JPH0487821A - Machine body elevation control device for combine and the like - Google Patents

Abstract

PURPOSE:To maintain normal control by updating a stroke sensor value as a new upper or lower limit value through manual operation when the sensor value exceeds a stored upper or lower limit value, in a device which controls elevation of a machine body based on an output from a stroke sensor. CONSTITUTION:In a combine having a rolling cylinder and a pitching cylinder to control rolling or pitching of a car body or a truck, regarding, for example, a left rolling cylinder to elevate a left crawler, a piston is expanded by mean of an output from a left upper solenoid 22 and a detecting value from a left stroke sensor 40 is increased. When, even when an output is continued, a detecting value from the left stroke sensor 40 is not changed for a specified time, the detecting value is stored as a left upper limit value in a memory 29. In this case, when, by operation of switches 30-35 through a manual lever, a left rolling cylinder is expanded and an upper limit value exceeding an upper limit value stored once is detected by the left stroke sensor 40 for a given time, the upper limit value of the memory 29 is updated.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a device for controlling the elevation of a machine such as a combine harvester,
When using a hydraulic cylinder to control the elevation of the aircraft while detecting the expansion and contraction of the hydraulic cylinder with a stroke sensor, the stroke end value is accurately detected and maintained by the stroke sensor. A lifting control device for the reaping machine that simply raises and lowers the machine, a vehicle height control device that controls the height of the vehicle, a rolling control device that maintains the vehicle in a horizontal horizontal position, and a control device that maintains the vehicle in a horizontal horizontal position. It can be used for pitching control devices, etc.

(Prior Art and Problems to be Solved by the Invention) In a vehicle body that is capable of rolling control or pitching control of a combine, the hydraulic cylinder that performs these controls expands and contracts due to the low engine rotation. If the movement is slow or the frame is clogged with mud, the amount of expansion and contraction of the hydraulic cylinder changes and the control output incorrectly detects the end of the stroke. After that, the control range becomes narrower and normal control may not be maintained. Therefore, even if the upper limit value or the lower limit value of the stroke sensor is stored in the controller during control, when the upper limit value or the lower limit value of the stroke sensor further exceeds the upper limit value or the lower limit value, the new upper limit value is stored. Alternatively, by updating and storing the lower limit value, the above-mentioned defects can be solved.

(Means for Solving the Problems) The present invention uses a stroke sensor that detects the height of an aircraft elevation control device based on a hydraulic control output, and detects a stroke end in which the stroke sensor does not change despite the hydraulic control output for a certain period of time. are stored in the controller as upper and lower limit values for elevation control, and the stroke sensor values are changed by manual operation or the like.

When the stored upper limit value or lower limit value is exceeded, this stroke sensor value is stored and updated as a new upper limit value or lower limit value.

(Operation and Effect of the Invention) When the stroke sensor does not change at the upper limit value or the lower limit value for a certain period of time when controlling the aircraft in the raising or lowering direction by the hydraulic control output from the controller, this upper limit value , or the lower limit value is stored in the controller, and vertical control is performed based on the upper limit value or the lower limit value.

For example, if the stroke sensor detects a large change exceeding the upper limit or lower limit stored in the controller due to vertical movement of the aircraft by manual operation, etc., this new The upper limit value or lower limit value detected by the stroke sensor is stored and updated in the controller, and vertical control is performed based on the updated upper limit value or lower limit value.

In this way, the stroke end value determined by the stroke sensor that detects the amount of expansion and contraction of the hydraulic cylinder for raising and lowering the aircraft body is the upper limit value when controlling the elevation of the aircraft body.

Or, in addition to control based on the memory of the lower limit value, the detected value by the stroke sensor may be changed by external operation, etc.
When the previously memorized upper limit or lower limit is exceeded,
This exceeded new upper limit or lower limit value will be updated and control will be performed, the defects mentioned at the beginning will be resolved, and normal control will be maintained by preventing unreasonable control. The configuration can be simplified because the update is simply an update of the upper limit value or lower limit value in the controller.

(Example) In turning, the vehicle body 1 that constitutes the traveling device of the combine harvester
A pair of crawlers 2 are provided on the left and right sides of the lower part so as to be movable up and down, and on the upper side, a chassis 3 that supports the reaping device and mounts a threshing device, etc. is provided so as to be rotatable in the front and rear directions. A crawler frame 6 is provided on the vehicle body 1 through a pair of front and rear link arms 4 and 5 so as to be able to move up and down in a parallel state, and a transfer 7 is disposed along each crawler frame 6.
and a sprocket 9 rotated by a drive shaft 8 at the front end of the vehicle body 1, a crawler 2 mainly made of rubber material is wound around and driven to run. The link arms 4 and 5 are connected to the arm shaft 10 . with respect to the vehicle body 1 .
The front and rear link arms 4,
The rod 12 is connected between the upper ends of the arm shafts 10 and 11 of 5.
A telescopic rolling cylinder 13 is provided between the upper end of the rear link arm 5 and the vehicle body 1, and this rolling cylinder 13 is connected to a rolling valve 15 of a hydraulic circuit 14 having a hydraulic pump P. The left and right crawlers 2 are moved up and down with respect to the vehicle body 1 under hydraulic expansion and contraction control to adjust the vehicle height and roll the vehicle body 1 from side to side.

