JP6208479B2 - Combine - Google Patents

Description

  The present invention relates to a combine equipped with a body lifting mechanism that lifts and lowers the body with respect to a ground surface of a traveling unit.

  When the combine moves backward in the wet field, it becomes a head-down posture (an inclined posture of front low, high and high) due to the balance of the body, and the preprocessing unit and the traveling transmission may come into contact with the field. In this situation, if the aircraft continues to move backward, the pre-processing unit and the traveling transmission that are in contact with the field carry mud, causing problems such as difficulty in traveling and roughing the field.

  In a combine equipped with an aircraft lifting mechanism that raises and lowers the aircraft relative to the ground surface of the traveling unit, the above-mentioned problems can be avoided by raising the aircraft when moving backward in a wet field. Usually requires a dedicated operating tool (such as a horizontal manual lever placed on the side panel of the operating unit), so you can hold the multi-lever (steering operation tool and pre-treatment lifting operation tool) with one hand. There is a problem in that it is difficult to operate during work traveling while holding the main transmission lever with the other hand.

  Therefore, there has been proposed a combine that automatically raises the aircraft when the above situation occurs. For example, in Patent Document 1, the condition that the main shift lever that operates the aircraft to move forward and backward is in the reverse operation state, the condition that the pretreatment unit is in the highest ascent state, and the pretreatment lift lever is in the ascent operation state. When all the above conditions are satisfied, the aircraft is automatically raised, and when the main shift lever is advanced after the aircraft is raised, the aircraft is returned to the height before the ascent.

JP 2009-183217 A

  However, since Patent Document 1 automatically raises the aircraft when the above three conditions are satisfied, the aircraft may rise unnecessarily even in a situation where the aircraft does not need to be raised. For example, there is a possibility that the airframe will rise unnecessarily when the airframe is retracted when the airframe is stored or when traveling on the road.

  Also, in a combine that automatically raises the aircraft according to the reverse operation of the aircraft, if the amount of return and lowering movement of the aircraft after the reverse aircraft has been raised is large, if the height of the pretreatment unit is neglected, the preprocessing unit There was a risk of trouble.

  Further, when the aircraft is automatically raised in accordance with the backward operation of the aircraft, the left and right inclination angles of the aircraft are increased, and there is a possibility that the aircraft becomes unstable or falls down.

The present invention was created for the purpose of solving these problems in view of the above circumstances, and the invention of claim 1 includes an aircraft, and left and right traveling units provided at the lower portion of the aircraft, Left and right aircraft elevating mechanisms for raising and lowering the aircraft relative to the ground plane of each traveling unit; horizontal automatic control means for automatically controlling the left and right aircraft elevating mechanisms so that the left and right inclination angles of the aircraft maintain a predetermined set angle; When the aircraft is operated in reverse, the combine is provided with a reverse vehicle height raising mechanism that raises and lowers the aircraft raising / lowering mechanism only when the left / right inclination angle of the aircraft is determined to be less than a predetermined falling angle. The control means selectively raises and lowers either the left or right airframe lifting mechanism without simultaneously lifting the left and right airframe lifting mechanisms, and maintains the left and right tilt angles of the airframe at a predetermined set angle . The reverse vehicle height Noboru means, when one of the left and right body lifting mechanism is upper, and characterized in that the other body elevating mechanism lateral inclination angle of the aircraft is configured to increase in a range not exceeding a predetermined falling angle It is a combine to do.
According to a second aspect of the present invention, the horizontal automatic control means includes an upper limit reference mode in which priority is given to raising control of the airframe lifting mechanism and a lower limit reference mode in which priority is given to lowering control of the airframe lifting mechanism. The combine according to claim 1, wherein the reverse vehicle height increase control means is executed only in the reference mode.

  According to the invention of claim 1, since the aircraft is automatically raised according to the reverse operation of the aircraft only in the upper limit reference mode mainly used in the wet field, the aircraft can be used unnecessarily even in a situation where the aircraft does not need to be raised. The problem of rising can be solved. Moreover, in the upper limit reference mode, even if the aircraft is automatically raised in response to the reverse operation of the aircraft, the amount of increase in the aircraft is suppressed compared to the lower limit reference mode. The possibility that the pretreatment unit rushes into the field can be reduced. In addition, when the aircraft elevating mechanism is controlled to be raised according to the reverse operation of the aircraft, the aircraft's left / right tilt angle is controlled so that it does not exceed a predetermined tipping angle, so the aircraft becomes unstable when the reverse aircraft is raised. There is no fear of falling.

