JPH01291717A - Controller for combine - Google Patents

Abstract

PURPOSE:To provide the title controller so designed that horizontal control of a running machine body by the lifting driving of a running device and reaping height control by the lifting driving of a reaping pretreatment device are ensured to be alternately conducted at short time intervals, thereby preventing occurrence of hunting phenomena. CONSTITUTION:Based on the detection of the height against the ground by a reaping height sensor 62, the reaping height of a reaping pretreatment device 6 fitted at the front of a running machine body is controlled. With signals given by a tilt sensor 37 equipped on the running machine body, a pair of left and right running devices 2a, 2b are vertically driven independently of each other to make a horizontal control. Furthermore, the upstream side of a hydraulic circuit to be driven by one hydraulic pump is equipped with a lifting driving means for the reaping pretreatment device 6, while the downstream side with a second lifting driving means for the running devices 2a, 2b, and a synchronous control means to turn said running devices 'on' while the lifting operation of said pretreatment device 6 is 'off' is equipped, thereby alternately performing the vertical motions of the both devices at short time intervals.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention uses a pair of left and right traveling devices disposed below the traveling body of a combine to control the posture of the left and right sides of the traveling body in a substantially horizontal manner, and to The present invention relates to the structure of a control device for controlling the cutting height by a processing device.

[Conventional technology]

In a combine harvester equipped with a pre-reaping treatment device at the front of the traveling machine, if there is a step such as a ridge on either side of the traveling direction of the traveling machine, the traveling machine will tilt and one side of the pre-reaping device will fall into the field. There were disadvantages such as having to be supported on the field, and the right and left midway parts of the pre-harvesting device being supported on the field, scraping the ground.

In order to eliminate this inconvenience, for example, JP-A-63-77
In Publication No. 12, the cutting height by the cutting pre-processing device can be controlled by a signal from a cutting height sensor for detecting the height position of the cutting pre-processing device with respect to the ground. A sensor is provided so that a pair of left and right traveling devices arranged below the traveling machine body can be independently driven up and down to perform rolling control, and when the mouth-ring control means is in operation, pre-reaping treatment is performed. A configuration is disclosed in which a means is provided for switching the rising speed of the device to high speed.

[Problem to be solved by the invention]

According to this prior art, for example, when one of the traveling machines falls into a ridge, rolling control is activated to raise the traveling machine on the fallen side, and at the same time, the height of the reaping pretreatment device from the ground is also lowered. Since the reaping height sensor detects that the pre-reaping device is also raised, the reaping height control is activated.

At this time, in addition to the influence of the lifting of the traveling machine, the reaping pretreatment device itself also rises at a high speed. Therefore, when the rolling control drive and the cutting height control drive are executed completely in parallel, It tends to rise significantly beyond the height, and the so-called hunting phenomenon tends to occur.

An object of the present invention is to solve the above-mentioned problems when performing rolling control and cutting height control simultaneously.

[Means to solve the problem]

For this reason, the present invention is configured to control the reaping height based on the height above the ground detected by the reaping height sensor, and the reaping pretreatment device provided at the front of the traveling machine body, and the inclination sensor provided on the traveling machine body. In a combine harvester configured to independently drive a pair of left and right traveling devices up and down to horizontally control the traveling machine in response to a signal, a pre-harvesting machine is installed on the upstream side of a hydraulic circuit driven by a single hydraulic pump. The raising and lowering drive means of the processing device is provided downstream in association with the raising and lowering means of both the left and right traveling devices, respectively, and while the raising and lowering operation of the reaping pre-processing device is turned off by the reaping height control, the left and right traveling devices by the horizontal control are A synchronous control means is provided for turning on the raising and lowering operation of the traveling device.

[Operation and effect of the invention]

In the present invention, as described above, when the inclination sensor detects that the traveling aircraft is tilted to either the left or right, one or both of the pair of left and right traveling devices is driven up and down to raise and lower the traveling aircraft approximately horizontally. Water level control, which maintains the water level at the same level, and cutting height control, which raises and lowers the cutting pre-treatment device when the cutting height sensor detects that the cutting height has deviated from the set cutting height, are executed almost simultaneously. The driving is not done in parallel, but rather the two are operated alternately in a short period of time in a so-called time slice manner.

