JPH0652414U - Tilt control device for harvester - Google Patents

Abstract

(57) [Abstract] [Purpose] Prevents clogging of the pretreatment section due to cutting straw when cutting around with combine harvesters. [Structure] When the automatic switch 20 is turned on, tilt control is automatically performed, and the tilt angle of the traveling machine body becomes the angle set by the tilt setting dial 19. Now, when the pre-processing unit protrudes toward the already-cutted side during cutting around and tries to enter the cutting straw, the driver turns on the rightward raising switch 23.
Then, the discriminating means C1 outputs a signal to the lifting / lowering device driving means C2, and the lifting / lowering device driving means C2 temporarily suspends the tilt control to tilt the traveling machine body inward by a predetermined angle. Therefore, the pretreatment section passes above the straw,
The straw is not taken into the pretreatment section. When this tilting operation is completed, the tilt control based on the set value of the tilt setting dial 19 is restarted.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a harvester having a traveling machine body supported by a pair of left and right traveling machines, and more particularly, to a tilt control device for automatically controlling the inclination of the traveling machine body.

[0002]

[Prior art]

 In general, in a mowing operation using a harvester, for example, the combine 1, the four corners of the field A are hand-cut as a preparation, and then so-called loose cutting is performed as shown in FIG. 11 (a). When performing such cutting around, the combine 1 needs to turn by changing its advancing direction to an angle of approximately 90 degrees, and in general, cutting back as shown in Fig. 11 (b) is required. It was done. That is, the combine 1 traveling straight ahead through the point a changes its traveling direction to the left and advances to the point c. Further, the steering wheel is turned in reverse to retreat to the point d, and then goes straight ahead (point e). It was like this.

On the other hand, tilt control is generally performed in combines and the like. In the combine 1 in which the tilt control is performed, an elevating device such as a hydraulic cylinder is interposed between the left and right traveling devices (for example, crawlers) and the traveling machine body 3, and the inclination detecting the inclination of the traveling machine body 3 is performed. Equipped with a detection sensor. Then, the target value of the tilt angle (initial setting value) is input using a manual operation lever or setting dial, and the control device performs feedback control based on the signal from the tilt detection sensor. The inclination angle of the traveling body 3 is maintained at the target value.

[0004]

[Problems to be solved by the device]

 By the way, the cutting on the already cut side A2 (for example, the point c shown in FIG. 11B) has been completed, and the cut "cut straw" has been piled up at this point. Therefore, if the pretreatment unit 6 of the combine 1 enters the straw during the turning, the cuttings will be taken into the pretreatment unit 6 that is operating during the turning, and as a result. However, there is a problem that the pretreatment unit 6 is clogged. Such a problem is remarkable in the part outside the turning. The direction around combine 1 is fixed according to its structure (cutting-out direction) (for example, counterclockwise), so the part where "clogging" as described above occurs is fixed. .

In order to solve such a problem, there is a method of manually performing the above-described tilt control and lifting one side (outer side of the turning) of the pretreatment unit 6 to prevent the cut straw from being taken in. However, according to such a method, it is necessary to perform an operation for tilting the traveling machine body 3 and a normal traveling operation (the above-mentioned turning back) at the same time, and there is a problem in that the operation is complicated and the driver becomes difficult. It was

Therefore, according to the present invention, even when the automatic tilt control is being performed, the automatic control is temporarily interrupted during turning to forcibly incline the traveling machine body to the inside of the turning, so that the pretreatment section is moved to the cut side. Its purpose is to prevent it from entering the pile of cut straw.

[0007]

[Means for Solving the Problems]

 The present invention has been made in view of the above circumstances, in which the elevating device (16, 16 ') is interposed between the traveling machine body (3) and the pair of left and right traveling devices (2, 2'). In the tilt control device (4) of the harvester that automatically controls the tilt angle of the machine body (3) to the initial setting value, it is determined that the harvester (1) is harvesting and turning. And a lifting device driving device (C2) for inclining the traveling machine body (3) inward by driving the lifting device (16, 16 ') based on a signal from the judging device (C1). ) And, the elevator drive means (C2) temporarily suspends the automatic control when a signal is sent from the determination means (C1) even during the automatic tilt angle control. After that, the traveling machine body (3) is forcibly tilted to the inside of the turning, and the tilting operation is completed. It restarts the automatic control, characterized in that.

