JP4140797B2 - Vehicle height and attitude control device for traveling agricultural machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle height and posture control device for a traveling farm work machine such as a combine.
[0002]
[Prior art]
If there is a step such as a heel on the left and right in the direction of travel of the traveling machine running on the farm field, the traveling machine tilts to the side where it fell into the step, and the driver's sitting comfort deteriorates and there are inconveniences in farm work. In Japanese Examined Patent Publication No. 6-69329, an elevating drive means for raising and lowering the left and right traveling devices separately from 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, Control means for controlling the left / right inclination angle to be maintained at 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 machine body, and the relative height (vehicle height) A vehicle height setting device for setting, and the control means maintains a right and left inclination angle of the traveling machine body at a predetermined angle and sets the vehicle height based on information on each of the detection means and the vehicle height setting device. Elevator to maintain height Be configured is disclosed to actuate the means.
[0003]
[Problems to be solved by the invention]
However, in the conventional example, since the height set by the height setting device is maintained, there is no need to judge the elevation height by visual observation. Both of these controls will be executed frequently when the conditions are met, so-called hunting phenomenon There was a problem that occurred.
[0004]
That is, the vehicle height value in the conventional vehicle height control employs the average value of the left and right vehicle heights, and either the right or left vehicle is near the upper limit (lower limit) that is the limit of the lifting range of the lifting drive means. In the state where the height is approaching, if one of the vehicle heights is not further approached in the upper limit (lower limit) direction and the set inclination angle is not approached, if this one vehicle height reaches the upper limit (lower limit), it will Since the above-described lifting drive means cannot be operated, the lifting drive means repeatedly moves up and down in the vicinity of the limit, hunting occurs, and the electric power and hydraulic pressure of the electric motor that is the driving force of the lifting drive means However, problems such as wasteful consumption, excessive rise in the oil temperature of the hydraulic circuit, and difficulty in securing the oil amount occur.
[0005]
In addition, if the preset vehicle height is determined primarily, there is a problem that the range in which tilt control is possible is narrowed.
The present invention has been made to solve the above-described problem, and does not frequently operate one of the lift drive means during the vehicle height change control by the manual operation by the operator and the left-right tilt control of the traveling machine body. Thus, the present invention provides a vehicle height and posture control device for a traveling farm work machine that can prevent the occurrence of hunting and can reliably control the tilt posture while the vehicle height setting is ambiguous.
[0006]
[Means for Solving the Problems]
Therefore, the vehicle height and attitude control device in the traveling farm work machine according to the first aspect of the present invention includes a traveling unit lifting / lowering driving means for independently lifting and lowering the left and right traveling units with respect to the traveling machine body, and the left and right traveling units. A pair of vehicle height detection sensors for detecting the relative height of the traveling aircraft body, an inclination detection sensor for detecting the degree of lateral inclination of the traveling aircraft body, In a traveling farm work machine provided with a control means for operating the traveling unit lifting and lowering driving means, an upper limit and a lower limit detection means for the vehicle height by each traveling unit lifting and lowering driving means, The left and right traveling parts A manual variable operation unit for operating the left and right traveling unit lifting and lowering drive means simultaneously to change the relative height of the traveling machine body; and a tilt setting device for setting a left and right inclination angle of the traveling machine body, the manual variable operation unit. The vehicle height changes according to the amount of operation Shi After executing the tilt control so as to approach the set tilt angle set by the tilt setter, the vehicle height on the side far from the median of the upper and lower limits of the lift range is maintained after the vehicle height is changed. Attitude control by changing the vehicle height on the side closer to the vehicle to achieve the set inclination angle Further, when the set inclination angle is changed after the execution of the attitude control, the vehicle height on the side far from the median value is changed based on the operation amount of the manual variable operation unit. After restoring the vehicle height, execute the attitude control so that the changed tilt angle is the same To do.
[0007]
[0008]
And claims 2 The invention described in claim 1 In the vehicle height and posture control device in the traveling agricultural machine described in the above, the side far from the median, Above It corresponds to the driver's seat side in the traveling aircraft.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment embodying the present invention will be described. FIG. 1 is a 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 front view of the combine, and FIG. 4 is a sectional view taken along line IV-IV in FIG. 3, FIG. 5 is a sectional view taken along line VV in FIG. 3, FIG. 7 is a hydraulic circuit, FIG. 8 is a functional block diagram of the control device.
