JPH05123041A - Horizontal controller of agricultural working machine - Google Patents

Abstract

PURPOSE:To improve the travel stability of the agricultural working machine by installing a non-working mode control means for horizontally maintaining and simultaneously lowering the frame of the machine, when a working switch is switched into a non-working state. CONSTITUTION:In the time of a non-working state in which a working switch is switched off, a horizontally maintaining operation for vertically moving right and left travel crawlers 2a, 2b and an access operation for subjecting the frame of the agricultural working machine to the maximum access to the right and left travel crawlers are executed. The horizontal degree of the frame is corrected and its stability is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a horizontal control device for an agricultural work machine, which is mainly in a combine and is designed to maintain a horizontal body of a machine supported by left and right traveling crawlers.

[0002]

2. Description of the Related Art There is a means in a combine for controlling the elevation and horizontal control of a reaper to maintain a constant cutting height.

[0003]

However, since the height of the machine body is not normally raised and lowered, the machine body height is always a constant machine body height both during work and when the machine is turning other than during work. There was a problem that the aircraft sinks into the wetland during the wetland work, and the aircraft height becomes high on a relatively hard turning land at the end of the field, resulting in lack of stability.

[0004]

SUMMARY OF THE INVENTION According to the present invention, the left and right elevating elements for controlling the left and right traveling crawlers supported on the machine body to adjust the left and right supporting heights of the machine body and the left and right tilt of the machine body. In an agricultural machine equipped with a tilt angle sensor for detecting, when the work switch is turned on, the machine horizontal control is performed based on the detection of the tilt angle sensor, and the maximum proximity of the machine body to the left and right traveling crawlers is detected. Left and right lower limit switches are provided, and when the work switch is switched from the on-work state to the off-non-work state, the left and right traveling crawlers are controlled to move up and down in opposite directions to maintain the aircraft level and at the same time When horizontal, the non-working mode control means that brings the aircraft and the left and right traveling crawlers to the maximum proximity until one of the left and right lower limit switches is turned on is provided, and the threshing clutch is turned from on to off. In the non-working state where the work switch is switched from on to off when the machine is turning, the machine is controlled to the lowest position while maintaining the level of the machine, It improves the stability of the aircraft. In addition, by providing a control means for bringing the left and right traveling crawlers together to the maximum extent possible when the vehicle is out of the horizon at the lowest position of the aircraft, it is possible to reach a hard ground from the beginning of the turn and to lose the levelness. Is a method in which the lower limit switch brings the aircraft on the off side closer to the traveling crawler, and corrects the levelness of the aircraft to improve stability.

[0005]

An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a horizontal control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view thereof. In the figure, (1) is a track frame equipped with left and right traveling crawlers (2a) (2b), (3) ) Is a machine base that is a machine installed on the truck frame (1), and (4) is a threshing machine in which a feed chain (5) is stretched on the left side and a handling cylinder (6) and a processing cylinder (7) are built in. Section, (8) a mowing section equipped with a cutting blade, a grain transfer mechanism, etc., (9) an straw processing section that faces the end of the straw chain (10), (11) a driver's seat (12), and a driving operation. Department (1
A driver's cab provided with 3), (14) an engine part in which an engine (15) is installed, and (16) an engine part (14).
The grain from the threshing unit (4) is placed in the front and the grain is fried (1
A grain tank for storing via 7), (18) is an upper discharge auger for taking out the grain in the grain tank (16) to the outside, and is configured to continuously perform cutting and threshing work.

