vehicle height adjustment lever 62 rearward so that the middle overall When the vehicle height (Hl + Hr) / 2 is set (see S1 to S6 in FIG. 10), the traveling machine body 1 is in the posture of the solid line state P1.
[0079]
Here, the EEPROM 76 sets the medium overall vehicle height (H1 + Hr) / 2 updated previously as the reference vehicle height Ho, and sets a range having a predetermined vertical width C around the reference vehicle height Ho as the reference range RG. (Refer to S8 and S10).
[0080]
Then, when the automatic lift control mode is executed later (see FIG. 11), if the current average value Hp of the left and right vehicle heights is within the reference range RG (FIG. 12 shows an example of Ho = Hp), The traveling unit hydraulic cylinders 39a and 39b are driven in opposite directions (see T5), and the traveling machine body 1 has a set inclination angle θo (absolute horizontal attitude or predetermined left-right inclination attitude) preset by the inclination setting device 64. To control.
[0081]
For example, in FIG. 12, when the set inclination angle θo is set to 0 ° (zero degree), the left traveling unit hydraulic cylinder 39a extends and the right traveling unit hydraulic cylinder 39b shortens, so that the traveling machine body 1 is absolutely horizontal. It is a posture.
[0082]
For example, as shown in FIG. 13A, when the reference vehicle height Ho is close to the upper limit or the lower limit of the ascending / descending range of the traveling machine body 1, the reference range is set narrower than the case of FIG. In the reference range RG ′ of (a), RG ′ <RG).
[0083]
As shown in FIG. 13 (a), in the traveling machine body 1 in which the reference vehicle height Ho is relatively high and is maintained in the posture P2 inclined by the set inclination angle θo, the right traveling crawler 2 falls into mud etc. in the field. (See FIG. 13 (b)), the traveling machine body 1 has a right-down sloping posture P3, and the average value Hp of the left and right vehicle heights at this time deviates from the reference range RG ′ (T3: No).
[0084]
Then, only the right traveling unit hydraulic cylinder 39b that is far from the reference range RG ′ is extended so that the lateral inclination angle of the traveling machine body 1 approaches the set inclination angle θo (see T10). This is a change from the posture P3 in FIG. 13B to the posture P4 in FIG.
[0085]
When the average value Hp of the left and right vehicle heights falls within the reference range RG ′ (see the posture P5 in FIG. 13D), the left traveling unit hydraulic cylinder 39a is shortened and the right traveling unit hydraulic cylinder 39b. Is extended (see T5). Next, when the right vehicle height reaches the upper limit (T7: Yes), only the left traveling hydraulic cylinder 39a is shortened (see T8), and the posture P6 of the traveling machine body 1 is inclined by the set inclination angle θo. The posture P7 is set.
[0086]
When the above control is performed, for example, in order to cut or reciprocate the inner periphery of a non-soft field, when the automatic lift control switch 63 is pressed once and the automatic lift control mode is selected, the inclination of the field If the operator sets the set inclination angle θo with the inclination setting device 64 according to the traveling conditions such as the degree and the state of the passage locations of the left and right traveling crawlers 2 and 2 (for example, the bottom or the top of the bag) The vehicle height of the traveling machine body 1 relative to each traveling crawler 2 can be raised and lowered independently to maintain the traveling machine body 1 at a vehicle height suitable for farm work and at a set inclination angle θo.
[0087]
In this case, the reference vehicle height Ho in the automatic lift control mode is set in accordance with the most recent operation amount of the vehicle height adjustment lever 62, and a range having a predetermined vertical width C with the reference vehicle height Ho as a center value. Is set to the reference ranges RG and RG ′, and if the average value Hp of the current left and right vehicle heights is within the reference ranges RG and RG ′, both the hydraulic cylinders 39a and 39b are driven in opposite directions. The posture of the traveling machine body 1 can be quickly changed to the set inclination angle θo.
[0088]
Further, the reference ranges RG and RG ′ are set according to the reference vehicle height Ho set by the most recent operation amount of the vehicle height adjusting lever 62, so that the size (wide or narrow) can be limited to some extent. Therefore, as in the example of the conventional combine, the overall vehicle height of the traveling machine body 1 is extremely shifted in the vertical direction from the reference vehicle height Ho (the desired vehicle height manually set by the operator) at the time of execution of the automatic lift control. The fear is reduced.
