JPH05301587A - Vehicle body horizontal control device of combined harvester and thresher - Google Patents

Abstract

PURPOSE:To improve the responsiveness of the horizontal control when the crawler traveling is switched from the forward traveling mode to the rearward traveling mode where the horizontal control in the longitudinal direction is difficult to be followed because in the crawler traveling mode on the soft traveling soil surface the posture is likely to be inclined backward in the forward traveling while the posture being inclined forward in the rearward traveling. CONSTITUTION:In a traveling body where an under carriage 3 to mount threshing equipment or the like on its upper side is held and controlled to keep the horizontal condition in the longitudinal direction relative to a traveling vehicle body frame 2 having a pair of right and left crawlers 1, a vehicle body horizontal control device of a combined harvester and thresher controls the posture of the under carriage 3 so as to be approximately parallel to the crawler 1 by the rearward operation of the crawler 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine horizontal body control device for controlling a chassis for mounting a threshing device or the like in a front-rear horizontal posture.

[0002]

2. Description of the Related Art In combine work in a field where the plough is weak, the front and rear postures of the chassis are likely to change due to driving reaction force, etc. However, the rear side tends to sink. Since the ground contact angle of the crawler greatly changes from the backward descending inclination to the forward descending inclination between the forward movement and the backward movement, even if the front-rear horizontal control is performed, the horizontal control by the horizontal sensor is difficult to follow. The present invention is intended to enhance the responsiveness of horizontal control in such a case.

[0003]

According to the present invention, a chassis 3 having a threshing device or the like mounted on the upper side of a vehicle body frame 2 having a pair of left and right crawlers 1 for driving and driving is maintained in a horizontal front-rear posture. In a traveling vehicle body to be controlled, the undercarriage 3 is controlled to be substantially parallel to the crawler 1 by a backward operation of the crawler 1, and a structure of a combine vehicle body horizontal control device is provided.

[0004]

[Advantageous Effects and Effects of the Invention] The traveling vehicle body of the combine harvests and harvests while traveling forward by driving the crawler 1. In steering turning and the like, the vehicle travels along the next harvesting direction while repeating forward and backward movements. It will be. When the undercarriage 3 is in a rearward and downward inclined posture due to a weak soil cultivator during such traveling, the vehicle body leveling control device is automatically controlled by the detection of the horizontal sensor or the like, so that the undercarriage 3 is leveled in the front-rear direction. It is controlled so that the posture becomes like a circle.

When such horizontal control of the chassis 3 is performed during forward movement, and when the running direction is changed to the reverse direction,
The crawler 1 and the chassis 3 are floated on the rear side and are sunk on the front side, so that the crawler 1 and the chassis 3 change to a forward-downward tilted posture. At this time,
By the reverse operation, the chassis 3 is parallel-controlled so as to be substantially parallel to the ground contact surface portion of the crawler 1, and the chassis 3 approaches the front-rear horizontal posture in an attempt to tilt backward. Then, when the undercarriage 3 tilts forward and downward due to backward movement, the undercarriage 3 has already been returned to the horizontal posture. Therefore, even if the posture is controlled in the forward and downward direction from this posture, the control is completed in a short time. Will be done.

The present invention is also used in the horizontal control of the chassis 3 when the steering operation is performed from reverse to forward.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle body frame 2 of a combine has a crawler frame 6 which is vertically movable on both left and right sides by parallel links 4 and 5, and supports a chassis 3 which is vertically rotatable around a pitching shaft 7 on an upper side. The rear part of the chassis 3 is connected to the vehicle body frame 2 by a expansion / contraction link 8, and the expansion / contraction link 8 is expanded / contracted by hydraulic expansion / contraction of a pitching cylinder 9 between the chassis 3 and the chassis 3, thereby making the chassis 3 a pitching shaft. By rotating it around 7, the inclination in the front-back direction can be changed.

