JPH0494615A - Combine - Google Patents

Abstract

PURPOSE:To prevent the reaping height from fluctuating by driving and controlling left and right hydraulic cylinders against so as to be in agreement with the left and right tilted reference lines with the virtual center as the center. CONSTITUTION:Left and right tilted reference lines of a mobile machine body are set with a reference line setting dial 63 and the height of the machine body is computed with stroke sensors 65 and 66 at the virtual center. Left and right hydraulic cylinders 22 and 22' are driven and controlled against so that the left and right tilts of the mobile machine body may be in agreement with the left and right tilted reference lines.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a combine harvester having a traveling machine body supported by a pair of left and right traveling devices, and more particularly to a tilt control device for controlling the inclination of the traveling machine body. It is something.

(■) Prior art In general, the tilt control of a combine harvester is performed by an operator operating a manual control lever to raise and lower the machine relative to the left and right running gear, or by raising and lowering the machine parallel to the running gear. Based on the tilt detection sensor, the aircraft is automatically kept in a horizontal state or at a set tilt angle (automatic tilt control).

Conventionally, in combine harvesters that automatically tilt the machine, the operator operates a manual control lever to set the height of the machine, using either the left or right side of the machine as a reference.
Automatic tilt control is performed by raising and lowering the other side of the aircraft.

(8) Problems to be Solved by the Invention By the way, as mentioned above, in the automatic tilt control method in which the other side of the aircraft is raised and lowered with reference to either the left or right side of the aircraft, it takes time to control the automatic tilt of the aircraft. The height of the aircraft changed again.

Therefore, the present invention is configured to set a virtual center near the left and right center of the fuselage, and to drive and control the left and right hydraulic positive cylinders in a contradictory manner around the virtual center to perform automatic tilt control of the fuselage. The purpose is to provide a combine harvester that solves the problems.

(d) Means for Solving the Problems The present invention has been made in view of the above-mentioned circumstances, and for example, as shown with reference to FIGS. 1, 2, and 3, It is supported by a pair of left and right traveling devices (2, 2'), and these traveling devices (2, 2') and the traveling body (
3) A combine harvester (1) formed by interposing hydraulic cylinders (22, 22') between it and controlling the elevation of the traveling machine (3).
, detection means (65, 66) for respectively detecting the operating positions of the left and right hydraulic cylinders (22, 22'); and reference line setting means (63) for setting a left and right tilt reference line of the traveling aircraft (3). , calculation means (6) for calculating the height of the aircraft at a virtual center set near the left and right center of the traveling aircraft (3) based on the detection means (65, 66);
9), and drive control means for driving and controlling the left and right hydraulic cylinders (22, 22') in a contradictory manner so as to coincide with the left and right tilt reference line set by the reference line setting means (63) about the virtual center. (70).

(f) Operation Based on the above-mentioned configuration, the operator can
), when the horizontal tilt reference line of the traveling aircraft (3) is set, the calculation means (69) calculates the height of the aircraft at the virtual center based on the detection means (65, 66), and the drive control means (70) calculates the height of the aircraft at the virtual center. The traveling aircraft (3
), the left and right hydraulic cylinders (22, 22') are driven and controlled in a contradictory manner so that the left and right tilt of the vehicle (3) matches the left and right tilt reference line. The driving of the hydraulic cylinders (22, 22') is stopped, and the traveling body (3) tilts to the left and right as set.

(f) As described in detail, according to the present invention, the left and right hydraulic cylinders (22, 22') are driven and controlled in a contradictory manner so as to coincide with the left and right tilt reference lines around the virtual center. So,
The virtual center height does not change, so there is no change in the height of the traveling machine (3) relative to the field scene, and a constant height can be maintained at all times, improving work efficiency without changing the cutting height. can be done.

Furthermore, since the left and right hydraulic cylinders (22, 22') operate in a contradictory manner, the response to tilt control is quick and the time required for tilt control can be shortened.

Note that the symbols in parentheses are used to refer to the drawings, and do not limit the answer structure.