[0089]
Moreover, when the current average value Hp of the left and right vehicle heights deviates from the reference ranges RG and RG ′, the side far from the reference ranges RG and RG ′ so that the left and right inclination angle of the traveling machine body 1 approaches the set inclination angle θo. Since only the traveling part hydraulic cylinder (39a or 39b) is driven, it is possible to further reduce the possibility that the overall vehicle height of the traveling machine body 1 is shifted during the automatic lift control.
[0090]
Therefore, the overall vehicle height of the traveling machine body 1 can be maintained in a state that is not so far from the operator's desire. There is little uncomfortable feeling of the operator due to the posture change of the traveling machine body 1.
[0091]
Furthermore, the width of the vertical range C of the reference ranges RG and RG ′ is set to be narrower as the reference vehicle height Ho is closer to the upper limit or lower limit of the lifting range of the traveling machine body 1, so the reference vehicle height Ho is closer to the upper limit or lower limit. In this case, the accuracy of maintaining the vehicle height desired by the operator is improved.
[0092]
Thus, for example, in a wetland where the left and right traveling crawlers 2 and 2 may be deeply fitted, the reference vehicle height Ho of the traveling vehicle body 1 is set high, and the overall vehicle height of the traveling vehicle body 1 during the vertical lift control is set in the vertical direction. It can be made difficult to shift.
[0093]
On the other hand, in a field where there is no such a fear, the reference vehicle height Ho of the traveling machine body 1 is set to a medium level, and priority is given to the quickness of the posture change operation of the traveling machine body 1 over the maintenance of the reference vehicle height Ho. Can do.
[0094]
That is, it is possible to selectively use the case where the quickness of the posture changing operation is required and the case where the maintenance of the reference vehicle height Ho is required.
[0095]
The present invention is not limited to the above-described embodiment, and can be embodied in various forms. For example, it goes without saying that the present invention can be widely applied to various agricultural machines, special working vehicles such as crane trucks, and various working machines such as passenger cars.
[0096]
The controller as the control means is not limited to a single controller, and a plurality of controllers may be used. A communication line when a plurality of controllers are employed may use a LAN (Local Area Network) protocol or a CAN (Controller Area Network) protocol.
[0097]
Further, the data of the set inclination angle θo of the traveling machine body 1 may be stored in advance in a storage unit such as the EEPROM 76 of the controller 75. The preset inclination angle θo stored in advance can be arbitrarily set such as an angle at which the traveling machine body 1 is in an absolute horizontal posture, an angle at which a predetermined left-right inclination posture is set, or the like. Of course, in this case, it is not necessary to provide the inclination setting device 64.
[0098]
【The invention's effect】
  According to the first aspect of the present invention, the automatic elevation control is performed so that the predetermined inclination angle is obtained after the vehicle height of the traveling machine body is changed according to the operation amount of the manual operation means. While setting the reference vehicle height at the time of automatic raising / lowering control according to the operation amount, the predetermined range of the raising / lowering range of the traveling machine body is set to a reference range in which both raising / lowering driving means drive in opposite directions,The control means sets the reference range such that the reference vehicle height becomes narrower as the reference vehicle height approaches the upper limit or the lower limit of the lift range,If the current average value of the left and right vehicle heights is within the reference range, both the lift drive means are driven in opposite directions, so that the attitude of the traveling machine body can be quickly changed to the predetermined inclination angle. There is an effect.
[0099]
  In addition, since the reference range is set according to the reference vehicle height set by the most recent operation amount of the manual operation means, the size (wide or narrow) can be limited to some extent. There is an effect that the possibility that the vehicle height of the traveling machine body is extremely shifted in the vertical direction from the desired vehicle height manually set by the operator is reduced.Furthermore, the reference range is set so that the reference vehicle height becomes narrower as it approaches the upper limit or lower limit of the elevation range of the traveling machine body. For example, in a wetland where the left and right traveling parts may be deeply fitted, the reference vehicle of the traveling machine body While setting the height high, the vehicle height of the traveling vehicle body at the time of automatic lifting control is less likely to shift vertically, while in the field where there is no such a risk, the reference vehicle height of the traveling vehicle body is set to a medium level, It can be used with priority given to the quickness of the posture change operation over the maintenance of the reference vehicle height. That is, there is an effect that it is possible to selectively use the case where the quickness of the posture changing operation is required and the case where the maintenance of the reference vehicle height is required.
[0100]
According to the second aspect of the present invention, when the current average value of the left and right vehicle heights is out of the reference range at the time of the automatic lift control, only the lift driving means far from the reference range is driven. There is an effect that it is possible to further reduce the possibility that the vehicle height of the traveling machine body deviates from the operator's desire.