[0010]
The traveling machine body 1 in the combine of the present invention is configured to be movable up and down with respect to a pair of left and right traveling crawler type traveling units 2 via a traveling unit lifting and lowering driving means described later. The threshing device 3 is mounted on the left side in the traveling direction of the traveling machine body 1, and the pre-cutting processing device 4 disposed at the front portion of the traveling machine body 1 rotates with respect to the traveling machine body 1 via the lifting frame 14. It is supported so that it can be moved up and down by a single-action cutting unit lifting hydraulic cylinder 9 as a cutting unit lifting and lowering actuator mounted between the lifting frame 14 and the traveling machine body 1.
[0011]
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 in front, and the front end of the feed chain 7 in the cereal wake raising device 6 and the threshing device. 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. It consists of a vertical pipe 28b arranged at the rear end of the traveling machine body 1 from a screw conveyor provided at the lower part of the grain tank 12, and a horizontal pipe 28a continuously connected to the upper end so as to be vertically rotatable. The grain accumulated in the grain tank 12 can be discharged to a part such as a truck through the discharge auger 28 equipped with the conveyor. The vertical pipe 28b can be turned around the vertical axis by a drive motor (not shown), and the horizontal pipe 28a can be changed in inclination angle by a discharge auger hydraulic cylinder 64 mounted between the vertical pipe 28b. It is configured.
[0012]
As shown in FIGS. 3 and 4, the traveling unit 2 is disposed in the middle of the lower surface of the drive wheel 51, the driven wheel 52, and the track frame 50 disposed at the front and rear ends of the pair of left and right track frames 50, 50. The left and right track frames 50 and 50 and the traveling machine body 1 are composed of left and right lifting control hydraulic cylinders 54a and 54b and L-shaped in a side view in the front-rear position. Are connected to each other via a traveling part raising / lowering drive means composed of connecting levers 56, 56, etc., for operating the front and rear levers 55a, 55b at the same time. 54 b are operated independently of each other to raise and lower the left and right traveling units 2, 2 independently of the left and right of the traveling machine body 1.
[0013]
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.
[0014]
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.
[0015]
As shown in FIGS. 3 to 5, by detecting the protruding amount of the piston rods 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.
[0016]
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. 2, the ultrasonic sensors 20a and 20b 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. .
[0017]
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. Yes. In the control panel 11a (see FIG. 6) in the cab 11, the automatic and manual changeover switch 76 for posture control and the height (vehicle height) of the traveling machine body 1 in the case of manual control are manually changed. An elevating lever 77 as a manual variable operation unit that can be adjusted, an inclination setting device 78 for setting the left and right inclination angle of the traveling machine body 1, and a horizontal set switch 79 for making the traveling machine body 1 in an absolute horizontal state are arranged. Yes.
[0018]
FIG. 7 shows a hydraulic circuit for the elevating hydraulic cylinders 54a, 54b, etc., which branches through a diversion 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.
[0019]
FIG. 8 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. 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.
[0020]
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 amounts of the piston rods of the right and left 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. Then, the detected value of the cutting unit lifting position sensor 75 is input. 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 and lower limits 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.
[0021]
Further, the control device 70 includes a lift position detection unit for the lift lever 77 as a manually variable operation unit that can manually change and adjust the vehicle height, and a tilt setter for setting the left and right tilt levels of the traveling machine body 1. 78, a horizontal set switch 79, a cutting height setting device 80, and a threshing switch 81 are connected, and the setting values in these setting devices are input. Then, by operating the electromagnetic control valves 67 and 68 connected to the output side of the control device 70, the left and right lifting control hydraulic cylinders 54a and 54 are driven, and the heights of the left and right traveling portions 2 and 2 are made independent of each other. By moving up and down, 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 are controlled, while the electromagnetic hydraulic switching valve 65 connected to the output side of the control device 70 is operated to raise and lower the hydraulic pressure. The height of the pre-cutting processing device 4 by driving the cylinder 9, in other words, the cutting height can be controlled.
[0022]
Next, the vehicle height and posture control during the mowing and threshing operation will be described. At the time of automatic mowing and threshing work that is a non-soft field, such as cutting or reciprocating the inner circumference of the field, the changeover switch 76 is switched to “automatic” and the cutting height setting unit 80 Set the size.
In this state, when the combine is run and the grain culm planted in the field is harvested and threshing, the cutting height setting value and the average value of both the right and left 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.