That is, since the elevating drive means for the reaping pretreatment device is provided on the upstream side of a hydraulic circuit driven by a single hydraulic pump, and the elevating and descending means for the left and right traveling devices are provided on the downstream side, the reaping pretreatment device The elevating drive has priority over the elevating drive of the traveling machine body, and moreover, while the elevating operation of the reaping pre-processing device is turned off by the reaping height control, the elevating operation of the left and right traveling devices by the horizontal control is turned on. Since it is equipped with a synchronous control means, when the elevating operation of the reaping pretreatment device is ON, the elevating operation of the other traveling device is turned OFF, and conversely, while the operation of the reaping pretreatment device is OFF, the traveling device is As a result of the operation of the re-equipment being performed alternately in a short period of time, such as ON operation, the hunting phenomenon that occurs when the operations proceed completely in parallel as in the prior art does not occur.

In addition, since the driving means for the reaping pretreatment device is provided on the upstream side of the hydraulic circuit, the raising/lowering drive (ON) of the reaping pretreatment device is provided.
), the traveling device will not be driven up and down inadvertently, and it is possible to prevent the occurrence of an accident in which the lower end of the pre-reaping device accidentally collides with the ground during manual operation of the pre-reaping device.

〔Example〕

Next, an example will be described. Reference numeral 1 denotes a traveling body of a combine harvester, and below the traveling body 1, the traveling body 1 is
A pair of left and right crawler-type traveling devices 2 that move up and down against the
a and 2b are arranged.

A reaping pretreatment device 5 is attached to the front end of the body frame 3 of the traveling body 1 through a machine frame 4 so as to be adjustable up and down. A plurality of right and left grass cutting bodies 6 and a left and right longitudinal reaping mechanism 7 are provided behind them, and a plurality of culm lifting devices 8 are provided at the front part of the machine frame 4, and at the rear thereof, a raking wheel and a mechanism described later are provided. At the starting end of the foot chain 10, a vertical culm conveying device 9 consisting of a tip conveying device 9a and a stock conveying device 9b for conveying the culm is provided.

On the upper surface of the fuselage frame 3, facing in the traveling direction of the traveling aircraft 1, there is a tax racking device 1 with a foot chain 10 on the right side.
1, and a paddy tank 12 for storing paddy threshed by the threshing device 11 on the left side, and a driver's seat 13 in front of the paddy tank 12.

The traveling body 1 also has a drive that transmits power from an engine (not shown) to the reaping pretreatment device 5 via the Mitsushiran case 14, and is rotatably attached to the body frame 3 via an appropriate support member 15. Subrokev) 16.
16, and both drive sprockets 16 and 16
Tracks 17 in both left and right traveling devices 2a and 2b described later in
, 17 are driven.

Both the left and right traveling devices 2a, 2b are provided with longitudinal track frames 18 each having a hollow rectangular cross section, and a biasing means 19 such as a coil spring whose tension can be adjusted at the rear end of each track frame 18. A tension sprocket 20 that biases the trunk frame 18, a plurality of idle wheels 22 and inner wheels 22' supported by shafts 21 at appropriate intervals in the front-rear direction of the trunk frame 18, and a plurality of idle wheels 22 and internal wheels 22', each rotatably supported by a shaft 21, at the front-rear midway part of the trunk frame 18. A pair of front and rear arms 24 that are rotatably attached to the support shaft 23 independently of each other. It consists of equalizer rolling wheels 25 and 25 mounted via an arm 24, and the idler wheel 22 is in contact with the lower inner circumferential surface of a crawler belt 17 that is wound between the tension sprocket 20 and the driving sprocket 16. , and the pair of equalizer wheels 25, 25 rotationally bias each arm 24 so as to press the crawler belt 17 downward.

Note that 26 is the first wheel, 27 is the second wheel,
Each is attached to the aircraft frame side.

