JPH01291719A - Attitude controller for combine - Google Patents

Abstract

PURPOSE:To provide the title controller so designed that when a running machine body is tilted left or right, the running device on the paddy tank side is preferentially lifted, and only in case the attitude cannot be controlled by this operation alone, the other running device on the opposite side is lifted, thereby accomplishing horizontal attitude control without causing collisions of a reaping pretreatment device against the ground. CONSTITUTION:The front of a running machine body is fitted with a reaping pretreatment device 6, and one side of the machine body is equipped with a paddy tank 12, and furthermore, a pair of left and right running devices 2a, 2b are equipped so as to be able to be driven independently of each other. When a tilt sensor 37 detects the tilt of the machine body left or right, the running device 2b on the paddy tank side is preferentially put to lifting driving against the machine body, and only in case the attitude cannot be controlled by this operation alone, the other running device 2a on the opposite side is put to lifting driving, thereby keeping the horizontal attitude of the running machine body.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a device for controlling the posture of the left and right sides of a combine harvester in a substantially horizontal manner using a pair of left and right traveling devices disposed below the traveling body of a combine harvester. It is related to the structure of

[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, one side of the pre-reaping device may be supported on the field or the pre-reaping There were inconveniences such as the left and right middle parts of the processing equipment supporting the field and scraping the ground.

In order to eliminate this inconvenience, for example, JP-A-62-29
In Publication No. 6811, a pair of left and right traveling devices arranged below the traveling body are configured to be able to drive up and down independently, and a left and right tilt sensor is provided on the traveling body to determine the left and right inclination angle of the traveling body with respect to a horizontal reference plane. A combine harvester is disclosed that is provided with a control means for vertically displacing a traveling device located lower than the traveling machine body so as to reach the target inclination angle when the inclination angle deviates from the target inclination angle.

[Problem to be solved by the invention]

According to this prior art, the height position of the traveling device located above the traveling aircraft body is used as a reference, and the lower traveling device, which is displaced from the reference height position, is raised and lowered to reach a target. Adjust the inclination angle to match the inclination angle.

However, for a traveling device located above the traveling aircraft, this means that the vertical distance from the bottom surface (ground contact part) of the traveling device to the traveling aircraft is short; in other words, the traveling aircraft is placed on the ground. It means being at a low position.

Moreover, if the paddy tank is located above the side where the traveling machine is located at a low position relative to the ground, as the reaping and threshing work progresses, M of paddy will be piled up in the tank, and its weight will increase the height of the traveling machine. position becomes lower.

Therefore, it is inconvenient to set the height position of the traveling machine body in this part whose height fluctuates as the work progresses as the reference height because the standard changes every moment. If the reaping pretreatment device is fixedly attached to the reaping device, there is a problem in that the sides of the lower end or the middle portions of the lower end collide with the ground due to the vertical movement of the traveling device on the other side.

The present invention aims to solve these problems.

[Means to solve the problem]

For this reason, the present invention includes a reaping pretreatment device at the front of the traveling machine, a paddy tank on either the left or right side with respect to the traveling direction, and a pair of left and right traveling devices for this traveling machine, each independently. In a combine harvester that is arranged to be driven up and down, the traveling machine is provided with an inclination sensor that detects the left and right inclination angle, and when the inclination sensor detects that the traveling machine is tilted left and right, the combine harvester is installed at a position near the paddy tank. The traveling gear is driven up and down preferentially relative to the traveling aircraft body, and only when attitude control cannot be performed by the traveling gear at the relevant location,
A control means is provided for controlling the traveling device on the opposite side to raise and lower the traveling device so as to maintain the approximately horizontal posture of the traveling body.

[Operation and effect of the invention]

In this way, a tilt sensor is installed to detect the left and right inclination angle of the traveling machine, and when it is detected that the traveling machine is tilted to either the left or right side, the paddy tank installed in the traveling machine of the pair of left and right traveling devices is installed. This means that the traveling device located closer to the side where rice is being harvested is preferentially driven up and down with respect to the traveling body.In other words, if the traveling body on the side that tends to sink due to paddy accumulation in the paddy tank is rising too high. In this case, there is no problem even if the traveling device is driven preferentially to lower the traveling vehicle near the side where the paddy tank is arranged (drives the traveling device upward so as to bring it closer to the traveling vehicle).