(g) Examples Examples of the present invention will be described below with reference to the drawings.

As shown in FIG. 2, the combine 1 has a body frame 3 that is supported in a vertically movable manner by a pair of left and right crawler traveling devices 2 and 2'. is located. Furthermore, a pre-processing section 5 is supported at the front of the body frame 3 so as to be movable up and down. Since the crawler traveling devices 2 and 2' have the same configuration, only the configuration of the left crawler traveling device 2 will be described.

The crawler traveling device 2 has a track frame 6 over almost its entire length, and the track frame 6 includes, from the front, a first roller 7, a front swing roller 9, 9', and a rear swing roller. 10, 10' and fixed rollers 11.12
is installed. The front swing wheels 9 and 9' are swingably attached to the truck frame 6 via a swing arm 13, and the rear swing wheels 1o and 10'
is swingably attached to the truck frame 6 via a swing arm 15, and front swing wheels 9, 9'
The rear swing wheels 10, 10' are configured to swing according to the field conditions. Furthermore, a guide vibe 16 is fixed to the rear part of the track frame 6, and an idler holder 17 is slidably inserted into the guide pipe 16. The idler holder 17 extends toward the track frame 6, and has an idler 1 at its rear end.
9 is rotatably supported.

A drive sprocket 20 is rotatably supported below the transmission 4 and in front of the fuselage frame 3, and an upper rotation shaft 21 is rotatably supported approximately at the center of the lower part of the fuselage frame 3. There is.

Furthermore, one end of a lifting hydraulic cylinder 22 is rotatably supported by a pin 23 at the center of the fuselage frame 3, and a piston rod 22a of the lifting hydraulic cylinder 22 is rotatably supported.
A lever 25 is rotatably supported at the tip of the lever 25 via a pin 24.

A connecting rod 26 is arranged below the lifting hydraulic cylinder 22 of the body frame 3, and one end of the connecting rod 26 is rotatably supported by the lever 25 via a pin 29. The end is rotatably supported by a lever 31 via a pin 30.

The lower end portion of the lever 25 is rotatably attached to the lower part of the aircraft frame 3 via a swing arm support shaft 32, and one end of a swing arm 33 is rotatably attached to the swing arm support shaft 32. It is inserted through and fixed to one end of the lever 25. One end of a swing arm 36 is rotatably supported at the other end of the swing arm 33 via a pin 35.
The other end of the swing arm 6 is rotatably attached to the track frame 6 via a swing arm support shaft 37. Furthermore, a hydraulic cylinder 39 for longitudinal movement is provided on the upper part of the truck frame 6.
one end is rotatably supported via a pin 38,
The tip of the piston rod 39a of the longitudinal hydraulic cylinder 39 is rotatably attached to the swing arm 33 via a pin 40.

Further, the lower end portion of the lever 31 is rotatably attached to the lower part of the fuselage frame 3 via a swing arm support shaft 41, and one end of the swing arm 42 is rotatably attached to the swing arm support shaft 41. It is inserted through and fixed to one end of the lever 31. The swing arm 4
One end of a swing arm 45 is rotatably supported at the other end of the swing arm 45 via a pin 43.
The other end is rotatably attached to the track frame 6 via a swing arm support shaft 46. Further, one end of an idler connection link 49 is rotatably supported at the tip of the swing arm 42 on the swing arm support shaft 41 side via a pin 47.
The other end is rotatably attached to the idler holder 17 via a pin 50.

Also, the drive sprocket 20, the first roller 7, the front swing roller 9.9', and the rear swing roller 10.10'.
A crawler 51 is wound around the fixed rollers 11 and 12, the idler 19, and the upper rotation shaft 21.

