JP5001037B2 - Combine - Google Patents

Description

  The present invention relates to a combine that includes a cutting unit that is supported on the front part of the machine body so as to be controlled to be lifted and a control unit that controls the lifting of the cutting unit by a lifting unit.

Conventionally, in a combine provided with a cutting unit supported so as to be able to move up and down on the airframe, and a control unit that controls the lifting of the cutting unit with a lifting unit, a ground height detecting unit for detecting a ground level of the cutting unit, a cutting unit Elevating position detecting means for detecting the raising / lowering position of the vehicle with respect to the traveling body, acceleration detecting means for detecting acceleration when the body tilts in the front-rear direction, and speed for detecting the tilting speed when the traveling body tilts in the front-rear direction Detection means and front / rear inclination angle detection means for detecting the front / rear inclination angle with respect to the horizontal reference plane of the traveling machine body are provided, and the raising / lowering control of the cutting part is performed by the control means based on the detection value from these detection means, and the cutting part The thing which comprised so that the ground height of this may be kept constant is well-known (for example, refer patent document 1).
JP 2006-254729 A

  However, in a conventional combine, since a time difference occurs from the time of detection by each detecting means until the lifting / lowering control is performed by the control means, the attitude of the fuselage changes during that time, The mowing part could not be raised and lowered to an appropriate raising and lowering position in accordance with the actual attitude of the aircraft. For this reason, depending on the shape of the uneven surface of the traveling field or the like, there is a risk that the cutting part may be thrust into the ground or perform high cutting.

  Accordingly, an object of the present invention is to reliably prevent the cutting unit from being pushed into the ground or high cutting by moving the cutting unit up and down quickly to a lifting position that matches the actual posture of the aircraft.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

In claim 1, in a combine comprising a cutting part that is supported by the airframe so as to be able to be raised and lowered, and a control means that controls the raising and lowering of the cutting part by the lifting means, the acceleration detecting means that detects the traveling acceleration of the airframe, An angular velocity detecting means for detecting the angular velocity of the pitching of the airframe, and determining whether or not the calculated value of the traveling acceleration is within a set range when the combine is traveling in a harvesting operation on the field, the traveling acceleration Is within the set range, the first elevating control is performed, and when it is not within the set range, the second elevating control is performed. Is detected by the angular velocity detection means, the angular acceleration is calculated using the detection value from the angular velocity detection means, the attitude of the aircraft immediately after is predicted from the calculated value of the angular acceleration, and the predicted elevation of the reaping unit Is calculated, the cutting unit is raised and lowered according to the predicted lift position, the second lift control calculates the predicted value from the travel acceleration, and the predicted value is calculated based on the calculated angular acceleration, The predicted value obtained from the running acceleration and the predicted value from the angular acceleration of pitching are added to predict the predicted lift position of the aircraft immediately afterward, and the cutting unit is lifted and lowered according to the predicted lift position, and the first lift Control and 2nd raising / lowering control are repeated, and raising / lowering control of this cutting part is performed continuously .

  As effects of the present invention, the following effects can be obtained.

In claim 1, in a combine comprising a cutting part that is supported by the airframe so as to be able to be raised and lowered, and a control means that controls the raising and lowering of the cutting part by the lifting means, the acceleration detecting means that detects the traveling acceleration of the airframe, An angular velocity detecting means for detecting the angular velocity of the pitching of the airframe, and determining whether or not the calculated value of the traveling acceleration is within a set range when the combine is traveling in a harvesting operation on the field, the traveling acceleration Is within the set range, the first elevating control is performed, and when it is not within the set range, the second elevating control is performed. Is detected by the angular velocity detection means, the angular acceleration is calculated using the detection value from the angular velocity detection means, the attitude of the aircraft immediately after is predicted from the calculated value of the angular acceleration, and the predicted elevation of the reaping unit Is calculated, the cutting unit is raised and lowered according to the predicted lift position, the second lift control calculates the predicted value from the travel acceleration, and the predicted value is calculated based on the calculated angular acceleration, The predicted value obtained from the running acceleration and the predicted value from the angular acceleration of pitching are added to predict the predicted lift position of the aircraft immediately afterward, and the cutting unit is lifted and lowered according to the predicted lift position, and the first lift Since the control and the second lifting control are repeated and the lifting control of the mowing unit is continuously performed , when the machine is pitched greatly on the uneven surface of the field, etc., the mowing unit is appropriately adapted to the attitude of the actual machine It is possible to keep the height of the reaping portion with respect to the ground constant by raising and lowering to a proper raising and lowering position. Moreover, the responsiveness of the raising / lowering means can be improved and the cutting part can be raised and lowered quickly. Therefore, it is possible to reliably prevent the cutting portion from being pushed into the ground and high cutting.