On the other hand, if the weight of paddy increases due to accumulation of paddy in the paddy tank, and the side of the machine that is lower than the ground is lowered too much, the side of the machine where the paddy tank is located will be lowered. Since the machine body is raised preferentially, the lower surface of the reaping pretreatment device attached to the traveling machine body does not collide with the ground.

If the traveling device located on the side closer to the paddy tank reaches its lowering limit, that is, even if the height of the traveling device on that side relative to the ground cannot be increased, the traveling device will still tilt with respect to the horizontal. When the vehicle is running, the traveling device on the opposite side is brought closer to the traveling body, and the height position of the traveling body on that side relative to the ground is brought closer, so that the left and right sides of the traveling body are controlled to be approximately horizontal.

In this case, the attitude control is performed to correct the left and right inclination of the traveling machine based on the high position of the traveling machine where the paddy tank is located, and the inconvenience of the reaping pre-processing device colliding with the ground is eliminated.

Taking all of these into consideration, the present invention executes attitude control to return the left and right slope to a substantially horizontal state based on the side of the traveling machine that is located at a high position relative to the ground, which is the side opposite to where the paddy tank is located. Therefore, the location of the traveling machine body at the high position will not fluctuate significantly during reaping and threshing work unless it falls into a furrow or the like, and there will be no inconvenience even if it is adopted as the reference height. Further, according to the present invention, the disadvantage that the reaping pretreatment device, which tilts left and right integrally with the traveling machine body, collides with the ground can be overcome.

〔Example〕

Next, to explain an embodiment, reference numeral 1 denotes a compine traveling body, and below the traveling body 1,
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 left and right weeding bodies 6 are provided at the bottom, and a left and right longitudinal reaping mechanism 7 is provided at a rear position thereof, a plurality of culm pulling devices 8 are provided at the front part of the machine frame 4, and a raking wheel and a raking wheel are provided at the rear thereof. A culm vertical conveyance device 9 is provided at the starting end of a foot chain 10 (to be described later), which includes a tip conveyor 9a and a stock culm conveyor 9b for conveying the culm.

A threshing device 1 with a foot chain 10 is mounted on the upper surface of the machine frame 3 on the right side facing the traveling direction of the traveling machine 1.
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.

Further, a drive sprocket is attached to the traveling body 1 to transmit power from an engine (not shown) to the reaping pretreatment device 5 via a mission case 14, and is rotatably attached to the body frame 3 via an appropriate support member 15. 16.
16, and both drive sprockets 16 and 16
Crawler tracks 17 in the left and right retravel devices 2a and 2b, which will be described later in
．． 17 is driven.

The left and right retravel devices 2a and 2b each have a longitudinal longitudinal track frame 18 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 track frame 18, and a plurality of idle wheels 22 that are supported by shafts 21 so as to be rotatable at appropriate intervals in the front and rear direction of the track frame 18.
and a pair of front and rear arms 24. which are rotatably attached to the support shaft 23 at the front and rear midpoints of the inner rotary wheel 22' and the track frame 18. The crawler track 1 consists of an equalizer roller 25.25 mounted via an arm 24, and is wound between the tension sprocket 20 and the drive sprocket 16.
The idler wheels 22 are in contact with the inner peripheral lower surface of the rollers 7, 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, and is attached to both the left and right chassis 30.30 at appropriate positions in the front and rear via brackets 31.31, respectively. A vibrator-shaped support shaft 33.
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 FIGS. 4 and 5).

The tip arm portion 32a of each pair of front and rear bell crank levers 32 is rotatably fitted onto a pipe support shaft 39 that is attached inward to the trunk frame 18, while the other end arm portion 32b of the front and rear bell crank levers 32 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 36a of the pair of left and right hydraulic cylinders 36a and 36b is activated, the track frame 18 of the left (left side when looking at the traveling aircraft from behind) traveling device 2a moves up and down. The traveling body 1 on that side moves up and down, and the hydraulic cylinder 36b on the right side moves up and down.
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 therewith moves downward, and furthermore, the tip of each bell crank lever 32 attached to the track frame 18 moves downward. The arm 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 approximately backward. When the angle is about 45, the traveling aircraft 1
The configuration is such that corresponds to the highest and lowest states.

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 refers to the operation of retracting the piston rod of b to reduce the vertical distance between the crawler tracks 17. Similarly, raising the left side of the traveling aircraft 1 means that the left hydraulic cylinder 36
This refers to the operation of protruding the piston rod of a, and lowering the left side of the traveling body 1 refers to the operation of moving the piston rod of the left side hydraulic cylinder 36.
This refers to the operation of retracting the piston rod of a, and will be explained below based on this definition.