[0008]

[Action]

 Based on the above configuration, even when so-called mowing is performed using the harvester (1), automatic control is performed by the tilt control device (4) and the tilt angle of the traveling machine body (3) is maintained at the initial setting value. Harvesting is carried out while being cut. Now, when the harvester (1) is collecting and turning, the discriminating means (C1) outputs a signal to the elevating device driving means (C2). Then, the lifting / lowering device driving means (C2) temporarily suspends the automatic control to drive the lifting / lowering device (16, 16 ′) even during the automatic control of the inclination angle, and the traveling machine body (3) Forcibly tilt inward. Therefore, with the tilting of the traveling machine body (3), the pretreatment section mounted on the front part of the traveling machine body (3) is also lifted on the outside of the turning. Then, when this tilting operation is completed, the tilt control device (4) restarts the automatic control.

[0009]

[Effect of device]

 As described above, in the case of changing the traveling direction of the harvester (1) at the time of mowing, even if the inclination control is being automatically performed, it is possible to change the direction based on the signal from the discriminating means (C1). The automatic control is temporarily interrupted, and the traveling machine body (3) is tilted inward. Therefore, even if the cut straws are piled on the cut side, the pre-treatment section of the harvester (1) can avoid the cut straws and the pre-treatment section will not be clogged. After such tilting operation is performed, the normal tilting control is restarted, so that the driver can concentrate on the turning operation, and the tilting operation of the traveling machine body (3) is not bothered.

The reference numerals in parentheses refer to the drawings, but do not limit the configuration of the present invention in any way.

[0011]

【Example】

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 3, the combine (harvester) 1 is provided with a pair of crawler traveling devices (traveling devices) 2 and 2 ′ on the left and right, and these crawler traveling devices 2 and 2 ′ are provided. The traveling vehicle body 3 is supported. The traveling machine body 3 has a frame 5, and an automatic thresher, a paddy tank, a driver's seat, etc. are mounted on the frame 5. Further, in front of the traveling machine body 3, a pretreatment section 6 is supported so as to be able to move up and down, and the pretreatment section 6 cuts grain such as rice and conveys the cut grain to an automatic thresher. ing.

By the way, the above-mentioned crawler devices 2 and 2 ′ have a track frame 12, on which a drive sprocket 7 and a driven sprocket 9 are supported, and these sprocket 7, 9 are also supported. A large number of rolling wheels 10, ... Are supported between them. The drive sprocket 7 is connected to a transmission (not shown), and the crawler 11 wound around these sprockets 7 and 9 is driven as the drive sprocket 7 is driven. On the other hand, a hydraulic cylinder (elevating device) 16 is attached to the frame 5 of the traveling machine body 3, and the upper end of the swing arm 15 is connected to the output rod 16a thereof. A connecting rod 14 is connected to the upper end of the swing arm 15, and the connecting rod 14 extends along the frame 5 in front of the traveling machine body 3. The swinging arm 13 is supported on the front end of the connecting rod 14 similarly to the swinging arm 15. The lower ends of the swinging arms 13 and 15 are respectively attached to the track frame 12 on the crawler 11 side. It is rotatably supported. Therefore, as the hydraulic cylinder 16 is driven, the swing arms 13 and 15 swing about their lower ends, and as a result, the height of the traveling machine body 3 changes. In the above description, the left crawler traveling device 2 is described, but the right crawler traveling device 2'is similarly configured. Stroke sensors 21 and 21 '(see FIG. 1) are attached to the hydraulic cylinders 16 and 16' to detect the stroke position. Further, a tilt sensor 22 (see FIG. 1) is attached to the traveling machine body 3 so as to detect the lateral inclination of the traveling machine body 3. Furthermore, the left and right hydraulic cylinders 16 and 16 'are connected to a hydraulic pressure source (not shown) via solenoid valves 33 and 35 (see FIG. 1), and the hydraulic pressure is changed by switching the solenoid valves 33 and 35. It is configured to drive the cylinders 16, 16 '.

On the other hand, in the vicinity of the driver's seat of the traveling machine body 3, a work machine (mowing) clutch lever, a main speed change lever, a pretreatment section elevating lever, a cutting height setting dial, and the like are arranged. A clutch pedal is provided below.