Further, the chassis 3 constituting the fuselage of the present invention is supported so that its front end side can be rotated once around the arm shaft 10, and there is a structure between the rear end of the chassis 3 and the vehicle body 1 that can be expanded and contracted vertically. A pitching cylinder 17 is provided between the link arm 16 and the chassis 3, and the pitching cylinder 17 is connected to the pitching valve 1 of the hydraulic circuit 14.
8, hydraulic expansion and contraction control is performed to rotate the vehicle chassis 3 about the arm axis 10, thereby controlling the inclination in the front and rear direction.

19 is an unload valve of the hydraulic circuit 14, and 2° is a relief valve.

On the output side of the controller 21 having a microcomputer CPU, there are an upper left solenoid 22, a lower left solenoid 23. Similarly, the upper right solenoid 24, the lower right solenoid 25 of the right rolling valve 15, the rear stop solenoid 26, the upper rear solenoid 27, and the unload valve of the pitching valve 18 that expands and contracts the pitching cylinder 17 to tilt the chassis 3 back and forth. 19 is provided.

Further, on the input side of the controller 21, switches 30 to 35 are provided using various vehicle body manual levers. Of these, a vehicle height up switch 30 and a vehicle height down switch 31 that are operated by a vehicle height lever etc. are provided, and these switches 3
By switching 0.31, the left and right upper solenoid 22.2
4 at the same time, or the left and right lower solenoids 23.
25 are turned on at the same time, the vehicle body 1 is moved up and down parallel to the left and right crawlers 2. A left rolling switch 32, a right rolling switch 33, which tilts the vehicle body 1 or chassis 3 in the tilting direction of the lever by tilting left and right or front and back with a tilting lever or the like;
Front pitching switch 34, rear pitching switch 35
etc., and by turning on the left rolling switch 32,
The lower left solenoid 23 and the upper right solenoid 24 are simultaneously output to cause the vehicle body 1 to roll in a direction in which it is inclined downward to the left with respect to the crawler 2. Also, right rolling switch 3
3 is turned on, the right side is similarly rolled by the simultaneous output of the lower right solenoid 25 and the upper left solenoid 22. Also, the pitching switches 34 and 35 are ON.
In the front/lower automatic control mode on the side where the vehicle is moved, the standard is parallel control that controls the vehicle height in parallel to the left and right sides, but in the horizontal control mode selection operation, the vehicle body 1 is controlled left and right and front and rear. In the horizontal horizontal mode, horizontal horizontal control is performed to make the vehicle body 1 horizontal horizontally, and in the horizontal horizontal mode, horizontal horizontal control is performed to make the chassis 3 horizontal horizontally. When horizontal control is performed automatically, rolling or pitching is performed based on the set reference height based on detection by the left-right tilt sensor 38 and front-back tilt sensor 39, and the vehicle body 1 is horizontally horizontal. The vehicle chassis 3 is controlled so as to be maintained horizontally in the front and rear directions.

Left and right rolling cylinders 13, pitching cylinders 1
7, left and right stroke sensors 40 that detect the amount of extension.
．． 41, it has a longitudinal stroke sensor 42 and is configured to perform feedback control.

Looking at the relationship between the rolling cylinder 13 that controls the rolling or pitching of the vehicle body 1 or the chassis 3 and the compression control, the left rolling cylinder 13 that moves the left crawler 2 up and down and the left stroke sensor 40 are as follows.
As shown in FIG. 5, the left stroke sensor 40 detects the amount of movement of the clutch 44 relative to the cylinder 43 at time T based on the output of the upper left solenoid 22.

If the detected value of the left stroke sensor 40 does not change for a certain period of time t even if the output is continued in this way, this is stored in the memory 29 of the controller 21 as the left upper limit H1, and this left upper limit is Calculate the value H0 as the left-up stroke end value.

This upper left stroke end value E□ is set.

The upper limit of the piston 44 in the upper left control (Fig. 6)
.