It is a left view of a combine. It is a side view which shows the traveling part and airframe raising / lowering mechanism of a combine, (A) is a side view which shows a body falling state, (B) is a side view which shows a body rising state. It is a block diagram which shows the input-output structure of a control part. It is a flowchart which shows the process sequence of the minimum reference | standard mode in horizontal automatic control. It is a flowchart which shows the process sequence of the upper limit reference | standard mode in horizontal automatic control. It is a flowchart which shows the process sequence of reverse vehicle height raise control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a combine. The combine 1 is composed of an airframe 2, a pretreatment unit 3 provided at the front portion of the airframe 2 so as to be movable up and down, and a stem culm cut by the pretreatment unit 3. A threshing unit 4 for threshing the grain, a grain tank 5 for storing the grain selected by the threshing unit 4, a post-processing unit 6 for post-processing the threshed waste, and an operation unit on which the operator gets on 7 and a traveling unit 8 provided in the lower part of the airframe 2.

  As shown in FIGS. 1 and 2, the traveling unit 8 of the present embodiment includes a pair of left and right crawler traveling devices 9. The crawler traveling device 9 includes a ring body such as a drive sprocket 10, an idler 11, an upper wheel 12, and a plurality of lower wheels 13, and a crawler 14 suspended around these wheel bodies. The airframe 2 is caused to travel according to the drive rotation of the drive sprocket 10, and the tension of the crawler 14 is adjusted by the idler 11. Here, the drive sprocket 10 and the upper wheel 12 are supported on the body frame 15 side, and the idler 11 and the lower wheel 13 are supported on the track frame 16 side.

  Between the body frame 15 and the track frame 16, a body lifting mechanism 17 that lifts and lowers the body 2 with respect to the ground surface of the traveling unit 8 is provided. The airframe elevating mechanism 17 according to the present embodiment swings in the front-rear direction according to the hydraulic telescopic operation of the elevating cylinder 20 and the pair of front and rear connecting links 18 and 19 that connect the track frame 16 to the airframe frame 15 so as to be movable up and down. An operating arm 21, a front connecting rod 22 that connects the operating arm 21 to the front connecting link 18, and a rear connecting rod 23 that connects the operating arm 21 to the rear connecting link 19. When the hydraulic expansion / contraction operation is performed, the pair of front and rear connection links 18 and 19 are interlocked with the operation arm 21 to swing in the front-rear direction, and the body 2 is moved up and down with respect to the ground contact surface of the traveling unit 8.

  The body lifting mechanism 17 is provided in each of the left and right traveling units 8, and the left and right lifting cylinders 20 provided in each body lifting mechanism 17 are expanded and contracted in the same direction, so that the grounding surfaces of the left and right traveling units 8 are expanded. The body 2 can be tilted left and right with respect to the ground contact surface of the left and right traveling units 8 by moving the body 2 up and down in parallel or by extending or contracting one of the lifting cylinders 20.

  The operation unit 7 is provided with a driver seat 24 on which an operator sits, a multi-lever 25 disposed in front of the driver seat 24, a main transmission lever 26 disposed on the left side of the driver seat 24, and the like. The multi-lever 25 is a joystick-type operation lever that is used both as a pre-processing lifting / lowering operation tool that moves the pre-processing unit 3 up and down and a turning operation tool that turns the machine body 2 left and right. When the tilting operation is performed, the pre-processing unit 3 is lowered, when the multi-lever 25 is tilted backward, the pre-processing unit 3 is lifted, and when the multi-lever 25 is tilted to the left, the machine body 2 is turned left and the multi-lever 25 is moved to the right. The airframe 2 turns rightward when it is tilted to the right. The main speed change lever 26 can perform forward travel operation, reverse travel operation, and travel stop operation. In the forward travel operation area and the reverse travel operation area, the travel speed can be changed steplessly.