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.

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.
A manual upper right limit switch 45 is used to move the right side of the vehicle 1 far away from the ground, so-called a manual upper right limit switch for raising the vehicle.

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 denotes an electromagnetic solenoid of a control switching valve (not shown) 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 53 denotes an electromagnetic solenoid for lowering the right side. 54 is an electromagnetic solenoid of a control switching valve that moves the piston rod of the right hydraulic cylinder 36b backward, and similarly, the reference numeral 54 operates to project the piston rod of the left hydraulic cylinder 36a in order to raise the traveling aircraft 1 to the left side. Reference numeral 55 indicates an electromagnetic solenoid of a control switching valve (not shown) in the hydraulic circuit for moving the left hydraulic cylinder 36a backward in order to lower the left side.

Furthermore, reference numeral 56 is a right upper limit switch that restricts the so-called 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; When the piston rod of the hydraulic cylinder 36b retreats to a certain limit, a lower right limit switch restricts the right side of the traveling body 1 from descending any further, also with reference numeral 5.
8 is a left upper limit switch which restricts the left side of the traveling body 1 from rising any further when the piston rod of the left hydraulic cylinder 36a protrudes to a certain limit; and 59 is a left hydraulic cylinder 36a opposite to the above.
A lower left limit switch is shown that restricts the left side of the traveling body 1 from descending any further when the piston rod of the vehicle moves back to a certain limit.

The attitude control of the traveling aircraft 1 by the control device 38 will be described below.

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 simultaneously greatly 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 switch 56 is activated, the piston rod of the left hydraulic cylinder 36a is retracted while maintaining the protruding state of the hydraulic cylinder. This retraction limit 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 its lower limit switch 59 is activated, the piston loft of the right hydraulic cylinder 36b is then projected while maintaining the protruding state of the hydraulic cylinder. This protrusion limit 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.

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 body 1 are set to be in a horizontal state, when it is determined that the right side of the traveling body 1, that is, the side where the paddy tank 12 is located, is rising too high, the right side will descend. If there is a margin (when the lower right limit switch 57 is not activated), the hydraulic cylinder 36b for this traveling device 2b is activated preferentially to lower the right side of the traveling body 1, and the lower right limit switch 57 is activated. When activated, the hydraulic cylinder 36a is activated to raise the left side of the traveling body 1, and conversely, the right side of the traveling body 1 where the paddy tank 12 is located is activated.
When it is determined that the right side has descended too much, first, if there is room for the right side to rise (in a state where the upper right limit switch 56 is not activated), the hydraulic cylinder 36b for this traveling device 2b is operated with priority. , traveling aircraft 1
When the right upper limit switch 56 is activated, the hydraulic cylinder 36a is activated to lower the left side of the traveling body 1.

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, manual switches 4
4. These manual operations take priority when 45, 46, and 47.48 are ON.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a side view of the combine harvester, FIG. 2 is a front view, FIG. 3 is a partial side view of the traveling machine 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 of FIG. 4, FIG. 6 is a sectional view taken along the line VI--II of FIG. 4, and FIG. 7 is a schematic block diagram of the control device. 1... Traveling body, 2a, 2b... Traveling device, 3
... Aircraft frame, 5 ... Reaping pre-treatment device, 1
1...Tax grain device, 12...Paddy tank, 13...
... Driver's seat, 17... Track, 18... Truck frame, 32... Bell crank lever, 34...
...Connection rod, 36a, 36b...Hydraulic cylinder, 3
7... Tilt sensor, 38... Control device. Patent applicant Yanmar Agricultural Machinery Co., Ltd. 2M

Claims (1)

[Claims] (1) Equipped with a reaping pre-treatment device at the front of the traveling machine, and equipped with a paddy tank on either the left or right side with respect to the traveling direction,
In a combine harvester in which a pair of left and right traveling devices are each independently driven up and down with respect to the traveling machine,
A tilt sensor is installed on the traveling aircraft to detect left and right tilt angles,
When the inclination sensor detects that the traveling machine is tilted to the left or right, the traveling device disposed near the paddy tank is driven up and down preferentially with respect to the traveling machine, and the posture control by the traveling device at the relevant location is performed. 1. An attitude control device for a combine harvester, characterized in that a control means is provided for controlling the traveling device on the opposite side to be driven up and down to maintain a substantially horizontal attitude of the traveling device only when this is not possible.