By operating any of the switches 30 to 35 using the manual lever 9, the left rolling cylinder 13 extends and the left stroke sensor 40 detects an upper limit value H that exceeds the previously stored upper limit value H□. When the detection of this upper limit value H2 continues for a certain period of time t, the memory 29 of the controller 21 updates the upper limit value H to H2, and thereafter performs learning control using this upper limit value H2 as the control limit. .

In the same way, the left lower limit value for the left rolling cylinder 13, the right upper limit value and the right lower limit value for the right rolling cylinder 13, and the front and rear upper limit values and front and rear lower limit values for the pitching cylinder 17 are also controlled. be done.

In addition, in FIG. 3, the controller 21 is provided with a backup memory 36 to store the upper limit value and lower limit value of each stroke sensor even after the power is turned off. 37 is an adjustment mode switch that performs adjustment control for adjusting the upper limit value and lower limit value of the stroke sensor. In this adjustment mode, the upper limit value, lower limit value, etc. can be set with the 1 manual lever switch, For example, when parallel control does not result in parallelism due to an installation error, this is to correct the installation error. 45 is an engine rotation sensor that detects the engine rotation speed.

A backup memory 36 as described above is provided, and the power source O
Each stroke sensor 40, 41 up to that point during FF
．． By storing the upper limit value, lower limit value, etc. that is the stroke end value such as 42 (Fig. 7), this stroke end value can be used as the starting value for control later when the power is turned on. In order to have the controller learn and input the stroke end value in advance when the power is 08 o'clock, there is no need to detect the upper limit value and lower limit value by operation, and nine steps are not required.

Also, when detecting this stroke end value.

When a certain amount of time (for example, 1.5 to 5.0 seconds) is required, unreasonable pressure is often exerted on various parts of the frame due to hydraulic pressure, but such waste can be eliminated.

Further, the adjustment mode switch 37 is used to correct the influence on control due to installation errors of the left-right tilt sensor 38 and the front-back tilt sensor 39. That is, when the adjustment mode switch 37 is turned on, the vehicle height lowering switch 31 is turned on to lower the vehicle body to the lower limit position, and as shown in FIG.
, 41, if there is a difference between the lower limit values a and b, then the difference a
-b is stored in the backup memory 36 (FIG. 9,
(Fig. 10) Even when the power is turned on again after being turned off to resume work, this difference a-b serves as an adjustment value in various control modes.

In addition, as shown in FIGS. 11 and 12, the engine rotation speed sensor 45 detects the rotation speed of the engine that transmits power to each part of the combine, and the rotation speed is determined to be a constant value R (for example, 1.800
R2 which is higher than R2 (rpm) and R1 which is lower than this
The stroke end value detected in the range is reset and a new stroke end value is detected.

When the rotational speed of the engine is low, the discharge amount by the hydraulic pump is small, so for example, if you try to move the left and right rolling cylinders 13 at the same time, the difference in weight balance and resistance may occur.

There are cases where only the left rolling cylinder 13 is operated and the right rolling cylinder 13 is not operated, and the stroke end value R1 detected at this time is one in which the engine speed is lower than the constant value R. When the engine speed is increased to become ready for work, the stroke end value detected during the low engine speed R operation is reset, allowing accurate control. In addition,
The stroke end value may not be detected in a region where the engine speed is constant [R].

[Brief explanation of the drawing]

The figures show an embodiment of the present invention, in which Fig. 1 is a side view of the traveling device of the combine, Fig. 2 is a hydraulic circuit diagram, Fig. 3 is a control block diagram, and Fig. 4 is a sectional view of a part of the mechanism. , Fig. 5 is a partial control operation diagram, Fig. 6 is a partial flowchart, Fig. 7 is a memory table of the controller, Fig. 8 is a partial control operation diagram, and Fig. 9 is a memory of the controller. Table, 1st
FIG. 0 shows the flowchart, FIG. 11 shows the chart showing the engine speed, and FIG. 12 shows the flowchart. (Explanation of symbols) 2 Crawler 3 Chassis 13 Rolling cylinder 17 Pitching cylinder 21 Controller 40° 41.42 Stroke sensor cylinder piston Name of patent applicant Iseki Agricultural Machinery Co., Ltd. Representative Eihisa Mizuta Figure 4 Figure 5 Figure 1/Figure

Claims (1)

[Claims] A stroke sensor detects the height of the aircraft elevation control device based on the hydraulic control output, and the stroke end where the stroke sensor does not change despite the hydraulic control output for a certain period of time is stored in the controller as the upper and lower limit values for the elevation control. However, if the stroke sensor value exceeds the upper or lower limit value associated with the memory due to manual operation, etc.
A machine body elevating and lowering control device for a combine harvester, etc., characterized in that this stroke sensor value is stored and updated as a new upper limit value and lower limit value.