  As shown in FIG. 3, the combine 1 is provided with a control unit 27 that controls the left and right machine body elevating mechanisms 17 (elevating cylinders 20). On the input side of the control unit 27, a horizontal automatic switch 28 for turning on / off horizontal automatic control, which will be described later, a mode changeover switch 29 for switching a horizontal automatic control mode (upper reference mode / lower limit reference mode), A tilt sensor 30 that detects the tilt angle, a main shift lever detection switch 31 that detects the operation position of the main shift lever 26, a threshing clutch switch 32 that detects whether the threshing clutch is on / off, and a telescopic position of the left lifting cylinder 20 are detected. A left cylinder potentiometer 33, a right cylinder potentiometer 34 for detecting the expansion / contraction position of the right elevating cylinder 20, and the like are connected. On the output side of the control unit 27, a left elevating valve 35 for operating the left elevating cylinder 20 to the airframe ascending side. , The left lowering valve 36 for operating the left lifting cylinder 20 to the lower side of the machine body, the right lifting cylinder 2 The Migiage valve 37 to operate the machine body ascending side and right down valve 38 for actuating the right lift cylinder 20 to the vehicle body lowering side is connected.

  The control unit 27 executes horizontal automatic control (horizontal automatic control means) for automatically controlling the left and right machine lifting mechanisms 17 so that the left and right inclination angles of the machine body 2 maintain a predetermined set angle (horizontal in the present embodiment). . In the horizontal automatic control, the left and right aircraft elevating mechanisms 17 are selectively raised and lowered without simultaneously raising and lowering the left and right aircraft elevating mechanisms 17 to maintain the left and right inclination angles of the aircraft at a predetermined set angle. The upper limit reference mode for giving priority to the ascent control of the airframe lifting mechanism 17 and the lower limit reference mode for giving priority to the lowering control of the airframe elevating mechanism 17 are provided, and either mode is selectively executed. In the upper limit reference mode, the vehicle height is controlled to be higher than that in the lower limit reference mode. Therefore, the upper limit reference mode is selected in wet field work that easily sinks into the soil of the traveling unit 8. The horizontal automatic control also includes reverse vehicle height increase control (reverse vehicle height increase control means) that automatically raises the airframe 2 when the airframe 2 is operated in reverse. Hereinafter, the processing procedure of horizontal automatic control and reverse vehicle height raising control will be described with reference to FIGS.

  As shown in FIG. 4, in the horizontal automatic control, first, the on / off state of the threshing clutch and the on / off state of the horizontal automatic switch 28 are determined (S1, S2). Then, while executing the reverse vehicle height increase control as a subroutine (S3), it is determined whether or not the vehicle height increase operation is being performed (S4). When it is determined that the vehicle height raising operation is not being performed, the horizontal automatic control mode is determined (S5), and the horizontal automatic control in the upper limit reference mode or the lower limit reference mode is executed according to the determination result.

  As shown in FIG. 4, in the lower limit reference mode, the aircraft inclination is determined (S6). If it is determined that the aircraft inclination is horizontal, the process returns to the upper routine as it is. If it is determined that the airframe tilts to the right, the height position of the left airframe lifting mechanism 17 by the left lifting cylinder 20 is determined (S7), and if it is determined that it is above the lower limit position, The lower valve 36 is turned on and the left airframe elevating mechanism 17 is controlled to descend (S8). On the other hand, when it is determined that the left aircraft lifting mechanism 17 is the lower limit position, the height position of the right aircraft lifting mechanism 17 by the right lifting cylinder 20 is determined (S9), and when it is determined that it is the upper limit position here. Then, the process returns to the upper routine as it is, but if it is determined that the position is below the upper limit position, the right-hand raising valve 37 is turned on and the right body lifting mechanism 17 is raised (S10).

  If it is determined in step S6 that the airframe tilts to the left, the height position of the right airframe elevating mechanism 17 by the right elevating cylinder 20 is determined (S11), where it is above the lower limit position. If it is determined, the right lowering valve 38 is turned on to control the lowering of the right airframe lifting mechanism 17 (S12). On the other hand, when it is determined that the right body lifting mechanism 17 is the lower limit position, the height position of the left body lifting mechanism 17 by the left lifting cylinder 20 is determined (S13), and when it is determined that it is the upper limit position here. Then, the process returns to the upper routine as it is, but if it is determined that the position is below the upper limit position, the left raising valve 35 is turned on and the left body elevating mechanism 17 is controlled to be raised (S14).