  In addition, when the rear part of the machine body is lifted due to sudden forward / backward switching or the like, the cutting part can be raised to prevent the cutting part from being pushed into the ground. Further, when the front part of the machine body is lifted, the cutting part can be lowered to prevent high cutting.

  Next, embodiments of the invention will be described. FIG. 1 is a side view of a combine according to an embodiment of the present invention, FIG. 2 is a block diagram showing a control mechanism of a cutting unit, FIG. 3 is a flowchart showing an up-and-down control mode of the cutting unit 4, and FIG. FIG. 5 is a flowchart showing a second lift control mode. FIG. 5 is a flowchart showing a second lift control mode.

  First, the schematic structure of the combine which concerns on one Example of this invention is demonstrated.

  As shown in FIG. 1, the combine 1 is configured to be able to travel forward or backward by supporting a crawler type traveling device 3 on a body frame 2 and driving it with an engine mounted on the body frame 2.

  In this combine 1, a harvesting part 4 that harvests cereals at the front part of the body frame 2 and conveys it to the rear of the body is provided so as to be able to move up and down, and threshing the harvested cereals from the harvesting part 4 on the left side of the body frame 2. The threshing unit 5 that performs the sorting and the sorting unit 6 that sorts the grains threshed by the threshing unit 5 are disposed up and down.

  Behind the threshing unit 5 is provided a slaughter processing unit 7 for discharging the cereal threshed by the threshing unit 5 to the outside of the machine as waste.

  A grain tank 8 is provided on the rear right side of the machine body frame 2 to store grains conveyed from the sorting unit 6 by a cereal cylinder. From the rear of the grain tank 8 upward, the grains in the grain tank 8 are removed from the machine body. A discharge auger 9 for discharging to the outside is disposed. Steering handle 11 for steering the aircraft, operating means such as levers and switches for operating the devices of the aircraft, and a driver's seat on the right front of the aircraft frame 2 in front of the Glen tank 8 A driving operation unit 15 having 12 in the cabin 13 is provided. An engine that provides power to the crawler type traveling device 3 and other parts is disposed below the driving operation unit 15.

  The cutting unit 4 is provided with a weeding body 22 that separates the uncut grain culm through the weeding frame 21 at the front end of the cutting support frame 20, and the cereals after weeding are disposed above and behind the weeding body 22. A cereal wakening body 23 to cause is provided, and a rake body for scraping the stock side of the cereal after raising is provided at the rear of the cereal wakening body 23. A cutting blade 25 that cuts the base is provided, and a carrier 26 that conveys the cut cereal after cutting to the vicinity of the mouth provided on the front side of the threshing unit 5 is provided behind the scraper.

  The cutting unit 4 supports the cutting support frame 20 at its rear end on the cutting support on the body frame 2 by a fulcrum shaft 28 so as to be pivotable in the vertical direction around the axis in the horizontal direction. Has been. Between the cutting support frame 20 of the cutting unit 4 and the body frame 2, lifting means 29 of the cutting unit 4 made of a cylinder or the like is provided, and the cutting support frame 20 is attached to the body frame 2 by the cutting unit lifting means 29. On the other hand, it is configured to rotate in the vertical direction. That is, the cutting part 4 is moved up and down.

  Further, the control means 30 is provided at an arbitrary position of the machine body, and as shown in FIG. 2, the lifting means 29 of the cutting unit 4 is connected to the output side of the control means 30, and the control means 30 is input to the input side. The raising / lowering operation means 31 of the cutting part 4 arrange | positioned at the driving | operation operation part 15 is connected. The control means 30 is configured to drive the elevating means 29 in accordance with a manual operation of the elevating operation means 31 (by driving the cylinder to extend and contract) to raise and lower the cutting unit 4. Thus, the raising / lowering position of the cutting unit 4 can be adjusted to an appropriate height position by the raising / lowering operation means 31.