The crawler frame 6 is provided with a rolling wheel 10, and the crawler 1 is bridged between the front end of the vehicle body frame 2 and a drive sprocket 12 which is pivotally supported via a bracket 11 to transmit the mission. By the drive sprocket 12 which is transmitted through the traveling transmission device of the case 13,
The crawler 1 can be driven to run. Left and right crawler frames 6 that are vertically moved in parallel with the body frame 2.
Is controlled by a rolling cylinder 14 which is hydraulically expanded and contracted between the upper portion of the rear parallel link 5 and the vehicle body frame 2. The front and rear parallel links 4 and 5 are connected by a rod 15. Left and right rolling cylinder 1
4 has the same amount of expansion and contraction, the vehicle height changes in a parallel state between the pair of left and right crawler frames 6 and the vehicle body frame 2, and if there is a difference in the amount of expansion and contraction of the left and right rolling cylinders 14, This means that the frame has been rolled to the left and right.

The hydraulic circuit 16 includes control valves 1 for the left and right rolling cylinders 14 and the pitching cylinder 9.
7 and 18 are provided, and the control valves 17 and 18 have left raising solenoid 19, left lowering solenoid 20, right raising solenoid 21, right lowering solenoid 22, rear raising solenoid 23,
The output is operated by the rear-lowering solenoid 24 and the like. Further, it has left and right push cylinders 25 for operating a steering clutch, a steering brake and the like of the traveling transmission device, a steering control valve 26 for switching and controlling the push cylinders 25, a power steering valve 27, etc.
By controlling the softness of the steering brake, steering or turning can be performed. P is a hydraulic pump and T is a tank port.

On the input side of the controller CPU having a microcomputer, an automatic switch 28 for automatically performing horizontal control of the chassis 3 is provided. In this automatic horizontal control,
By the inclination detection of the left and right slope sensor 29 provided on the chassis 3, the output of the solenoids 19 to 22 causes
The chassis 3 is rolled to control it horizontally. Each rolling cylinder 14 has a stroke sensor 30 for feedback control. Further, the slope sensor 31 in the front-rear direction of the chassis 3 detects the inclination and outputs the solenoids 23 and 24 to control the chassis 3 in the front-rear horizontal direction by the front-rear inclination. The pitching cylinder 9 has a stroke sensor 32 to perform this feedback control.

Each solenoid 19 to
Switches 33 to 38 for outputting 24 are provided, and when the left and right switches 33 and 34 are turned on, the solenoids 19 to
22 can be output and the chassis 3 can be rolled. Also, by turning on the upper and lower switches 37 and 38, the solenoids 19 to 22 are output, and the chassis 3
Up and down in parallel. Further, by turning on the front and rear switches 35 and 36, the solenoids 23 and 24 can be output and the chassis 3 can be pitched.

Reference numeral 39 denotes a reverser switch, which is switched by an operation lever or the like for switching the reverser gear of the traveling transmission device. By switching from forward to reverse and from reverse to forward, the outputs of the solenoids 23 and 24 control the pitch of the chassis 3 to be in a state substantially parallel to the ground contact surface which is the bottom surface of the crawler 1. At this time, the feedback control by the stroke sensor 32 is performed, and the state becomes close to the preset reference posture in which the rolling and pitching controls are not performed.

A threshing device 41, which supports a reaping device 40 whose elevation can be freely controlled, is mounted on the chassis 3 and threshes by receiving the supply of grain culms to be cut and conveyed by the reaping device 40, is mounted on the chassis 3. A grain tank 42 that receives and stores the dehusked grains is installed on the lateral side of the grain, and the grains that can be stowed can be discharged in a free direction by the grain auger 43. 44 is the cockpit, 4
5 is a cockpit and 46 is an engine cover.

When the combine operation is performed by moving forward (FIG. 4), when the automatic switch 28 is turned on to perform the horizontal control, when the traveling soil surface 47 is weak, the crawler 1 is used.
When the vehicle moves forward, the front side of the crawler 1 floats up and the rear side sinks due to the driving reaction force or the like during forward movement, and as a result, the chassis 3 tilts backward and downward (FIG. 5). Therefore, by the horizontal control, the inclination of the slope sensor 31 is detected to output the solenoid 23, and the pitching cylinder 9 is extended to raise the rear part of the chassis 3 which is in the rearward and downward direction, so that the control is maintained in the front-back and substantially horizontal state. (Fig. 6).