  As shown in FIG. 5, in the upper limit reference mode, the aircraft inclination is determined (S15). If it is determined that the aircraft inclination is horizontal, the process returns to the upper routine as it is. If it is determined that the airframe tilts to the right, the height position of the right airframe elevating mechanism 17 by the right elevating cylinder 20 is determined (S16), and if it is determined that it is below the upper limit position, The raising valve 35 is turned on and the right aircraft elevating mechanism 17 is controlled to rise (S17). On the other hand, when it is determined that the right aircraft lifting mechanism 17 is the upper limit position, the height position of the left aircraft lifting mechanism 17 by the left lifting cylinder 20 is determined (S18), and when it is determined that it is the lower limit position here. Then, the process returns to the upper routine as it is, but if it is determined that the position is above the lower limit position, the left lowering valve 36 is turned on to control the lowering of the left airframe lifting mechanism 17 (S19).

  If it is determined in step S15 that the airframe tilts to the left, the height position of the left airframe lifting mechanism 17 by the left lifting cylinder 20 is determined (S20), which is below the upper limit position. Is determined, the left raising valve 35 is turned on and the left aircraft elevating mechanism 17 is controlled to be raised (S21). On the other hand, if it is determined that the left aircraft lifting mechanism 17 is the upper limit position, the height position of the right aircraft lifting mechanism 17 by the right lifting cylinder 20 is determined (S22), and if it is determined that it is the lower limit position here. Then, the process returns to the upper routine as it is, but if it is determined that the position is higher than the lower limit position, the right lowering valve 38 is turned on to control the lowering of the right airframe lifting mechanism 17 (S23).

  As shown in FIG. 6, in the reverse vehicle height increase control, first, the on / off state of the threshing clutch and the on / off state of the horizontal automatic switch 28 are determined (S31, S32), and both determinations are on. If this is the case, the mode of horizontal automatic control is determined (S33). If the determination result is the lower limit reference mode, the vehicle height raising operating flag is cleared and the horizontal automatic control operation is permitted (S34). On the other hand, if it is the upper limit reference mode, the main shift lever position is determined (S35). If this determination result is other than reverse, the vehicle height raising operation flag is cleared and the horizontal automatic control operation is permitted ( S34) If the main shift lever position is the reverse drive position, the vehicle height raising operating flag is set to stop the horizontal automatic control operation (S36). In this state, the left and right airframe lifting mechanisms 17 are automatically lifted and controlled within a range in which the left and right inclination angle of the airframe 2 does not exceed a predetermined tipping angle (for example, 20 °).

  Specifically, the height position of the right body lifting mechanism 17 by the right lifting cylinder 20 is determined (S37), and if it is determined that it is below the upper limit position, the left tilt angle of the body is determined ( S38). Then, only when it is determined that the left inclination angle of the aircraft is less than the predetermined fall angle, the right-hand raising valve 37 is turned on and the right aircraft elevating mechanism 17 is controlled to be raised (S39). Further, the height position of the left body lifting mechanism 17 by the left lifting cylinder 20 is determined (S40), and if it is determined that it is below the upper limit position, the right tilt angle of the body is determined (S41). Then, only when it is determined that the right inclination angle of the aircraft is less than the predetermined fall angle, the left raising valve 35 is turned on to raise the left aircraft lifting mechanism 17 (S42).

  According to the present embodiment configured as described, the aircraft 2, the left and right traveling units 8 provided in the lower part of the aircraft 2, and the left and right aircraft lifting mechanisms that raise and lower the aircraft relative to the ground plane of each traveling unit 8. 17 and a horizontal automatic control means for automatically controlling the left and right airframe lifting mechanisms 17 so that the left and right tilt angles of the airframe 2 maintain a predetermined set angle, the horizontal automatic control means In order to selectively raise and lower one of the left and right body lifting mechanisms 17 without simultaneously lifting the body lifting mechanism 17 and maintaining the left and right tilt angles of the body 2 at a predetermined set angle, When an upper limit reference mode that prioritizes ascent control and a lower limit reference mode that prioritizes descending control of the airframe lifting mechanism 17 are provided, the horizontal automatic control means is in the upper limit reference mode, and the airframe 2 is operated backward Since there is a reverse vehicle height elevation control means for automatically raising and lowering the aircraft elevating mechanism 17 within a range where the left and right inclination angle of the aircraft body 2 does not exceed a predetermined fall angle, only in the upper limit reference mode mainly used in wet fields, The airframe 2 can be automatically raised according to the backward operation of the airframe 2, and as a result, the problem that the airframe 2 rises unnecessarily even in a situation where the airframe 2 does not need to be raised can be solved. Moreover, in the upper limit reference mode, even if the airframe 2 is automatically raised in accordance with the reverse operation of the airframe 2, the amount of airframe rise can be suppressed as compared with the lower limit reference mode. It is possible to reduce the downward movement amount and reduce the possibility that the preprocessing unit 3 thrusts into the field. Further, when the aircraft elevating mechanism 17 is controlled to be raised in accordance with the backward operation of the aircraft 2, the aircraft 2 is controlled to rise within a range in which the right / left tilt angle does not exceed a predetermined fall angle, so that the aircraft 2 is moved when the backward aircraft is raised. There is no risk of becoming unstable or falling.