As shown in FIGS. 4 to 5, the left and right traveling crawlers (2a) (2b) are attached to the mission case (1).
9) and the drive sprocket (2) that is attached to the machine base (3) side
0), a plurality of track rollers (21) attached to the track frame (1), and an equalizer wheel (22).
The track frame (1) is supported by the (22) and idler wheels (23), and the front and rear lateral pivot shafts (24) (2) are supported.
5) and front and rear bell crank links (26) and (27) so as to be vertically movable and supported on the machine base (3) side. The crank links (26) and (27) are attached to the front and rear connecting horizontal frames (28) and (29) at the bottom of the machine base (3) and bearings (30).
And the support shaft (31) so that the middle is swingably supported, and the pivot shafts (24) and (25) are connected to the link (2).
6) It is rotatably supported on one end side of (27), and the other end sides of the front and rear crank links (26) and (27) are interlockingly connected to each other via a rod (32), and are attached to the machine base (3). Piston rods (3) of hydraulic lifting cylinders (34) (35), which are lifting elements that pivotally support their base ends via brackets (33)
6) The other end of the rear crank link (27) is connected to the tip end through the pivot shaft (37), and the left and right traveling crawlers (2
a) the cylinder (34) respectively provided in (2b)
By appropriately expanding and contracting the piston rod (36) of (35), the left and right track frames (1) and (1) are individually moved up and down with respect to the machine base (3), and the left and right traveling crawlers (2a) and (2b). The support height of the machine base (3), that is, the ground height (H), is variable.

The left and right lifting cylinders (34)
Between the (35) and the rear crank link (27), left and right cylinder type supports for detecting the upper and lower limits of the support height (H) of the machine base (3) by the left and right traveling crawlers (2a), (2b). The height sensor (38) is provided, and the machine base (3) and the crawler (2a) are the upper and lower limits of the supporting height.
The left and right upper limit switches (39a) (40) of the sensor (38) are in the remotest state and the closest state to (2b).
a) and left and right lower limit switches (39b) (40
b) (Hereinafter, the limit switch is omitted and represented as LS) is turned on to detect these, and at the same time, this machine, that is, the machine base by the weight type tilt angle sensor (41) installed on the machine base (3). It is configured to detect the lateral tilt of (3).

As shown in FIG. 1, left ascending and descending solenoids (34a) (34b) for switching the hydraulic switching valves (not shown) for operating the left and right lifting cylinders (34) (35).
And a control circuit (42) for horizontally controlling the body by appropriately exciting or turning on the right ascending and descending solenoids (35a) (35b), and the threshing clutch lever (4
3) Threshing switch (43a) that is a work switch that is turned on when the switch is turned on, Mowing switch (44a) that is turned on when the cutting clutch lever (44) is turned on, and Manual priority switch (45) that is turned on when the side clutch is operated. ) And the automatic switch (46) for starting the automatic horizontal control and switching between the dry field and wetland modes (dry field is off, wet field is on).
Dry / wet changeover switch (47) and each solenoid (3
4a) (34b) and (35a) (35b) are manually operated by left and right manual raising and lowering switches (48a) (48).
b) (49a) (49b) and the tilt angle sensor (4
1), a dial type tilt angle setting device (50) for setting a dead band which is a reference value of the sensor (41), and the limit switches (39a) (39b), (40a) (4) described above.
0b) is connected to the control circuit (42) as an input, and the control circuit (42) is output-connected to an automatic lamp (51) that is turned on during the automatic horizontal control, so that the tilt angle is set during the automatic horizontal control. The left and right lifting cylinders (34) and (35) are appropriately expanded and contracted based on the detection of the sensor (41) to maintain the aircraft in a horizontal position.

This embodiment is configured as described above, and its operation will be described below with reference to the flow charts of FIGS. 6 to 12 and the output table diagrams of FIGS. 13 to 14.

Now, as shown in FIG. 6, the automatic switch (4
6) -Mowing switch (44a) -Thrush switch (43
When all of a) are turned on, the automatic control mode is entered and the automatic horizontal control is started. At this time, the threshing flag is set to 1 and the automatic lamp (51) is turned on, and each switch (46) is turned on.
When at least one of (44a) and (43a) is off,
The automatic control off mode is set, the threshing flag becomes 0, the automatic lamp (51) is turned off, and this automatic horizontal control is stopped.

Further, in the automatic control mode, when the field condition is dry rice field, the dry / wet changeover switch (47) is turned off, and when it is wet field, it is turned on to perform control in the dry field mode and the wet field mode. At the same time, when the threshing clutch (43a) is turned off during the control in each of these modes to perform the aircraft turning and the ridge crossing, the control in the non-working mode is performed.