A pair of left and right longitudinal chassis 30.30 is provided at the lower part of the fuselage frame 3, which has a rectangular bar shape in plan view. Pipe-shaped support shaft 33 to be attached
．． The middle part of the bell crank lever 32.32 is rotatably fitted to the left and right pair of front and rear bell crank levers 32.32. (see Figures 4 and 5).
(see figure).

The tip arm portion 32a of each of the pair of front and rear bell crank levers 32 is rotatably fitted onto a pipe support shaft 39 that is attached inward to the truck frame 18, while the other end arm portion 32b of the front and rear bell crank levers 32 is rotatably fitted. The adjacent parts are connected by a connecting rod 34, and the other end arm part 32b of either the front or rear bell crank lever 32 is pivoted to the tip of a piston rod of a hydraulic cylinder whose rear end is pivoted to a support bracket 35 on the fuselage frame 3. When the left hydraulic cylinder 363 of the pair of left and right hydraulic cylinders 36a and 36b is operated, the track frame 18 of the left traveling device 2a (left side when looking at the traveling aircraft from behind) moves up and down. Then, the traveling aircraft 1 on that side moves up and down, and the right hydraulic cylinder 36b
The configuration is such that each traveling device is operated independently so that the traveling device 2b on the right side (the right side when looking at the traveling aircraft from the rear) is driven up and down by operating the traveling device 2b.

Further, in this embodiment, when the piston rod of each hydraulic cylinder protrudes, the track frame 18 associated with it moves downward, and furthermore, the tip arm attached to the track frame 18 of each bell crank lever 32 moves downward. The portion 32a rotates backward within a range of approximately 45 degrees from a substantially horizontal state, and when the tip arm portion 32a is in the substantially horizontal state, the traveling body 1 is in the lowest position, and the tip arm portion 32a is rotated backward by approximately 45 degrees. The configuration is such that the traveling aircraft l corresponds to the highest-lower state when the angle is approximately the same.

As a result, even when the tip arm section 32a is at its most upright position (approximately 45 angles), a large moment is exerted that causes the tip of the tip arm section 32a, on which the weight of the combine harvester is applied, to rotate upward, resulting in an accidental accident. This tip arm part 3
2a does not move in the standing direction, and the track frame 18 can move upward.

Note that the direction of arrow A in FIG. 5 is the forward direction of the traveling body 1.

More specifically, raising the right side of the traveling body 1 means that the piston of the hydraulic cylinder 36b on the right side is to move the right track frame 18 corresponding to the right traveling device 2b downward away from the lower surface of the traveling body 1. This is the operation of protruding the rod and expanding the vertical interval of the right crawler track 17, and conversely, lowering the right side of the traveling body l is the operation of the right hydraulic cylinder 36 corresponding to the right traveling device 2b.
This is the operation of retracting the piston rod b to reduce the vertical distance between the crawler belts 17. Similarly, raising the left side of the traveling body 1 means that the left hydraulic cylinder 36a
This refers to the operation of protruding the piston rod of
This refers to the operation of retracting the piston rod.

Reference numeral 37 denotes a tilt sensor for detecting the left and right inclination angle of the traveling body 1, and the tilt sensor 37 is provided at an appropriate position of the traveling body, such as the driver's seat 13. Reference numeral 38 denotes a control device incorporating the microcomputer of the present invention, which is also provided at an appropriate position such as the driver's seat 13.

The reaping height sensor 62 attached to the reaping pretreatment device 5 is
In this embodiment, as shown in FIG. 2, the reaping height sensor 62 is attached to the lower frame or the like of the reaping pre-processing device 5, approximately in front of the traveling device 2b near the left and right center of the traveling machine body l. The configuration is such that ultrasonic waves are emitted towards the ground 63 and the height above the ground can be detected based on the length of arrival time of the reflected sound.