[0101]
According to the third aspect of the present invention, when one of the vehicle heights reaches the upper limit or the lower limit of the lifting range of the traveling machine body during the lifting automatic control, only the lifting driving means corresponding to the other vehicle height is driven. Since the control is performed so that the predetermined inclination angle is obtained, the right and left inclination angle of the traveling machine body is set to the predetermined inclination within the driving range of each of the raising and lowering driving means (corresponding to the raising and lowering range of the left and right vehicle heights in the traveling machine body). There is an effect that it is possible to smoothly reach the inclination angle.
[Brief description of the drawings]
FIG. 1 is a left side view of a combine.
FIG. 2 is a right side view of the combine.
FIG. 3 is a front view of the combine.
FIG. 4 is a skeleton diagram of a power transmission system.
FIG. 5 is a side view of the lift drive means.
6 is a cross-sectional view taken along line VI-VI in FIG.
FIG. 7 is a hydraulic circuit diagram.
FIG. 8 is a schematic perspective view showing a part of the operation panel in the cab.
FIG. 9 is a functional block diagram of a controller as control means.
FIG. 10 is a flowchart of a previous stage of shifting to an automatic lift control mode.
FIG. 11 is a flowchart of an automatic lift control mode.
FIG. 12 is an operation explanatory view showing a mode in which both lifting drive means are driven in opposite directions.
13A and 13B are operation explanatory views showing an example of an automatic ascent / descent control mode, in which FIG. 13A is a case where the reference vehicle height is relatively high and the vehicle is maintained in a posture inclined by a set inclination angle, and FIG. (C) when only the lift drive means far from the reference range is driven, (d) when both lift drive means are driven in opposite directions, e) is the case where the right vehicle height reaches the upper limit, and (f) is the case where the posture maintained by the set inclination angle is maintained again.
FIG. 14 is an operation explanatory view showing an example of automatic lifting control in a conventional combine. FIG. 14A shows a case where automatic lifting control is executed at a relatively high vehicle height, and FIG. (C) is a case where the traveling body is maintained in a substantially horizontal posture with respect to the direction of gravity.
[Explanation of symbols]
Ho standard vehicle height
Hl, Hr Value detected by vehicle height sensor
Hp Average left and right vehicle height
RG, RG 'reference range
θo setting inclination angle
θx Value detected by tilt sensor
P0-P7 Running Aircraft Posture
1 Airframe
2 Traveling crawler as a traveling unit
3 Lifting drive means
39a Hydraulic cylinder for left running part
39b Hydraulic cylinder for right running part
41a, 41b Vehicle height sensor
43 Tilt sensor
62 Vehicle height adjustment lever as manual operation means
63 Vehicle height automatic control changeover switch
64 Inclination setting device
75 Controller as control means
76 EEPROM

Claims (3)

Elevating drive means for moving the left and right traveling parts independently of each other with respect to the traveling machine body, a pair of left and right vehicle height sensors for detecting the vehicle height of the traveling machine body with respect to each traveling part, In a working machine including an inclination sensor to be detected and a control means for controlling the operation of each lifting drive unit based on detection information of each sensor, the traveling drive body simultaneously operates both the lifting drive means. Manual operation means,
After changing the vehicle height of the traveling machine body according to the operation amount of the manual operation means, in executing the automatic lifting control so as to have a predetermined inclination angle,
The control means sets the average value of the left and right vehicle heights changed according to the operation amount of the manual operation means as a reference vehicle height at the time of automatic lifting control, and sets a predetermined range in the lifting range of the traveling machine body, Set the reference range in which the two lifting drive means are driven in opposite directions,
The control means sets the reference range such that the reference vehicle height becomes narrower as the reference vehicle height approaches the upper limit or the lower limit of the lift range,
When the current average value of the left and right vehicle heights is within the reference range, the working device is controlled so as to drive the both lift drive means in opposite directions to achieve the predetermined inclination angle. Lift control device.   If the current average value of the left and right vehicle heights is out of the reference range when the automatic lift control is performed, the control means drives only the lift driving means far from the reference range, and The lifting control device for a working machine according to claim 1, wherein the lifting control device controls the tilt angle.   When the one vehicle height reaches the upper limit or the lower limit of the lift range during the execution of the lift automatic control, the control means drives only the lift drive means corresponding to the other vehicle height, and The elevating control device for a working machine according to claim 1 or 2, wherein the control is performed so as to be an inclination angle.

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