Then, the detected value of the tilt angle sensor (41) is Va, the set value of the tilt angle setter (50) is Vb, the dead zone value is V1, and the horizontal deviation that is the tilt value is Vx (Vx = V
b-Va), the deviation (V
x) is in the dead zone (V1 ≧ Vx> −V1) in the horizontal state, the lower left or right lower limit L as shown in FIGS. 7 and 13.
The left and right descending solenoids (34b) (35b) are simultaneously turned on until one of the S (39b) and (40b) is turned on, and the machine base (while maintaining the horizontal state in a state of being maximally close to the crawler (21) ( 3) Lower.

Further, when the machine base (3) having Vx> V1 other than the dead zone (V1 ≧ Vx> −V) is in the upper right inclination state, the lower right lower limit LS (40b) and the upper left lower limit LS (39a) are set. When both are off, the left ascending solenoid (34a) and the right descending solenoid (35b) are turned on, and horizontal control is performed in a state where the left and right traveling crawlers (2a), (2b) are moved up and down in opposite directions, and the dead zone (V1 ≧ When Vx> -V1) is entered, the lowest descent control is performed while maintaining the level until either the left or right lower limit LS (39b) (40b) is turned on. When the right lower limit LS (40b) is off and the left upper limit LS (39a) is on, only the right lowering solenoid (35b) is on and the lower right control of the machine (3) is turned on, and the lower right lower limit LS (40b) is turned on. And left upper limit LS
When (39a) is off, only the left ascending solenoid (34a) is on, and the right ascending control of the machine base (3) is performed, and similarly the deviation (Vx) is put in the dead band (V1 ≧ Vx> −V1). When the control is performed and the lower left and right lower limits LS (39b) (40b) are in the off state, the lowest descent control is performed while maintaining the same horizontal level as described above.

Further, as shown in FIGS. 8 and 13, -V1
When the right upper limit LS (40a) and the left lower limit LS (39b) are both off in the state where the machine body (3) with> Vx is tilted to the upper left, the right ascending solenoid (35a) and the left descending solenoid (34b). Left and right running crawlers (2a)
Horizontal control is performed in a state where (2b) is turned upside down, and the right upper limit LS (40a) is off and the left lower limit LS (3
9b) is on, only the right ascending solenoid (35a) is on, and the right upper limit LS (40a) is on and the left lower limit LS is on.
When (39b) is off, only the left descending solenoid (34b) is turned on to perform the right ascending and left descending control of the machine stand (3), and the dead zone (V1 ≧ Vx> −V1) is reached. When the left and right lower limits LS (39b) and (40b) are turned off in this state, the lowest descent control is performed while keeping the horizontal level as described above. Further, in the upper right or upper left inclined state of Vx> V1 or -V1> Vx, the lower right limit and the upper left limit LS
When both (40b) and (39a) are turned on or both the right upper limit and the left lower limit LS (40a) (39b) are turned on, the respective solenoids (34a) (35b) or (35).
a) (34b) is turned off and the automatic lamp (51) is blinked to notify the operator of this.

On the other hand, in the horizontal state where the deviation (Vx) in the wetland mode is in the dead zone (V1 ≧ Vx> −V1), as shown in FIGS. 9 and 14, the lowest descent control as in the dry mode is performed. The height of the aircraft at the time of the dead zone without being performed is maintained and the dead zone (V1 ≧ Vx>
During control of Vx> V1 or -V1> Vx other than -V1), the left side is normally fixed and the right side of the driver's seat (12) side where the sinking amount is large is raised and lowered preferentially. Horizontal control is performed. In the rightward tilting state where Vx> V1, when the lower right lower limit LS (40b) is off, the right lowering control is performed by turning on the right lowering solenoid (35b). When (40b) is on and the left upper limit LS (39a) is off, the left ascending solenoid (34a) is turned on to perform left ascending control, and each of these LS (39a) (40b)
When both of the solenoids are on, the solenoids (34a) (35
b) is turned off and the automatic lamp (51) blinks.

Further, in the wetland mode, when the left upper limit LS (39b) is off and the right upper limit LS (40a) is on or off in the upper left inclined state of -V1> Vx, the left descending solenoid (34b) is turned on. On or right rising solenoid (35
The left lower or right lower limit LS (39) is performed while the left (down) or right up control of the machine base (3) is performed by turning on a).
b) When both of (40b) are on, right ascending control is performed by turning on the right ascending solenoid (35a), and when both of the left lower limit and the right upper limit LS (39b) (40a) are on The solenoids (34b) and (35a) are turned off and the automatic lamp (51) blinks.