In this state, when the reverse mode is selected, the reverser switch 39 is switched to the solenoid 24.
Output, the pitching cylinder 9 is shortened, the rear portion of the chassis 3 in the horizontal state is moved downward, and the chassis 3 is controlled to a posture substantially parallel to the ground contact surface of the crawler 1 (FIGS. 7 and 1).
0). At this time, when there is competition with the pitching control by the slope sensor 31, the pitching control is prioritized.

Subsequently, the reverse movement of the chassis 3 together with the crawler 1 causes the front side (the side on which the front sprocket 12 is located in the forward direction of the cutting direction) to sink and the rear side to float up. Is leaning forward. As a result, horizontal control is performed by the detection of the slope sensor 31 (FIG. 8), and the chassis 3 is about to be controlled in the front-rear horizontal posture. However, by already switching the reverser switch 39,
Since the chassis 3 is returned to the posture substantially parallel to the ground contact surface of the crawler 1, the forward tilt angle of the chassis 3 is small, and therefore the control amount to the front-rear horizontal state is small, and the time required for the front-rear horizontal control is reduced. Also becomes shorter.

Such control is performed by the reverser switch 39.
Therefore, the same operation is performed when switching from the reverse drive to the forward drive. By the expansion and contraction of the rolling cylinder 14 and the pitching cylinder 9, the chassis 3 is lowered, and a part of the chassis 3 can come into contact with or approach the crawler 1. In particular, when starting the combine stored for a long period of time, the rolling cylinder 14 and the pitching cylinder 9 are at the dead center position, and the lower part of the chassis 3 is kept in contact with the crawler 1 while the engine is still on. When the vehicle is started to start traveling, the crawler 1 portion of these contact portions will be damaged.

Therefore, in order to eliminate such a fear, the rolling cylinder 14 and the pitching cylinder 9 are hydraulically operated by starting the engine to reach the area where the chassis 3 and the crawler 1 do not come into contact with each other. Raise the chassis 3. When the pair of left and right rolling cylinders 14 or one of the rolling cylinders 14 is shortened, the vehicle body frame 2 is lowered with respect to the crawler frame 6, and the chassis 3 is lowered. Further, due to the shortening of the pitching cylinder 9, the rear part of the chassis 3 is lowered. Therefore, in such a relationship between the rolling cylinder 14 and the pitching cylinder 9, a prohibited area A (FIG. 9) where the chassis 3 portion and the crawler 1 portion contact or approach each other is set in the controller CPU, and this prohibited area is set. The stroke sensors 30 and 32 of both cylinders 14 and 9 are controlled so as not to enter A (FIG. 11), and the stroke sensor is detected by turning on the engine start switch or detecting the engine rotation sensor 48. When the detected values of 30 and 32 are in the prohibited area A, the rolling cylinder 14 and the pitching cylinder 9 are extended to control the position outside the prohibited area A. As a result, even if the crawler 1 is driven and driven by driving the engine, the crawler 1 and the chassis 3 do not come into contact with each other.

[Brief description of drawings]

FIG. 1 is a control block diagram.

FIG. 2 is a side view of the combine traveling device.

FIG. 3 is a hydraulic circuit diagram.

FIG. 4 is a schematic side view of the combine showing a traveling posture.

FIG. 5 is a schematic side view of the combine showing a traveling posture.

FIG. 6 is a schematic side view of the combine showing a traveling posture.

FIG. 7 is a schematic side view of the combine showing the traveling posture.

FIG. 8 is a schematic side view of the combine showing the traveling posture.

FIG. 9 is a graph showing a prohibited region of vehicle body control when the engine is started.

FIG. 10 is a control flowchart for reverse driving.

FIG. 11 is a control flowchart when the engine is started.

[Explanation of symbols]

 1 Crawler 2 Body frame 3 Chassis 23 Rear raising solenoid 24 Rear lowering solenoid 31 Front-rear slope sensor 32 Stroke sensor 39 Reverser switch

Claims (1)

[Claims] 1. A traveling vehicle body having a pair of left and right crawlers 1 for driving and traveling, and a chassis 3 on which a thresher or the like is mounted on the upper side of the vehicle body frame 2 for maintaining and controlling in a horizontal posture. 1 by the reverse operation, the chassis 3
A horizontal body control device for a combine, characterized in that the vehicle is controlled substantially parallel to the crawler 1.