[0023]
At this time, the operator sets an inclination value with the inclination setting device 78 according to 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. Is set, the heights 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 a desired state for cutting and traveling. In this case, 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. Thus, the right and left tilt angle of the traveling machine body 1 can be maintained horizontal or at a predetermined set value by the difference in the operation amount of the left and right lifting drive hydraulic cylinders 54a and 54b. This can be determined by the detection value of the tilt sensor 74, and feedback control is performed by the control device.
[0024]
When the changeover switch 76 is switched to “manual”, the vehicle height can be changed according to the degree of elevation that the operator operates with the elevation lever 77. In this case, the raising / lowering lever 77 stops changing the vehicle height when it is in an upright state, 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 elevating lever 77, the left and right elevating drive hydraulic cylinders 54a and 54b are simultaneously operated to the same extent in the same direction.
[0025]
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, by turning on the horizontal set switch 79, the traveling machine body 1 is maintained in an absolute horizontal state. However, the operator can adjust the vehicle height visually.
When the horizontal set switch 79 is turned OFF, the operator sets the right and left tilt posture of the traveling machine body 1 to an arbitrary predetermined tilt angle by the tilt setting device 78, and the left and right traveling units 2 and 2 can maintain this tilt posture. The relative height (vehicle height) between the vehicle body 1 and the traveling machine body 1 is changed and adjusted. The operations of the vehicle height control and the attitude control will be described in detail below with reference to the flowchart of FIG.
[0026]
First, following the start of control, the tilt angle θ1 desired to be set is set (set) by the tilt setting device 78 and stored in the memory unit of the control device 70 (S1). Next, the operator turns the lifting 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 (S2). . In this case, since the current vehicle height on the side where the operator is seated (the embodiment is the right side of the traveling machine body 1) can be easily determined by visual observation, the right side of the traveling machine body 1 is set as the reference side in the present embodiment. At the same time, the detection value of the tilt sensor 74 is read at an appropriate time interval such as every 5 milliseconds (S3).
[0027]
Next, it is determined from the detection information of the upper limit (lower limit) limit switch 82 (83) whether or not the left and right vehicle heights are both at the upper limit (lower limit) position (S4). When both the left and right vehicle heights are at the upper limit (lower limit) position (S4: yes), it is determined whether or not the set inclination angle θ1 is 0 degree (S5). When it is determined that θ1 = 0 (S5: yes), the left-right inclination angle of the traveling machine body 1 is 0 degrees, that is, absolute horizontal, and the left and right vehicle heights are simultaneously set to the upper limit position as desired. Alternatively, since it is at the lower limit position, the attitude control can be ended (END).
[0028]
When it is determined that θ1 = 0 is not satisfied (S5: no), it is next determined whether or not one vehicle height is at the upper limit (lower limit) position (S6). If yes, it is then determined whether one vehicle height is the upper limit and the other vehicle height is the lower limit (S7). If the answer is yes in S7, the tilt angle (detected value θx) is also the maximum value, which is the limit of the operating range by the left and right elevating drive means, and further posture control becomes impossible, so posture control is stopped. (S8).
[0029]
When S7 is no, that is, since the set inclination angle θ1 is not 0, one vehicle height is at the upper limit (lower limit), and the other vehicle height is not the upper limit (lower limit), the other vehicle height is raised or lowered. Since there is room, the vehicle height that is not the upper limit (lower limit) is raised or lowered (S9). If θx = θ1 (S10: yes), the target is achieved and the end is reached. When θx ≠ θ1 (S10: no), the process returns to before S4.
[0030]
When the simultaneous raising / lowering operation of both the left and right vehicle heights is completed, if one vehicle height is not the upper limit (lower limit) (naturally, the other vehicle height is not the upper limit (lower limit)) (S6: no), the detected value θx of the tilt angle is It is determined whether or not it is equal to the set inclination angle θ1 (S11). Here, when both angles are equal (θx = θ1) (S11: yes), the target is achieved and the end is reached.
[0031]
When it is determined that θx ≠ θ1 (S11: no), the vehicle height on the side far from the median [(HU + HL) / 2] of the upper limit HU and the lower limit HL of the ascending / descending range is maintained, and the vehicle closer to the median The vehicle height is raised and lowered (S12). In the present embodiment, since the far side is the side where the control seat is present and faces the traveling direction and is based on the right side of the traveling machine body, the vehicle height on the side where the threshing device 3 exists (the left side of the traveling machine body) is set. Will be raised and lowered. Therefore, in this embodiment, the vehicle height on the side where the operator is sitting (the right side of the traveling machine body) does not move up and down so much, so there is less discomfort.