Further, the threshing switch (43a) is switched from ON to OFF by operating the threshing clutch lever (43) at a turning point or a ridge crossing point during traveling work in the dry field and wetland mode. This is the non-working mode, and as shown in FIGS. 11 to 12, the left and right lower limits LS are set in the non-working mode under wetland working conditions.
Both (39b) and (40b) are off, and the dead band (V
When the lower left lower limit LS (39a) is off in the state of Vx> V1 other than 1 ≧ Vx> -V1) and the left lower limit LS (39a) is off, the left ascending solenoid (34a) and the right descending solenoid (35b) are turned on. Horizontal control is performed while vertically moving the left and right traveling crawlers (2a) (2b) up and down, and when the left upper limit LS (39a) is on, only the right descending solenoid (35b) is turned on. The descent control is performed, and when the right upper limit LS (40a) is off in the upper left tilt state of -V1> Vx, the left descent solenoid (34
b) and the right upward solenoid (35a) are turned on to perform horizontal control in a state where the left and right traveling crawlers (2a) and (2b) are moved up and down in the opposite directions, and the right upper limit LS
When (40a) is on, the left descent control is performed by turning on only the left descent solenoid (34b), and the dead zone (V
When entering 1 ≧ Vx> -V1) Left / right descending solenoid (3
4b) and (35b) are turned on at the same time and keep horizontal, and the lower limit is lowered until either the left or right lower limit LS (39b) (40b) is turned on.

When the dead zone central value (V3) (V1> V3), which is set to a value smaller than the dead zone (V1), is -V3 <Vx <V3, which is the central range (V3> | Vx |), the machine frame (3) keeps the current height position, and when Vx <-V3, Vx> V3 which deviates from the central area, left or right descending solenoid (34b) on the off side of the left and right lower limit LS (39b) (40b). (35b) is turned on and lowered until the left or right lower limit LS (39b) (40b) is turned on. Further, even when the non-working mode is set under dry field working conditions, the dead zone (V1 ≧ Vx> −) in the dry field mode is used.
Lower left or right lower limit LS (39b) that is off side in V1)
The left or right descending solenoids (34b) and (35b) are turned on until (40b) is turned on, and the machine base (3) on the left and right ascending side is lowered.

Thus, the dry mode dead zone (V1 ≧ V
When Vx> V1 and -V1> Vx deviating from x> -V1) are inclined to the upper right or the upper left, the operating directions of the left and right lifting cylinders (34) (35) are opposite and the lifting amount is 1/2. The horizontal control with excellent followability of control speed is performed, and when the dead zone (V1 ≧ Vx> −V1) is reached, the aircraft is lowered to the lowest position while maintaining the level, It enables work with excellent cutting performance and stability by controlling the height to the maximum low level. on the other hand,
In the wetland mode, the right side, which is the driver's seat (12) side, is raised and lowered preferentially to perform horizontal control, and the dead zone (V1 ≧ V
x> -V1) Even when entering, the ground clearance is secured to some extent and the traveling performance in wetland driving is improved without performing the lowest descent control like in dryfield mode. Further, during traveling work, when the threshing clutch is turned off to turn the aircraft or cross the ridge, in the wetland mode, the horizontal limit is maintained until either the lower limit LS (39b) (40b) is turned on. When the aircraft descends to the lowest position and then the aircraft runs on a solid ground and the horizon collapses, the off-side crawler (2a) or (2b) and the machine base (3) are controlled to be closest to each other. , It is possible to make the aircraft turning in this wetland excellent in stability.