  Needless to say, the present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims.

  For example, in the above-described embodiment, the tipping angle of the airframe is a fixed value, but by making the left and right airframe tipping angles vary according to the amount of grain in the grain tank, safer reverse vehicle height increase control is performed. You may do it.

  Further, in the above embodiment, after the vehicle is raised by the reverse vehicle height increase control, the horizontal automatic control is enabled and the vehicle is lowered when the main shift lever is operated other than reverse, but the vehicle is raised by the reverse vehicle height increase control. Later, even if the main speed change lever is operated in a direction other than reverse, the horizontal automatic control invalid state may be maintained until there is a preprocessing lowering operation (reaping start operation). In this way, the operator can arbitrarily select the timing for returning the vehicle height after the reverse vehicle height rises, so that the vehicle can reliably move to the next stroke while the vehicle height is raised, and respond to the cutting start operation for the next stroke. The horizontal automatic control can be activated.

  Moreover, in the said embodiment, it is determined whether it is a wet field based on the mode (horizontal upper limit reference mode) of horizontal automatic control, and the presence or absence of reverse vehicle height raising control is switched, but it is set as wet field work In a combine including a wetland switch to be operated, reverse vehicle height increase control may be executed according to the wetland switch on / off setting even if the upper limit reference mode is off. In this way, it is possible to solve the problem that the reverse vehicle height increase control becomes invalid due to forgetting to enter the upper limit reference mode or unintentionally canceling the upper limit reference mode.

In addition, although not shown in the above-described embodiment, there is provided means for displaying a horizontal automatic control mode (an upper limit reference mode, a lower limit reference mode, an arbitrary inclination mode (a mode in which an arbitrary inclination other than horizontal can be set), etc.). Is preferred. For example, the horizontal automatic control mode can be displayed on the basis of the blinking interval of the lamp by using a horizontal automatic lamp (turning on or blinking when turned on, turning off when turning off) indicating turning on / off of the horizontal automatic control. .
Lamp blinking interval “Long”: Arbitrary tilt mode “On”, Upper reference mode “Off”
Lamp blinking interval “Short”: Arbitrary tilt mode “Off”, Upper reference mode “On”
Lamp blinking interval “long / short combination”: Arbitrary tilt mode “On”, upper reference mode “On”
Lamp continuous lighting: Both modes “off”

DESCRIPTION OF SYMBOLS 1 Combine 2 Airframe 8 Traveling part 17 Airframe raising / lowering mechanism 20 Lifting cylinder 26 Main transmission lever 27 Control part

Claims (2)

The aircraft,
Left and right traveling parts provided at the bottom of the aircraft,
Left and right aircraft lifting mechanisms that raise and lower the aircraft with respect to the ground plane of each traveling unit;
Horizontal automatic control means for automatically controlling the left and right aircraft lifting mechanisms so that the left and right tilt angles of the aircraft maintain a predetermined set angle;
When the aircraft is operated in reverse, the combine is provided with a reverse vehicle height raising mechanism that raises and lowers the aircraft lifting mechanism only when it is determined that the left / right inclination angle of the aircraft is less than a predetermined fall angle ,
The horizontal automatic control means, without elevating the left and right body elevating mechanism simultaneously selectively lifting controls one of the left and right body elevating mechanism, which maintains the lateral inclination angle of the aircraft to a predetermined set angle And
The reverse vehicle height raising means is configured to raise the other aircraft elevating mechanism within a range in which the left and right inclination angle of the airframe does not exceed a predetermined fall angle when one of the left and right airframe elevating mechanisms is at the upper limit. Combine that is characterized by that.   Horizontal automatic control means
Upper limit reference mode that prioritizes ascending control of the aircraft lifting mechanism,
With a lower limit reference mode that prioritizes the lowering control of the aircraft lifting mechanism,
The combine according to claim 1, wherein the reverse vehicle height increase control means is executed only when the horizontal automatic control means is in the upper limit reference mode.

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