  Further, as shown in FIG. 2, on the input side of the control means 30, in addition to the lifting operation means 31 of the cutting unit 4, an inclination angle detection means 32 for detecting an inclination angle in the front-rear direction with respect to the horizontal reference plane of the airframe. The angular velocity detecting means 33 for detecting the angular speed of the pitching (tilting in the front-rear direction) of the aircraft, the traveling speed detecting means 34 for detecting the traveling speed of the aircraft, and the rotational position (relative angle) of the cutting unit 4 with respect to the aircraft. A lift position detecting means 35 for detecting and a means 36 for detecting the height of the cutting blade are connected.

  The cutting blade height detection means 36 is for setting the height of the cutting blade, and is set as a reference height. This is because the cutting part 4 is conventionally lowered by its own weight and the lowest position is set by a stopper, but in this embodiment, when it rides on the convex part, it is further than the front extension line on the lower surface of the crawler type traveling device 3. Since it may be lowered, it is necessary to set a reference position. In addition, by setting this reference position, in the case of a soft field, the reference height can be easily set high with a setting device, and the left and right sides become high when performing horizontal control, When raising the other side, the height of the stubble can be lowered by lowering the reference height.

  The control unit 30 stores the detection values input from these detection units 32 to 35, preset setting values, and the like, performs prediction calculation so that the cutting unit 4 has a set height, and drives the lifting unit 29. It is configured. When driving the raising / lowering means 29, it is necessary to raise / lower the cutting part 4 quickly, when an unevenness | corrugation is reached, so that traveling speed is high. Further, for example, when approaching a convex part, the ascending speed (acceleration) of the airframe is large, so that the cutting part 4 is rapidly raised, and when reaching the upper end of the convex part, the rising speed is small, so the rising speed of the cutting part 4 is also reduced. There is a need.

  Therefore, the control means 30 calculates the traveling acceleration of the aircraft using the detection value from the traveling speed detection means 34, and further calculates the angular acceleration of the pitching of the aircraft using the detection value from the angular velocity detection means 33, The raising / lowering prediction control of the raising / lowering means 29, for example, feedforward control, is performed. It is also possible to omit the angular velocity detection means 33 and to calculate the pitching angular velocity of the airframe using the detection value of the inclination angle detection means 32 by the control means 30.

  Next, the aspect of the raising / lowering control of the cutting part 4 at the time of pitching of an airframe is demonstrated based on the flowchart shown in FIG.3, FIG4 and FIG.5.

  When the combine 1 travels in a harvesting operation on the field, as shown in FIG. 3, the travel speed is first detected by the travel speed detecting means (step S1) and input to the control means. The control means calculates the travel acceleration of the airframe using the detection value from the travel speed detection means (step S2), and determines whether or not the calculated value is within the set range (step S3). When it is determined that the calculated travel acceleration is within the set range, the first lift control is performed (step S4), and when it is determined that the calculated travel acceleration is not within the set range, the second lift control is performed. Is performed (step S5).

  That is, when the traveling acceleration is small, the forward / backward tilt of the airframe applied by acceleration / deceleration is small, so that the prediction calculation is performed from the signal obtained from the angular velocity detection means 33, and the first elevation control is performed. Further, when the traveling acceleration exceeds the set value, the forward / backward tilt of the airframe applied by acceleration / deceleration is large, so that the prediction calculation is performed from the traveling acceleration obtained from the traveling speed and the angular acceleration obtained from the angular velocity detecting means 33. Thus, the second raising / lowering control is performed.

  When the first elevation control is performed, as shown in FIG. 4, the angular velocity of pitching of the airframe is detected by the angular velocity detection means 33 (step S <b> 41) and input to the control means 30. In the control means 30, the angular acceleration is calculated using the detection value from the angular velocity detection means 33, the attitude of the aircraft immediately after is calculated from the calculated value, and the predicted lift position of the cutting unit 4 is calculated (step S42). ).

