JPH0411164B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a combine harvester, and more particularly, to a combine harvester that performs various automatic controls to carry out a series of tasks including reaping while traveling in a field. Conventionally, combine harvesters have generally performed various controls including cutting height control, but in fields with poor ground conditions such as wet fields, the left and right crawler running devices, which are the running devices, may sink in different ways on the left and right. At that time, the aircraft tilted sharply to one side,
The work equipment attached to the machine as well as the machine was tilted significantly, which caused problems in the work. In other words, the reaping section tilts with the machine body, the height above the ground differs between the left and right ends of the reaping section, making it impossible to control the cutting height normally, or the sorting device built into the machine body tilts, causing threshing. This method had the disadvantage of causing a decline in the performance of the sorting equipment that sorts and collects grains. The present invention solves the above-mentioned drawbacks of conventional combine harvesters,
The purpose of the present invention is to provide a combine harvester that has a simple configuration and can perform normal work even in wet fields. In order to achieve such an object, the present invention is configured such that the left and right traveling devices can move up and down independently with respect to the machine body, and the reaping section is provided with two sensors for detecting height above the ground located on the left and right sides of each other, Based on the information from these sensors, cutting height control is performed, and this information is used to control the vertical position of the left and right traveling devices relative to the machine body in order to maintain the machine horizontally in the horizontal direction. The structure is such that the vertical movement of the traveling device relative to the machine body is given priority over the vertical movement of the reaping section relative to the machine body. Because of this configuration of the combine harvester of the present invention, even if the field is a wet field and the left and right running devices sink in different ways, the machine body can be kept almost horizontally in the left and right direction. Since the vertical movement of the traveling device relative to the machine body is prioritized over the vertical movement of the reaping unit relative to the machine body, the reaping unit installed on the machine body does not tilt to the left or right, and normal work and control can always be performed. It has become. In particular, since the sensor installed in the reaping section is used for controlling the cutting height and the attitude of the machine, the control system is not only simplified, but also the sensor installed in the reaping section is Since it controls the attitude of the machine, the cutting section is correctly parallel to the ground, allowing extremely accurate cutting height control. Embodiments of the present invention will be described below based on the drawings. As shown in FIG. 1, the combine harvester of this embodiment includes a machine body 1 in which working devices such as a threshing device and a sorting and collecting device, and a drive source such as an engine are installed;
It consists of a reaping section 2 arranged at the front part of the machine, and left and right crawler traveling devices 3, 3 for running, which are provided at the lower part of the machine body 1 and support the machine body 1. The reaping section 2 is connected to the front part of the machine body 1 by a pivot shaft 4 so as to move up and down with respect to the machine body 1, and a hydraulic cylinder 5 is provided between the machine body 1 and the reaping section 2.
It is configured so that it can be moved up and down with respect to the aircraft body 1 by. The left and right crawler traveling devices 3, 3 are connected to the lower part of the aircraft body 1 by link mechanisms 6, 6, respectively, and the left and right hydraulic cylinders 7, 7 control the grounding of the respective crawler traveling devices 3, 3. The section is independently airframe 1
It is configured to move up and down relative to the These left and right crawler traveling devices 3, 3 are each driven by a hydraulic motor so that the power from the engine on the aircraft body 1 side is transmitted regardless of changes in the relative position with the aircraft body 1. , these hydraulic motors on the traveling devices 3, 3 side are connected to a hydraulic pump in the fuselage 1, which is connected to the engine via a flexible oil pipe. As shown in FIG.
9 is installed, and the heights above the ground of both ends of the reaping section 2 are detected, respectively, and attitude control and cutting height control of the machine body 1 as described later are performed. As these sensors 9, 9, distance sensors using ultrasonic waves are used. Next, posture control and cutting height control of the machine body 1 will be explained using FIG. 3 and the following figures. As shown in the block diagram of FIG. 3, the arithmetic unit 10, which is the main part of the control system, includes information from the ground height detection sensors 9, 9 as well as the ground contact portions of the left and right crawler traveling devices 3, 3. Signals from limit switches 11 . The arithmetic unit 10 determines the direction in which each hydraulic cylinder 5, 7, 7 should be operated based on the above information, as will be described later, and outputs the result to the output interface 13. The output interface 13 is configured to supply operating current to the electromagnetic valves 14 interposed between each of the hydraulic cylinders 5, 7, 7 and the hydraulic pump based on the signal from the arithmetic unit 10. The operating direction of each hydraulic cylinder 5, 7, 7 is determined by the state in which these electromagnetic valves 14 are switched. FIG. 4 is a flowchart showing the judgment order of the arithmetic unit 10. The machine body 1 rises by pushing down the crawler traveling devices 3, 3, and descends by pulling up the crawler traveling devices 3. The height above the ground detected by each of 9 and 9 is compared with a predetermined value, and each hydraulic cylinder 5, 7, and 7 is operated so that both of them reach the predetermined value. The signals from the limit switches 11 are checked to see if the hydraulic cylinders 7, 7 of the devices 3, 3 can move in a predetermined direction, and if possible, these hydraulic cylinders 7, 7 are operated; When the movable limit is reached, the cutting section is moved up and down to control the cutting height. Hunting is prevented by giving an appropriate width to the predetermined value. Note that Table 1 below outlines the directions in which the reaping section 2 is moved according to this flowchart. 【table】

[Brief explanation of drawings]

The drawings show an embodiment of the combine harvester according to the present invention; FIG. 1 is a schematic side view of the combine, FIG. 2 is a front view of the main parts of the reaping section, FIG. 3 is a block diagram of the control system, and FIG. is a flowchart of the calculation section of the control system. DESCRIPTION OF SYMBOLS 1... Aircraft body, 2... Reaping part, 3... Crawler traveling device, 9... Ground height detection sensor.

Claims (1)

[Claims] 1. The left and right traveling devices 3, 3 are configured to be able to move up and down independently with respect to the machine body 1, and the reaping section 2, which is provided so as to be able to move up and down with respect to the machine body, has two ground height detection devices located on the left and right sides of each other. Mowing height control is performed based on the information from these sensors 9, 9, and this information is used to control the cutting height of the machine in order to keep the machine 1 horizontal in the left and right directions. Control is performed to adjust the vertical position of the ground contact portion in the left and right traveling devices 3, 3,
Moreover, the combine harvester is characterized in that the vertical movement of the traveling devices 3, 3 relative to the machine body is given priority over the vertical movement of the reaping unit 2 relative to the machine body 1.