[0032]
In S12, it is determined whether or not the detected inclination angle detected value θx is equal to the set inclination angle θ1 (S13). If θx = θ1 (S13: yes), the target is achieved and the end is reached. When it is determined that θx ≠ θ1 (S13: no), it is further determined whether or not the vehicle height on the ascending / descending side (left side of the traveling machine body in the embodiment) has reached the upper limit (lower limit) (S14). If the vehicle height on the side is not the limit (S14: no), the process returns to before S6 and the steps (steps) S6 to S14 are executed. S14: If yes, the vehicle height of this part cannot be changed. Therefore, the vehicle height on the side far from the median value is controlled up and down (S15), and then the process returns to S4 and the subsequent steps (steps) are executed. good.
[0033]
For example, as shown by the solid line in FIG. 10A, the vehicle height on the right side of the traveling machine body 1 is high and the vehicle height on the left side is low (inclination angle θx <set inclination angle θ1), before vehicle height / posture control is started. From the state Po, when the left and right vehicle heights are simultaneously increased by manual operation of the lifting lever 77 (S1 to S6: yes in the flowchart), the dotted line state P1 is obtained. Since the inclination angle θx is smaller than the set inclination angle θ1 in this P1 state (S10: no), the vehicle height on the far side (right side) from the median value is maintained when executing the inclination posture control in which θx is made closer to θ1. The vehicle height on the opposite side (side closer to the median, left side) is lowered (S11). As a result, the state of P2 is obtained (see the dotted line in FIG. 10B). If the inclination angle θx1 in the P2 state is equal to θ1 (S13: yes), the target is achieved, but if θx1 <θ1 (S13: no), the left side is further lowered. Even if the vehicle height on the left side becomes the lower limit, if θx1 <θ1 (S14: no), the vehicle height on the side far from the median value (right side in the embodiment) is increased (in the direction opposite to the ascending / descending direction of S11). Will be raised and lowered (see S15) ) . This is an attitude change from P3 to P4 in FIG. In this attitude control, even if the vehicle height on the right side is the upper limit and the vehicle height on the left side is the lower limit (P4 state), if it is determined that θx2 <θ1, it is no longer the limit of the inclination attitude control. Attitude control is stopped (S9). In addition, when the set inclination angle θ1 is changed by the inclination setting device 78 after executing such control of the inclination posture, the side farther from the median value which is the reference side (the right side of the traveling machine body 1 in the embodiment). The reference side is raised and lowered until the original vehicle height is reached. Thereafter, the control from S11 in the flowchart is executed.
[0034]
Thus, after changing both the left and right vehicle heights by manual operation of the lift lever 77, changing the vehicle height closer to the median has a wider lift control range until reaching the upper limit or lower limit. It is easy to reach a predetermined inclination angle. In this case, if the side that holds the vehicle height is set to the side on which the operator sits, the vehicle height at a location that is easy to see from the operator does not fluctuate so much, and the pre-cutting processing device collides with the ground such as a fence. Since it is difficult, visual manual control can be performed safely, and the opportunity for the aircraft to tilt to the left and right around the side where the operator sits increases, so the operator's awareness of the tilt control instruction matches the control result. It becomes easy.
[0035]
Therefore, for example, when cutting 2 to 3 grain culms planted at the heel, the operator operates the elevating 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.
[0036]
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.
[0037]
Needless to say, the present invention can be applied not only to a combine but also to a traveling farm machine such as a tractor for tilling.
[0038]
【The invention's effect】
As described above, the vehicle height and posture control device in the traveling farm work machine of the invention according to claim 1 includes traveling unit lifting and lowering driving means for independently lifting and lowering the left and right traveling units with respect to the traveling machine body, A pair of vehicle height detection sensors that detect the relative height of the traveling vehicle body with respect to each of the left and right traveling units, an inclination detection sensor that detects the degree of lateral inclination of the traveling vehicle body, and a tilt angle in which the lateral inclination angle of the traveling aircraft body is set. In a traveling farm work machine provided with a control means for operating each traveling unit raising and lowering driving means, the upper and lower limit detection means for the vehicle height by each traveling unit raising and lowering driving means, The left and right traveling parts A manual variable operation unit for operating the left and right traveling unit lifting and lowering drive means simultaneously to change the relative height of the traveling machine body; and a tilt setting device for setting a left and right inclination angle of the traveling machine body, the manual variable operation unit. The vehicle height changes according to the amount of operation Shi After executing the tilt control so as to approach the set tilt angle set by the tilt setter, the vehicle height on the side far from the median of the upper and lower limits of the lift range is maintained after the vehicle height is changed. Therefore, when the vehicle height on the side close to the median is changed, the lift range up to the upper and lower limits of the lift is changed. As a result of being able to be widened, it is possible to control quickly until a predetermined set inclination angle is achieved, and exclusively execute vehicle height control on one side (side closer to the median) and maintain the vehicle height on the other side (side far from the median). Therefore, the hunting phenomenon is less likely to occur and the control is stabilized as compared with the control in which both the left and right sides are moved up and down.