In addition, as shown in Figure 1, the operation panel in the driver's seat has
An operating lever 60, a push button switch 61, a main body horizontal switch 62, and a tilt setting dial 63 are provided. The operating lever 60 is such that when the operating lever 6o is operated in the direction of the arrow ■, the fuselage frame 3 is lowered (the lifting hydraulic cylinders 22 and 22' are operated together to lower the fuselage frame 3), and when the operating lever 6o is operated in the arrow ■ direction, the fuselage frame 3 is lowered. 3 rises, the lifting hydraulic cylinders 22 and 22' both operate to raise the fuselage frame 3), and when operated in the direction of the arrow ■, the airframe frame 3 moves downward to the left, and the left lifting hydraulic cylinder 22 operates in the downward direction, and the right The lifting hydraulic cylinder 22' operates in the upward direction), and when operated in the direction of the arrow ■, the aircraft frame 3 moves downward to the right (the right lifting hydraulic cylinder 22'
(operates in the downward direction, and the left lifting hydraulic cylinder 22 operates in the upward direction).

Furthermore, when the operator operates the operating lever 60 in the arrow ■ direction or the arrow ■ direction, the push button switch 61
, even if the operating lever 6o is released, the lifting hydraulic cylinders 22, 22' operate and the fuselage frame 3
is configured to raise to an upper limit or lower to a lower limit.

In addition, as shown in FIG. 3, a left lifting hydraulic cylinder 22
stroke sensor 65, right lifting hydraulic cylinder 22
', a stroke sensor 66 and a tilt sensor 67 are provided, including an operating lever 60, a push button switch 61 for returning to parallelism, a horizontal main switch 62, a tilt setting dial 63 for setting the tilt angle of the fuselage, and a stroke sensor 65. 66 and signals from the tilt sensor 67 are input to and controlled by the control device 68. Signals from the stroke sensors 65 and 66 are then input to the calculation means 69 of the control device 68 and controlled.

Furthermore, the aircraft horizontal main switch 62 and the tilt setting dial 6
3. Signals from the stroke sensors 65, 66, inclination sensor 67, and calculation means 69 are input to the drive control means 70 of the control device 68 and controlled.

Additionally, when the aircraft horizontal main switch 62 is ON,
The aircraft horizontal autopilot 71 is lit. Then, the output from the control device 68 operates the solenoid valve 72 or the left hydraulic cylinder 22 to raise or lower the fuselage frame 3, and the solenoid valve 73 operates the right hydraulic cylinder 22'. Raise or lower the fuselage frame 3. Furthermore, the output from the control device 68 operates the solenoid valve 75 or the hydraulic cylinder 76 for raising and lowering the pre-processing section 5 to raise or lower the pre-processing section 5, and the solenoid valve 77 or the left and right side clutches for the inside of the transmission 4 are activated. The combine harvester 1 is steered to the left or to the right by connecting and disconnecting the combine harvester 1 at appropriate times.

Since this embodiment has the above-described configuration, when the operating lever 60 is operated in the direction of the arrow (■) to raise the fuselage frame 3, the signal is input to the control device 68, and the output from the control device 68 causes the solenoid to be activated. When the valve 72 operates the left lifting hydraulic cylinder 22, the piston rod 2
2a extends forward. In conjunction with the piston rod 22a, the lever 25 and the swing arm 33 rotate about the swing arm support shaft 32 to rotate the swing arm 36.
At the same time, the lever 31 and the swing arm 42 rotate about the swing arm support 41 via the connecting rod 26 and push the swing arm 45 downward, so the truck frame 6 is pushed downward. In other words, the fuselage frame 3 is raised. Then, in conjunction with the rotation of the swing arm 42, the idler connection link 49 connects the idler holder 17 and the idler 19.
Since the distance between the fixed roller 12 and the idler 19 is reduced by moving the crawler 51 forward, the circumference of the crawler 51 remains constant. Further, the right lifting/lowering hydraulic cylinder 22' side operates in the same manner.

In addition, as shown in FIG. 4, the operator can
0 to raise or lower the fuselage frame 3, the virtual center X is set, and the displacement angle α of the tilt detection angle with respect to the left-right tilt reference line (tilt setting angle) passing through the virtual center X is determined. When the tilt detection angle is downward to the right with respect to the tilt setting angle, the displacement angle α is set to 10, and when it is downward to the left, the displacement angle α is set to −. Then, the displacement amount (control amount) d is determined from the distance 2L between the left and right drive sprockets 20, 20' (d 4 L sin α).