  At this time, if the angular acceleration is a positive value (step S43), it is determined that the machine body tilts backward (the machine body front part is lifted), and the cutting unit 4 moves from the reference position (cutting height setting position) to the predicted lift position. The elevating means 29 is driven so as to descend, and in this embodiment, the cylinder is driven to contract (step S44), and the cutting unit 4 is lowered (step S45).

  The ascending / descending position of the descending mowing unit 4 is detected by the ascending / descending position detecting means 35 and inputted to the control means 30. Then, it is determined whether or not the cutting unit 4 has reached the predicted lift position by the control means 30 (step S46), and if it is determined that the predicted lift position has been reached, the process returns to step S1. The elevating means 29 is pulse-driven by PWM or the like, and is driven faster as the angular acceleration value is larger, and is driven slower as the angular acceleration value is smaller.

  On the other hand, if the angular acceleration is not a positive value, that is, if it is a negative value (step S43), it is determined that the aircraft is tilted forward (the rear portion of the aircraft is lifted), and the cutting unit 4 is in the predicted lift position rather than the reference position. The elevating means 29 is driven so as to rise up, and in this embodiment, the cylinder is driven to extend (step S47), and the cutting unit 4 is raised (step S48).

  The ascending / descending position of the ascending cutting part 4 is detected by the ascending / descending position detecting means 35 and input to the control means 30. Then, it is determined whether or not the cutting unit 4 has reached the predicted lifting position by the control means 30 (step S49), and if it is determined that the cutting unit 4 has reached the predicted lifting position, the control proceeds to step S1. Returned.

  When the second elevation control is performed, as shown in FIG. 5, a predicted value is calculated from the travel acceleration. In other words, when the vehicle is accelerating (starting suddenly), the aircraft will fall back to a positive value, and when it is decelerating (stopping suddenly), the aircraft will drop forward and become a negative value. The height of the cutting unit 4 is predicted from the acceleration.

  Further, the angular velocity of pitching of the airframe is detected by the angular velocity detection means 33 (step S51) and input to the control means 30. In the control unit 30, the angular acceleration is calculated using the detection value from the angular velocity detection unit 33, and the predicted value is calculated based on this value. This is added to the predicted value obtained from the traveling acceleration to predict the attitude of the aircraft immediately after that, and the predicted lift position of the cutting unit 4 is calculated (step S52). And the raising / lowering means 29 is driven according to this estimated raising / lowering position, and the cutting part 4 is raised / lowered.

  Specifically, if the predicted lift position is a positive value (step S53), it is determined that the machine body tilts backward (the front part of the machine body is lifted), and the lift position of the cutting unit 4 is from the reference position to the predicted lift position. The elevating means 29 is driven so as to descend, and in this embodiment, the cylinder is driven to contract (step S54), and the cutting unit 4 is lowered (step S55).

  The ascending / descending position of the descending mowing unit 4 is detected by the ascending / descending position detecting means 35 and inputted to the control means 30. Then, it is determined whether or not the cutting unit 4 has reached the predicted lift position by the control means 30 (step S56). If it is determined that the predicted lift position has been reached, the process returns to step S1.

  On the other hand, if it is a negative value (step S53), it is determined that the aircraft tilts forward (the rear portion of the aircraft is lifted), and the lifting / lowering means 29 is driven so that the cutting unit 4 rises from the reference position to the predicted lift position, In this embodiment, the cylinder is driven to extend (step S57), and the cutting unit 4 is raised (step S58).

  The ascending / descending position of the ascending cutting part 4 is detected by the ascending / descending position detecting means 35 and input to the control means 30. Then, it is determined whether or not the cutting unit 4 has reached the predicted lift position by the control means 30 (step S59). If it is determined that the cutting unit 4 has reached the predicted lift position, the control proceeds to step S1. Returned.

  In the second raising / lowering control, as described above, the raising / lowering speed of the cutting unit 4 is changed so as to increase in proportion to the angular speed of pitching of the airframe. That is, if the acceleration is large, the cutting speed is changed so as to increase. As a result, as the pitching suddenly increases, the mowing unit is controlled so as to rise or fall to the predicted lift position faster.

  In this way, in the combine 1, the first raising / lowering control and the second raising / lowering control are repeated, and the raising / lowering control of the harvesting unit 4 is continuously performed. It is quickly raised and lowered to an appropriate lifting position according to the attitude of the aircraft.