FIG. 7 is a schematic block diagram of the control device 38, in which reference numeral 40 indicates a 12-volt DC power supply, and reference numeral 41 indicates the threshing device 11.
42 is a reaping section switch that activates the reaping pretreatment device 5, and 43 is the traveling machine body 1.
44 is an automatic switch for automatically performing attitude control such as making the left and right sides of the vehicle substantially horizontal.
45 is a manual right lowering switch for lowering the right side of the traveling aircraft 1 closer to the ground.

Reference numeral 46 is a so-called manual lift switch for raising the left and right sides of the traveling aircraft 1 at the same time to a large distance from the ground, and reference numeral 47 is for lowering the left and right sides of the traveling aircraft 1 so that they approach the ground at the same time. manual lowering switch, code 4
8 is a speed increase switch for increasing the speed of the traveling aircraft 1, code 4
Reference numerals 9 indicate deceleration switches for decelerating the vehicle.

Reference numeral 50 is a tilt angle setting device that sets the traveling body 1 so that it is tilted at a desired angle downward to the right or downward to the left with respect to the horizontal plane. It is set. Reference numeral 51 is a fine adjustment volume for finely adjusting the tilt angle by the tilt angle setting device 50.

Reference numeral 52 indicates an electromagnetic solenoid of a control switching valve 64 in a hydraulic circuit that operates the piston rod of the right hydraulic cylinder 36b to protrude in order to raise the traveling aircraft 1 to the right side, and reference numeral 53 indicates a piston rod of the right hydraulic cylinder 36b. Similarly, reference numeral 54 is a control switching valve in the hydraulic circuit that operates the piston rod of the left hydraulic cylinder 36a to protrude in order to raise the traveling aircraft 1 to the left side. 65 is an electromagnetic solenoid, and reference numeral 55 is a control switching valve 6 for retracting the piston rod of the left hydraulic cylinder 36a for lowering the left side.
5 shows the electromagnetic solenoid.

Further, reference numeral 56 indicates a right upper limit switch which restricts the right side of the traveling aircraft 1 from rising any further when the piston rod of the right hydraulic cylinder 36b protrudes to a certain limit, and 57 indicates the right hydraulic pressure, contrary to the above. When the piston rod of the cylinder 36b retreats to a certain limit, the lower right limit switch restricts the so-called right side of the traveling aircraft 1 from lowering any further.Similarly, reference numeral 58 indicates that the piston rod of the left hydraulic cylinder 36a protrudes to a certain limit. a left upper limit switch that restricts the left side of the traveling aircraft 1 from rising any further when
In contrast to the above, reference numeral 59 indicates a left lower limit switch that restricts the so-called left side of the traveling body 1 from descending any further when the piston rod of the left hydraulic cylinder 36a retreats to a certain limit.

Hereinafter, the attitude control of the traveling aircraft 1 by the above-mentioned control device will be explained.

First, if at least one of the threshing switch 41, the reaping section switch 42, and the automatic switch 43 is OFF, the machine enters a so-called automatic OFF mode in which automatic posture control is not performed.

In this state, the automatic lamp 60 is extinguished.

In the automatic OFF mode, when the traveling aircraft 1 is raised and lowered as a whole, by turning on the manual lift switch 46, both the left and right hydraulic cylinders 36a are activated.

The piston rods 36b protrude at the same time, and the left and right sides of the traveling aircraft 1 are all separated from the ground, and the traveling aircraft 1
Both left and right sides of rise simultaneously.

On the other hand, when the manual lowering switch 47 is turned on, the piston rods of both the left and right hydraulic cylinders 36a and 36b move backward simultaneously, allowing both the left and right sides of the traveling aircraft 1 to be lowered so as to approach the ground at the same time. is up to the point where the upper limit switch 56.58 and the lower limit switch 57.59 are activated.

When manually raising or lowering the right or left side of the traveling aircraft 1, for example, by turning on the manual right raising switch 44,
First, the piston rod of the right hydraulic cylinder 36b protrudes, and when the upper limit rim switch 56 is activated, the piston rod of the left hydraulic cylinder 36a is retracted while the hydraulic cylinder remains in the protruding state. This degree of retraction is up to the point where the left lower limit switch 59 is activated.

