JPH01291720A - Attitude controller for combine - Google Patents

Abstract

PURPOSE:To provide the title controller so designed that when a running machine body is tilted, the running device on the opposite side of a reaping height sensor is preferentially lifted, and only when the attitude cannot be controlled by this operation alone, the other running device is lifted, thereby accomplishing the attitude control without causing variation in the height of the reaping height sensor. CONSTITUTION:The front of a running machine body is fitted with a reaping pretreatment device 6 so as to be able to control reaping height based on the detection of height against the ground by a reaping height sensor 62. And a pair of running devices 2a, 2b are equipped on the left and right of the machine body so as to be able to be put to lifting driving independently of each other. When a tilt sensor 37 detected the tilting of the machine body left or right, the running device 2a on the opposite side of the reaping height sensor 62 is preferentially put to lifting driving against the machine body, and only when the attitude cannot be controlled by this operation alone, the other running device 2b 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-58-22
In Publication No. 4609, a reaping height sensor is provided for detecting the height position of the reaping pretreatment device relative to the ground, and a pair of left and right traveling devices arranged below the traveling machine body is configured to be able to be driven up and down independently. At the same time, a left and right tilt sensor is provided on the traveling machine body, and based on information from the tilt sensor and the cutting height sensor, the side where the cutting height sensor is located is used to maintain the traveling machine body at a substantially horizontal and constant height position. The present invention discloses a combine harvester equipped with a control means for preferentially moving the traveling device up and down.

[Problem to be solved by the invention]

According to this prior art, the traveling device that preferentially moves up and down to maintain the traveling machine in a substantially horizontal position based on the height above the ground information from the inclination sensor is used to detect the height above the ground of the reaping pre-processing device. Because it is the side equipped with a high sensor,
When the traveling device is moved up and down, the height above the ground measured by the cutting height sensor attached to the cutting pretreatment device also changes significantly.

Therefore, as the work progresses, the standard of the cutting height changes from moment to moment, and the cutting height control of the cutting pre-treatment device becomes more frequent. There was a problem in that the combined harvester's riding comfort deteriorated because these events occurred almost at the same time.

The present invention aims to solve this problem.

[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 pre-treatment device provided at the front of the traveling machine body is configured to control the reaping height based on the height above the ground detected by the cutting height sensor. In the combine harvester, the traveling machine is provided with a tilt sensor for detecting the left and right angle of inclination, and the reaping pre-processing device is biased to either the left or right side to detect the reaping height sensor. When the inclination sensor detects that the traveling machine body is tilted to the left or right, the traveling device disposed on the opposite side to where the reaping height sensor is located is preferentially driven up and down with respect to the traveling machine body, A control means is provided for controlling the traveling device near the reaping height sensor to move up and down to maintain a substantially horizontal posture of the traveling machine only when the posture cannot be controlled by the traveling device at that location.

[Operation and effect of the invention]

In this way, an inclination sensor is provided to detect the left and right inclination angle of the traveling machine. The mowing height sensor is biased to one side, and the traveling device on the opposite side, that is, the far side, is preferentially driven up and down with respect to the traveling machine body, so even if this traveling device is moved up and down, the mowing height sensor There is very little variation in height.

If the traveling device located on the opposite side of the reaping height sensor reaches its lifting limit or descends τ degrees, that is, the traveling device on that side can no longer control the height relative to the ground, but the traveling device is still horizontal. When the vehicle is tilted,
The traveling device on the side closer to the reaping height sensor may be controlled to move up and down, and in any case, the traveling device can be controlled so that the left and right sides of the traveling device are substantially horizontal.

Further, since the height of the pre-reaping treatment device above the ground is controlled by the reaping height sensor, there is no problem that the pre-reaping treatment device collides with the ground.

Therefore, even if the horizontal control of the traveling machine body is executed by this traveling device, the frequency of controlling the height above the ground of the reaping pre-treatment device that is controlled is reduced accordingly, which has the effect of improving the ride comfort of the combine harvester. It is.

〔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, there is provided a culm *ta feeding device 9 consisting of an ear tip conveying device 9a and a stock culm conveying device 9b for conveying the husk culms.

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.

The traveling machine body 1 also has a drive sprocket that transmits power from an engine (not shown) to the reaping pretreatment device 5 via a transmission case 14 and is rotatably attached to the machine frame 3 via a support member 15 as appropriate. )16.
This re-driving sprocket 16.16
Tracks 17 in both left and right running gear z2a and 2b described later in
, 17 are driven.

The left and right retravel devices 2a and 2b each have a front and rear 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 , a plurality of idle wheels 22 and inner wheels 22 ′ supported by shafts 21 at appropriate intervals in the front-rear direction of the track frame 18 and rotatably supported, and 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 shape in plan view, and is mounted to the left and right chassis 30.30 at appropriate positions in the front and rear thereof via brackets 31.31, respectively. Pipe-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 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 connected 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 operated, 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 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.

Furthermore, in this embodiment, when the piston rod of each hydraulic cylinder protrudes, the trunk frame 18 associated therewith moves downward, and furthermore, the tip arm attached to the truck 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 body 1 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 refers to 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 1 is the operation of moving 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 mouth/throat.