  As described above, in the combine 1 including the cutting unit 4 that is supported on the machine body so as to be able to be raised and lowered, and the control unit 30 that controls the raising and lowering of the harvesting part 4 by the raising and lowering unit, An inclination angle detecting means 32 for detecting, an angular velocity detecting means 33 for detecting an angular speed of pitching of the airframe, and an ascending / descending position detecting means 35 for detecting an ascending / descending position of the cutting unit 4 with respect to the airframe. Based on the detection value of the inclination angle detection means 32 and the detection value of the angular velocity detection means 33, the attitude of the airframe after detection is predicted, and the lifting / lowering that raises and lowers the mowing unit 4 to the predicted lifting position set according to the prediction result. By performing the control, when the aircraft pitches greatly on the uneven surface of the field, etc., the mowing unit 4 is raised and lowered to an appropriate lifting position according to the actual posture of the aircraft, The ground height of the cutting portion 4 can be held constant. Moreover, the responsiveness of the raising / lowering means 29 can be improved and the cutting part 4 can be raised / lowered rapidly. Therefore, the cutting part 4 can be prevented from being pushed into the ground or highly cut.

  In the combine 1, the lifting speed during the lifting control by the lifting means 29 increases in proportion to the pitching angular speed of the airframe, so that the cutting unit 4 has an appropriate height according to the attitude of the airframe. Can be moved up and down.

  The combine 1 includes acceleration detection means (travel speed detection means 34 and control means 30) for detecting the travel acceleration of the airframe, and the control means 30 calculates a detection value (calculated from the travel speed). If it is determined that the calculated value is not within the set range, the attitude of the airframe after detection is predicted based on the detection value, and the cutting unit 4 is moved to the predicted lift position set according to the prediction result. By performing the up-and-down control, when the rear part of the machine body is lifted due to sudden forward / backward switching, the cutting unit can be raised to prevent the cutting unit from being pushed into the ground. Further, when the front part of the machine body is lifted, the cutting part can be lowered to prevent high cutting.

  In the combine 1, the lifting speed at the time of lifting control by the lifting means 29 increases in proportion to the acceleration of the machine body, so that the cutting unit 4 is raised and lowered to an appropriate height according to the attitude of the machine body. Can be made.

The side view of the combine which concerns on one Example of this invention. The block diagram which shows the control mechanism of a cutting part. The flowchart figure which shows the aspect of the raising / lowering control of the cutting part 4. FIG. The flowchart figure which shows the aspect of 1st raising / lowering control. The flowchart figure which shows the aspect of 2nd raising / lowering control.

DESCRIPTION OF SYMBOLS 1 Combine 4 Cutting part 29 Lifting means 30 Control means 32 Inclination angle detection means 33 Angular speed detection means 34 Traveling speed detection means 35 Lifting position detection means

Claims (1)

In a combine provided with a cutting part supported so as to be able to move up and down on the airframe, and a control means for controlling the raising and lowering of the cutting part by the lifting means, an acceleration detecting means for detecting a traveling acceleration of the airframe, and an angular velocity of pitching of the airframe. An angular velocity detecting means for detecting, and when the combine travels in a harvesting operation on the field, it is determined whether or not the calculated value of the travel acceleration falls within the set range, and the travel acceleration falls within the set range. The first lifting control is performed, and if it is not within the set range, the second lifting control is performed. In the first lifting control, the angular velocity detecting means detects the angular velocity of the aircraft pitching. Then, the angular acceleration is calculated using the detection value from the angular velocity detection means, the attitude of the aircraft immediately after is calculated from the calculated value of the angular acceleration, the predicted lift position of the cutting unit is calculated, and the prediction The cutting unit is raised and lowered according to the descending position, and in the second raising / lowering control, a predicted value is calculated from the travel acceleration, a predicted value is calculated based on the calculated angular acceleration, and a prediction obtained from the travel acceleration is obtained. Value and the predicted value from the angular acceleration of pitching are added, the predicted lift position of the aircraft immediately after is predicted, and the cutting unit is lifted and lowered according to the predicted lift position, the first lift control and the second lift control Is repeated, and the lifting control of the cutting part is continuously performed .

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