[0039]
[0040]
And after execution of the attitude control, the set inclination angle was changed Case The vehicle height on the side far from the median is set to the operation amount of the manual variable operation unit. When the vehicle height is changed based on After restoring to the vehicle height of In order to be the set inclination angle after the change In this case as well, the vehicle height on the side far from the median value is maintained, and this is used as the reference side, so that the left and right inclination control is performed on the wide side of the vertical movement range. Even after the setting of the tilt angle is changed, the angle can be quickly reached.
[0041]
And claims 2 The invention described in claim 1 In the vehicle height and posture control device for the traveling farm work machine described above, the side far from the median value is made to correspond to the driver seat side in the traveling machine body, and the side that holds the vehicle height is set to the side on which the operator sits As a result, the height of the vehicle that is easy to see from the operator does not fluctuate very much, and the pre-cutting device is less likely to collide with the ground, such as reeds. As a result, the chance that the traveling machine 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.
[Brief description of the drawings]
FIG. 1 is a side view of a combine.
FIG. 2 is a front view of the combine.
FIG. 3 is a side view of an elevating drive unit of a traveling unit.
4 is a cross-sectional view taken along line IV-IV in FIG.
5 is a cross-sectional view taken along the line VV in FIG. 3;
FIG. 6 is a perspective view of a manual variable operation unit.
FIG. 7 is a hydraulic circuit diagram.
FIG. 8 is a functional block diagram of a control device.
FIG. 9 is a flowchart of vehicle height / tilt posture control.
FIG. 10A is an operation explanatory diagram when the left and right vehicle heights are simultaneously executed, FIG. 10B is an operation explanatory diagram showing a state where the side closer to the median is raised and lowered, and FIG. 10C is a diagram showing the side far from the median. It is effect | action explanatory drawing which shows the state made to raise / lower.
[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 selector switch
77 Lifting lever
78 Inclination setting device
79 Horizontal set switch
82 Upper limit switch
83 Lower limit switch

Claims (2)

A traveling unit raising / lowering driving means for independently elevating the left and right traveling units with respect to the traveling aircraft, a pair of vehicle height detection sensors for detecting the relative height of the traveling aircraft with respect to the left and right traveling units, and the left and right of the traveling aircraft In a traveling farm work machine comprising an inclination detection sensor for detecting the degree of inclination, and a control means for operating each traveling unit raising / lowering drive means so that the left and right inclination angle of the traveling machine body becomes a set inclination angle,
Upper limit and lower limit detection means for vehicle height by each of the traveling unit lifting and lowering drive means,
A manual variable operation unit for operating simultaneously the left and right traveling unit elevation driving means so as to change the relative height of the traveling machine body with respect to the left and right traveling unit,
With a tilt setting device that sets the left and right tilt angle of the traveling aircraft,
After changing vehicle height depending on the operation amount of the manual variable operation unit, when performing the tilt control so as to approach the set tilt angle set by the tilt setting unit,
Hold the vehicle height on the side far from the median of the upper and lower limits of the lift range after changing the vehicle height, change the vehicle height on the side closer to the median, and control the attitude so that it becomes the set inclination angle ,
Further, when the set inclination angle is changed after execution of the attitude control, the vehicle height when the vehicle height on the side far from the median value is changed based on the operation amount of the manual variable operation unit is changed. A vehicle height and posture control apparatus for a traveling farm work machine , wherein the posture control is executed so that the set inclination angle after the change is obtained after the restoration . Wherein the side far from the central value, the vehicle height and attitude control device in the running agricultural machine according to claim 1, characterized in that in correspondence with the driver's seat side in the traveling machine body.

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