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 installed approximately in front of the traveling device 2b near the left and right center of the traveling machine body 1, and attached to the lower frame or the like of the reaping pre-processing device 5. 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-port 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 cent. Reference numeral 51 is an engine volume for finely adjusting the inclination angle set by the inclination 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 is a right upper limit switch which prevents 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 is a right upper limit switch, which is opposite to the above. When the piston rod of the hydraulic cylinder 36b retreats to a certain limit, the right lower limit switch limits the so-called right side of the traveling aircraft 1 from lowering any further.Similarly, reference numeral 58 indicates a right lower limit switch that prevents the piston rod of the left hydraulic cylinder 36a from moving further down to a certain limit. a left upper limit switch that restricts the left side of the traveling body 1 from rising any further when it protrudes;
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.

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, automatic lamp 60 is clear.

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 lofts of 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 lofts 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 mint 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 loft of the right hydraulic cylinder 36b protrudes, and when the upper limit switch 56 is activated, the piston loft of the left hydraulic cylinder 36a is retracted while maintaining the protruding state of the hydraulic cylinder. 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 loft of the left hydraulic cylinder 36a is first retracted, and when the lower limit switch 59 is activated, the piston loft of the right hydraulic cylinder 36b is then projected while maintaining the extended state of the hydraulic cylinder. This protrusion limit.

is up to the point where the upper right 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 of FIG. 8 is for the lifting hydraulic cylinder 70 of the reaping pretreatment device 5, and can be operated by a manual lever 67, while the switching valve 66 is operated by an electromagnetic solenoid for the switching valve 66. 68 raises the reaping pretreatment device 5, and conversely, the operation of the electromagnetic solenoid 69 lowers the reaping pretreatment device 5. During the automatic control of the reaping height, the reaping height sensor 62 is activated. The height above the ground is detected and the electromagnetic solenoids 68 and 69 are turned ON and OFF so that the cutting height is set using the cutting height setting device (not shown).
This is to operate the FF.

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.゛The setting of the left and right inclination state of the traveling body 1 in automatic attitude control is set by the scale of the inclination angle setting device 50, and the output value of this (for example, voltage value VA) and the output value of the inclination sensor 37 (voltage value VB and 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 (on the left side) has descended too much, first, if there is room for the left side to rise (when the left upper limit switch 58 is not activated), ), the hydraulic cylinder 36a for this traveling device 2a is operated with priority, the left side of the traveling body 1 is raised, and the left upper limit switch 58 is activated.
When activated, the hydraulic cylinder 36b is then activated 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 way, a tilt sensor is provided to detect the left and right inclination angle of the traveling machine. Since the traveling device on the opposite side of the mowing height sensor, which is located on the far side, is preferentially driven up and down with respect to the traveling machine body, even if this traveling device is moved up and down, the mowing height will not increase. There is very little variation in sensor height.

If the traveling device located on the opposite side of the reaping height sensor reaches its lifting or lowering limit, that is, the traveling device on that side can no longer control its height relative to the ground, but the traveling device remains horizontal. When the mowing machine is tilted, the traveling device on the side closer to the reaping height sensor can be controlled to raise and lower, and in any case, the traveling device can be controlled so that the left and right sides are substantially horizontal.

Further, since the height of the pre-reaping treatment device above the ground is controlled by the reaping height sensor, there is no problem that the pre-reaping treatment device collides with the ground.

Therefore, even if the horizontal control of the traveling machine body is performed by this traveling device, the frequency of controlling the height above the ground of the reaping pre-treatment device that is controlled will decrease accordingly, and the riding comfort of the combine will be improved. We have it.

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.

[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 in Fig. 4, Fig. 6 is a sectional view taken along Vl-VI in Fig. 4, Fig. 7 is a schematic block diagram of the control device, and Fig. 8 is a hydraulic circuit diagram. It is. 1... Traveling machine body, 'la, 2b... Traveling device, 3... Machine frame, 5... Pre-reaping processing device, 11... Tax grain device, 12...・Paddy tank, 1
3...Driver's seat, 17...Crawler track, 18...Trunk frame, 32...Bell crank lever, 3
4...Connection rod, 36a, 36b...Hydraulic cylinder, 37...Inclination sensor, 38...Control device, 62...Reaping height sensor, 70...Elevating Hydraulic cylinder, 66...Switching valve, 68.69...
・Electromagnetic solenoid. 2nd time

Claims (1)

[Claims] (1) The reaping pre-treatment device provided at the front of the traveling machine is configured to control the cutting height based on the height above the ground detected by a cutting height sensor, and a pair of left and right traveling devices are provided for the traveling machine. In a combine harvester, each of which is provided to be independently driven up and down, a tilt sensor for detecting a left and right inclination angle is provided on the traveling body, and the reaping height sensor is provided on the reaping pre-processing device biased to either the left or right side, When the tilt sensor detects that the aircraft is tilted to the left or right,
A traveling device disposed on the opposite side to where the reaping height sensor is located is preferentially driven up and down with respect to the traveling machine body, and the reaping height sensor is activated only when posture control cannot be performed by the traveling device at that location. 1. An attitude control device for a combine harvester, characterized in that a control device is provided for controlling a nearby traveling device to raise and lower the traveling device so as to maintain a substantially horizontal posture of the traveling machine.