On the other hand, in the vicinity of the driver's seat, as shown in FIG. 2, an operating lever 17 capable of tilting operation in the left / right and front / rear directions, a tilt setting dial 19, a right-up switch 23, and a lamp 20a built-in type. The tilt automatic main switch 20 and the like are provided. As shown in FIG. 1, these operation levers 17 and the like are connected to the control unit U1 and transmit various signals to the control unit U1. Further, solenoid valves 33 and 35 are connected to the control unit U1, and the tilt control device 4 is configured by these. Then, the tilt setting dial 19 is used to set a target tilt angle (initial setting value) of the traveling machine body 3, and the control unit U1 performs feedback control based on a signal from the inclination sensor 22 while traveling machine body. The inclination angle of 3 is automatically controlled to maintain the target value. The operating lever 17 is operated manually so that the hydraulic cylinders 16 and 16 'are appropriately driven. For example, the forward tilting operation lowers the traveling machine body 3 and the rearward tilting operation raises the operating body 3 to the right. The tilting operation causes the traveling machine body 3 to tilt downward to the right, and the tilting operation to the left tilts downward to the left. Further, the control unit U1 has a discrimination means C1 for discriminating that the combine 1 is harvesting and turning, and when the right raising switch 23 is turned on, it sends a signal to the lifting device driving means C2. Has become. Then, in such a case, the automatic control based on the initial setting value of the tilt setting dial 19 is interrupted, the lifting device driving means C2 tilts the traveling machine body 3 inside the turning, and the automatic control is again performed after the tilting operation is completed. Will be restarted. It should be noted that 17a, 17b, 17c and 17d in FIG. 1 indicate respective contacts of the operating lever 17, and 19a, 21a, 21'a and 22a indicate potentiometers such as the setting dial 19.

Next, the operation of the above embodiment will be described with reference to FIG.

When carrying out swivel cutting, the automatic main switch 20 is first turned on. When the rightward raising switch 23 is OFF, the flag remains reset in the control unit U1 (S2), and the horizontal automatic control is continuously performed (S3, S4). Here, as described with reference to FIG. 11B, when the pre-processing unit 6 protrudes to the already-cut side (point c) when changing the traveling direction of the combine 1, the driver raises the right-turn switch 23. Turn on. Then, the discrimination means C1 discriminates that the combine 1 is harvesting and turning by turning on the switch 23, and the flag is set (S3, S5). Then, a target value is calculated by adding a predetermined value α to the signal value from the right stroke sensor 21 '(S6), and the lifting device driving means C2 temporarily suspends the horizontal automatic control (see S4). Then, the right hydraulic cylinder 16 'is driven to forcibly tilt the traveling body 3 inward of the turn (S8). By the way, the signal value from the right stroke sensor 21 'also changes with the driving of the right hydraulic cylinder 16', but naturally, the signal value is also input to the control unit U1. Then, the control unit U1 judges whether or not this signal value has reached the target value (S7), and if not reached, continues driving the right hydraulic cylinder 16 '(S8) and reaches the target value. If so, the drive is stopped (S9), and the flag is reset (S10). Then, after the rightward raising control of the traveling machine body 3 is performed as described above, the normal horizontal automatic control is restarted (S4).

Accordingly, when changing the traveling direction of the combine 1 when cutting around, even if the tilt control is automatically performed, the automatic control is performed only by turning on the rightward raising switch 23. It is temporarily interrupted and the traveling machine body 3 is tilted to the inside of the turn. Therefore, it is possible to prevent the straws from being taken into the pretreatment unit 6 of the combine 1 even if the straws are piled on the already cut side. After such tilting operation is performed, the normal tilt control is restarted, so that the driver can concentrate on the turning operation, and the tilting operation of the traveling machine 3 is not bothered.

Next, another embodiment of the present invention will be described with reference to FIGS. The same parts as those shown in FIGS. 1 to 3 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 5, a handling depth sensor 25 and a turning-back detection sensor 27 are connected to the control unit U2 in the present embodiment, and both sensors 25 and 27 are turned on in the discrimination means C1. In the case of, the combine 1 can be judged to be being mowed (harvesting) and turning. The turning-back detection sensor 27 is adapted to detect, for example, the position of the main shift lever, and to detect that the traveling machine body 3 is moving backward from this lever position.

Next, the operation of this embodiment will be described with reference to FIG.