[0020]

As is apparent from the above embodiments, the present invention is based on the left and right traveling crawlers (2a) supported by the machine body (3).
Left and right lifting elements (34) and (35) for controlling the left and right support height (H) of the machine body (3) by individually lifting and lowering (2b).
A tilt angle sensor (4) for detecting the lateral tilt of the machine body (3)
1) and, when the work switch (43a) is turned on,
In an agricultural work machine in which the horizontal control of the machine body (3) is performed based on the detection of the tilt angle sensor (41), the left and right sides detecting the maximum proximity of the machine body (3) and the left and right traveling crawlers (2a) (2b). Lower limit switch (39b) (4
0b), when the work switch (43a) is switched from the on-work state to the off-non-work state, the left and right traveling crawlers (2a) and (2b) are controlled to move up and down in the up and down directions to level the machine body (3). At the same time as the maintenance of the aircraft (3), when the horizontal lower limit switch (39b) (40b) of the aircraft (3) is turned on, the aircraft (3) and the left and right traveling crawlers (2a) or (2b) are maximized. Since the non-working mode control means for bringing them into proximity is provided, the work switch (43a), which is at the time of turning the machine after interrupting the threshing work by turning the threshing clutch from ON to OFF, switches from ON to OFF. In a working state or the like, the machine body (3) is controlled to the lowermost position while maintaining the horizontal state, and the stability of the machine body (3) can be improved in the turning and ridge crossing work. Further, in such a lowermost position of the machine body (3), when the vehicle is out of the horizontal area, that is, the central area (V3> | Vx |), the left and right traveling crawlers (2a) and (2b) are both brought close to the machine body (3) as much as possible. Since the means is provided, when the level of the vehicle body (3) is destroyed during the turn from the beginning of the turn, the traveling crawlers (2a) and (2b) are brought close to the vehicle body (3) together. It is possible to correct the levelness of the machine body to further improve the stability of the machine body, which is a remarkable effect.

[Brief description of drawings]

FIG. 1 is a horizontal control circuit diagram.

FIG. 2 is an overall side view of the combine.

FIG. 3 is an overall plan view of the combine.

FIG. 4 is a side view of a traveling crawler section.

FIG. 5 is a rear view of the traveling crawler section.

FIG. 6 is a main flowchart.

FIG. 7 is a flowchart in a dry field mode.

FIG. 8 is a flowchart in a dry field mode.

FIG. 9 is a flowchart in wetland mode.

FIG. 10 is a flowchart in wetland mode.

FIG. 11 is a flowchart in a non-working mode.

FIG. 12 is a flowchart in a non-working mode.

FIG. 13 is a table showing a control output state in the dry field mode.

FIG. 14 is a table showing a control output state in the wetland mode.

[Explanation of symbols]

 (2a) (2b) Traveling crawler (3) Machine stand (machine) (34) (35) Lifting cylinder (elevating member) (39b) (40b) Lower limit switch (LS) (41) Tilt angle sensor (43a) Threshing Switch (work switch) (H) Support height

Claims (2)

[Claims] 1. A work switch comprising: a horizontal elevating element for vertically controlling the left and right traveling crawlers supported on the machine body to adjust the left and right supporting height of the machine body; and an inclination angle sensor for detecting a lateral inclination of the machine body. In the agricultural work machine that horizontally controls the machine body based on the detection of the tilt angle sensor at the time of turning on, the left and right lower limit switches that detect the maximum proximity of the machine body and the left and right traveling crawlers are provided, and the work switch is turned on. When switching from the working state to the non-working state of OFF, the left and right traveling crawlers are controlled to move up and down to maintain the aircraft level, and at the same time, when the aircraft is horizontal, either one of the left and right lower limit switches is activated. A horizontal control device for an agricultural work machine, which is provided with a non-working mode control means for bringing the machine body and the left and right traveling crawlers into the maximum proximity until turned on. 2. A work switch comprising: a horizontal elevating element for vertically controlling the left and right traveling crawlers supported by the machine body to adjust the lateral support height of the machine body; and a tilt angle sensor for detecting a lateral tilt of the machine body. In the agricultural work machine that horizontally controls the machine body based on the detection of the tilt angle sensor at the time of turning on, the left and right lower limit switches that detect the maximum proximity of the machine body and the left and right traveling crawlers are provided, and the work switch is turned on. When the work state is switched from the non-working state to the off-working state, the horizontal control device for the agricultural work machine is provided with the control means for bringing the left and right traveling crawlers together to the maximum extent when they are out of the horizontal range.