Next, the operation of this embodiment will be explained based on the flowchart of FIG.

First, the completion flag is determined (Sl), and if the completion flag is O, the difference α (displacement angle) between the tilt setting angle and the tilt detection angle is determined (S2), and the control amount d is further determined from the displacement angle α. is determined (S3), the completion flag becomes 1 (S4), it is determined whether the control amount d is O or not (S5), and the step S
1, if the completion flag is 1, the process moves to step S5.

Then, in step S5, if the control amount d is not 0, it is determined whether the displacement angle α is larger than 0 (S
6), when α>0, that is, α is 10, the right lifting hydraulic cylinder (hereinafter referred to as the right cylinder) 22' is raised by the control amount d (S7), and the left lifting hydraulic cylinder (hereinafter referred to as the left cylinder) is raised by the control amount d (S7). S8)
The process moves to recovery (S9) and returns to step S1.

Further, in step S6, the displacement angle α is 0, that is, α
If is negative, the right cylinder 22' is lowered by the controlled amount d (SIO), and the left cylinder 22 is raised by the controlled amount d (311). The process moves to return (S9) and returns to step S1.

Then, in step S5, when the control amount d becomes 0, the completion flag becomes 0 (S12), and the return is made (S9).
Then, the process returns to step S1.

Further, when the operator operates the control lever 60 to raise or lower the fuselage frame 3, the virtual center X is raised or lowered, and the height of the virtual center X changes, and the moved virtual center Centrally, the left and right cylinders 22, 22' are operated in a contradistinct manner.

Therefore, when the tilt detection angle is downward to the right with respect to the tilt setting angle, the right cylinder 22' rises by the controlled amount d, and the left cylinder 22 descends by the controlled amount d, and the tilt setting angle and the tilt detection angle are adjusted. When they become equal, the left and right cylinders 22.22'
Both operations are stopped.

Further, when the tilt detection angle is downward to the left with respect to the tilt setting angle, the left cylinder 22 rises by a controlled amount d, and the right cylinder 22' descends by a controlled amount d'r-, so that the tilt setting angle and the tilt When the detection angles become equal, the left and right cylinders 22.22
'Both are deactivated.

Further, the left and right lifting hydraulic cylinders 22.
22' are operated and controlled in a contradictory manner, so the virtual center height does not change, the height of the machine frame 3 with respect to the field scene does not change, and therefore the height of the pre-processing section does not change and the height is always constant. The height can be maintained and the cutting height will not fluctuate, improving work efficiency.

Furthermore, since the left and right lifting hydraulic cylinders 22 and 22' operate in a reverse manner, the response to tilt control is quick and the time required for tilt control can be shortened.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of the operation panel according to the present invention, FIG. 2 is a side view of a combine harvester to which the present invention is applied, FIG. 3 is a system block diagram according to the present invention, and FIG. 4 is a tilt setting angle centered on the virtual center. FIG. 5 is a flowchart according to the present invention, showing a comparison between the angle and the detected angle of inclination. Detection means (stroke sensor) 66...Detection means (stroke sensor), 69...Calculation means
70... Drive control means

Claims (1)

[Claims] 1. A combine in which a traveling machine body is supported by a pair of left and right traveling devices, and a hydraulic cylinder is interposed between these traveling devices and the traveling machine body to control the vertical movement of the traveling machine body. , a detection means for detecting the operating positions of the left and right hydraulic cylinders, a reference line setting means for setting a left and right tilt reference line of the traveling aircraft, and a height of the aircraft at a virtual center set near the left and right center of the traveling aircraft. a calculation means for calculating the angle based on the detection means; and a drive control for driving and controlling the left and right hydraulic cylinders in a contradictory manner so as to match the left and right tilt reference line set by the reference line setting means, with the virtual center as the center. A combine harvester comprising means and.