By these operations, in any case, the right side of the traveling body 1 can assume an inclined attitude in which it is raised relative to the ground.

On the other hand, to manually lower the left side of the traveling aircraft 1,
Turn on the manual left lowering switch 45.

As a result, the piston rod of the left hydraulic cylinder 36a is first retracted, and when the lower limit switch 59 is activated, the piston rod of the right hydraulic cylinder 36b is then projected while maintaining the extended state of the hydraulic cylinder. This degree of protrusion is up to the point where the right upper limit switch 56 is activated.

By these operations, in any case, the left side of the traveling body 1 can take an inclined posture in which it is lowered relative to the ground.

On the other hand, the switching valve 66 shown in the hydraulic circuit 71 in FIG. When the electromagnetic solenoid 68 is actuated to raise the reaping pretreatment device 5, and conversely, the electromagnetic solenoid 69 is activated to lower the reaping pretreatment device 5. During the automatic control of the reaping height, the reaping height is The sensor 62 detects the height above the ground, and the electromagnetic solenoid 68, 69 is activated so that the cutting height is set by the cutting height setting device (not shown).
It turns on and off.

The hydraulic circuit 71 also includes a hydraulic cylinder 36a for lifting and lowering the traveling devices 2a and 2b using one hydraulic pump 72.
, 36b, and the hydraulic cylinder 70 for raising and lowering the reaping part, and the hydraulic cylinder 70 for raising and lowering the reaping part
A switching valve 66 for operating the left and right hydraulic cylinders 36a and 36b is connected to the so-called upstream side near the hydraulic pump 72, and switching valves 64 and 65 for operating the left and right hydraulic cylinders 36a and 36b are connected downstream of the switching valve 66. When the switching valve 66 is in the neutral position, the hydraulic pressure can be sent to both the switching valves 64.65, so that the switching operation of the switching valves 64.65 is disabled at least while the switching valve 66 is in operation. When the switching valve 66 is OFF, both the switching valves 64 and 65 are configured to be able to switch.

Furthermore, the switching valve 66 is controlled by the control device 38 during reaping height control.
When the pulse-like output signal to the electromagnetic solenoids 68, 69 is ON, a pulse-like output signal is output to the electromagnetic solenoids 52, 53, 54, 55 of the switching valves 64, 65, and vice versa. When the pulse output signal to .69 is OFF, both switching valves 64 and 65
In other words, the raising and lowering operation of the reaping pre-treatment device by the reaping height control is turned off so that a pulse-like output signal is output (ON) to the electromagnetic solenoids 52, 53, 54.55.
Inside, the control device 38 is provided with a synchronizing means such as a prep flow subcircuit so as to perform synchronized control for turning on the raising and lowering operations of the left and right traveling devices by the horizontal control.

Automatic posture control of the traveling body 1 is performed by the threshing switch 41,
Reaping section switch 42 and automatic switch 43 are all ON
When this happens, it becomes the so-called automatic mode.

In this state, the automatic lamp 60 is lit.

Setting of the left and right inclination state of the traveling aircraft 1 in automatic attitude control is done using the scale of the inclination angle setter 50, and the output value of this (for example, voltage value VA) and the output value of the inclination sensor 37 (voltage value VB) are set. This is executed by determining whether the difference in size is within a certain range.

In this case, for example, if the left and right sides of the traveling machine body 1 are set to be in a horizontal state, when determining that the left side of the traveling machine body 1, that is, the side far from the reaping height sensor 62, is too high, this reaping If there is room for the left traveling device 2a, which is the side far from the height sensor 62, to descend (
(When the left lower limit switch 59 is not activated), the hydraulic cylinder 36a for this traveling device 2a is activated preferentially to lower the left side of the traveling body 1, and if the left lower limit switch 59 is activated, then In order to raise the right side of the traveling machine body 1 near the position of the reaping height sensor 62, the hydraulic cylinder 36b is operated.

On the other hand, when determining that the traveling body 1 on the side far from the reaping height sensor 62 (left side) has descended too much, first, if there is room for the left side to rise (if the left upper limit switch 58 is not activated), ), the hydraulic cylinder 36a for this traveling device 2a is activated preferentially to raise the left side of the traveling body 1, and the left upper limit switch 58 is activated.
When activated, the hydraulic cylinder 36b is then activated to execute horizontal attitude control in order to lower the right side of the traveling machine body 1, which is the side closer to the position of the reaping height sensor 62.

In this case, when the automatic control of the cutting height is also being executed at the same time, as shown in FIG. The pulsed output signal 74 for the horizontal control is output within a time period of .

Note that during the automatic mode, when the attitude control is operating normally, the LED (light emitting diode) lamp 61 is blinked, and when an abnormality occurs, it is lit continuously or clear.

Furthermore, during the automatic mode, a manual switch 44
, 45, 46, 47, and 48, these manual operations take priority.

In this way, since the synchronization control means is provided to turn on the raising and lowering operation of the left and right traveling devices according to the horizontal control while the raising and lowering operation of the reaping pretreatment device is turned OFF due to the reaping height control, the cutting height can be adjusted. Although horizontal control and horizontal control are executed simultaneously, the lifting and lowering operation of the reaping pre-treatment device is
When N, the raising and lowering operation of the other traveling device is turned OFF, and conversely, while the operation of the reaping pretreatment device is OFF, the traveling device is turned ON, so that the operations of both devices are performed alternately in a short period of time. As a result, the hunting phenomenon that occurs when operations proceed completely in parallel as in the prior art does not occur.

In addition, by synchronizing the ON/OFF operations of both devices so that they are opposite to each other, there is no time delay that occurs when control of one device starts after the control of the other device is completed, and horizontal control is improved. The delay can also be reduced.

Furthermore, since the drive means for the reaping pretreatment device is provided upstream of the hydraulic circuit, the output signal is continuously output during manual drying of the reaping pretreatment device. The traveling device does not move up or down inadvertently during the up/down drive (ON), and as a result, the mowing height control is given complete priority, leading to accidents where the lower end of the reaping pre-treatment device accidentally collides with the ground. This has the effect of being able to prevent this.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and Fig. 1 is a side view of the compine, Fig. 2 is a front view, Fig. 3 is a partial side view of the traveling body in an elevated state, and Fig. 4 is an enlarged side view of the main parts. , Fig. 5 is a V-V celebration side view in Fig. 4, Fig. 6 is a sectional view taken along Vl-Vl in Fig. 4, Fig. 7 is a schematic block diagram of the control device, and Fig. 8 is a hydraulic circuit diagram. , FIG. 9 is a time chart of output signals. 1... Traveling body, 2a, 2b... Traveling device, 3
... Aircraft frame, 5 ... Reaping pre-treatment device, 1
1... Threshing device, 12... Paddy tank, 13...
...Driver's seat, 17...Crawler track, 18...Truck frame, 32...Bell crank lever, 34...
...Connection rod, 36a, 36b...Hydraulic cylinder, 3
7... Tilt sensor, 38... Control device, 62
... Reaping height sensor, 70 ... Hydraulic cylinder for raising and lowering the reaping section, 64.65.66 ... Switching valve, 52
, 5, 3, 54.55, 68.69...electromagnetic solenoid, 73°74...output signal. Figure 2

Claims (1)

[Claims] (1) The reaping pre-treatment device installed at the front of the traveling machine is configured to control the cutting height based on the height above the ground detected by the cutting height sensor, and the reaping height is controlled based on the signal from the inclination sensor installed in the traveling machine. In a combine harvester configured to horizontally control a pair of left and right traveling devices independently driving up and down the traveling machine, a reaping pretreatment device is installed on the upstream side of a hydraulic circuit driven by a single hydraulic pump. An elevating drive means is provided in association with the elevating drive means for both the left and right traveling devices on the downstream side, and while the elevating operation of the reaping pre-processing device is turned off by the reaping height control, the elevating drive means for the left and right traveling devices are controlled by the horizontal control. A control device for a combine harvester, characterized in that it is provided with a synchronous control means for turning on a lifting operation.