When carrying out swivel cutting, the automatic main switch 20 is first turned on. When the combine 1 is moved forward to carry out normal mowing, the return detection sensor 27 does not output a signal, and therefore the discriminating means C1 judges that the combine 1 is not moving backward (S12) and cuts around. The flag remains reset (S17). In this state, horizontal automatic control is continuously performed (S22). Next, it is assumed that the driver turns back to change the traveling direction of the combine 1, and the combine 1 moves backward. In such a case, the turning-back detection sensor 27 outputs a signal to the discriminating means C1, and the discriminating means C1 discriminates whether or not the reverse drive is performed for a predetermined time or longer (S12, S13). Then, when the backward movement is performed for a predetermined time or more, and the handling depth sensor 25 is ON and the preprocessing unit 6 is operating, a flag is set (S14, S15). Then, similar to the above-described embodiment, the target value is calculated by adding the predetermined value α to the signal value from the right stroke sensor 21 '(S16), and the lifting device driving means C2 is operated by the horizontal automatic control (S22). (Refer to FIG. 4) is temporarily interrupted, and the right hydraulic cylinder 16 'is driven to forcibly tilt the traveling machine body 3 to the inside of the turning (S17, S19). By the way, the signal value from the right stroke sensor 21 'also changes in accordance with the driving of the right hydraulic cylinder 16', but as a matter of course, the signal value is also input to the control unit U1. Then, the control unit U1 judges whether this signal value has reached the target value (S18), and if it has not reached the target value, the drive of the right hydraulic cylinder 16 'is continued as it is (S19) and the target value is reached. If so, the drive is stopped (S20), and the flag is reset (S21). Then, after the rightward raising control of the traveling machine body 3 is performed in this manner, the normal horizontal automatic control is restarted (S17, S22).

As a result, when changing the traveling direction of the combine 1 at the time of turning around, even if the tilt control is automatically performed, the automatic control is temporarily suspended based on the signal of the determination means C1. As a result, the traveling machine body 3 is tilted to the inside of the turn. Therefore, it is possible to prevent the cut straws from being taken into the pretreatment unit 6 of the combine 1 even if the cut straws are piled up on the already cut side. After such tilting operation is performed, normal tilting control is resumed, so that the driver can concentrate on the turning operation, and the tilting operation of the traveling machine body 3 is not bothered.

Next, a device for driving the solenoid valves 33 and 35 in accordance with the sensory vibration of the driver will be described with reference to FIGS. 8 to 10. The same parts as those shown in FIGS. 1 to 3 are designated by the same reference numerals and the description thereof will be omitted.

FIG. 8 shows the configuration of the apparatus. The vibration sensor 26 is mounted near the driver's seat to detect the sensory vibration of the driver (vibration by the engine, vibration due to unevenness in the field, etc.). The vibration acceleration is output to the drive time setting means C5. On the other hand, as shown in FIG. 9 (a), the drive time setting means C5 stores a predetermined time t ₀ as one cycle, and this one cycle time t ₀ is the solenoid valve 33, 35. Is divided into a time t1 during which the solenoid valve 33 and 35 can be driven and a time t2 during which the solenoid valves 33 and 35 are not driven. Further, the ratio of these times t1 and t2 is adapted to be changed according to the above-mentioned vibration acceleration, and when the sensory vibration of the driver is small, the time t1 is shortened (see FIG. 9 (b)). ), When the sensible vibration is large, the time t2 is lengthened. (See FIG. 9 (c)).

Therefore, when the target tilt angle (initial setting value) of the traveling machine body 3 is set with the tilt setting dial 19, the automatic main switch 20 is turned on and the tilt control device 4 controls the vibration sensor 26, Is sent to the drive time setting means C5 (S31). The drive time setting means C5 extracts the control speed based on this signal (vibration acceleration) and calculates the length of the time t1 described above (S32, S33). On the other hand, the ascending / descending device drive means C3 drives the solenoids 33 and 35 so that the inclination angle of the traveling body becomes the target inclination angle, but the drive time is limited to the time corresponding to t1 in each cycle. As a result, the solenoids 33 and 35 are driven intermittently. Therefore, when the driver's sensory vibration is small, the solenoids 33, 35 are driven only for a short time in each period t ₀ , so that although the traveling body 3 takes a long time to reach the target inclination angle, Since the inclination control of 3 is performed relatively gently, the vibration accompanying the inclination control becomes small. On the other hand, when the sensory vibration of the driver is large, the solenoids 33 and 35 are driven for a long time in each cycle t ₀ , so that the time for the traveling machine body 3 to reach the target tilt angle is shortened and the tilt control performance is improved. To be done. In this case, although the vibration associated with the tilt control is large, the vibration felt by the driver is large, and therefore the driver is not particularly uncomfortable.

[Brief description of drawings]

FIG. 1 is a control block diagram showing a tilt control device according to the present invention.

FIG. 2 is a perspective view showing an operating portion of a tilt control device according to the present invention.

FIG. 3 is a side view showing a combine to which the present invention can be applied.

FIG. 4 is a flowchart showing the operation of tilt control according to the present invention.

FIG. 5 is a control block diagram showing a tilt control device according to another embodiment.

FIG. 6 is a perspective view showing an operation unit of the tilt control device according to the embodiment.

FIG. 7 is a flowchart showing the operation of tilt control according to the embodiment.

FIG. 8 is a diagram showing a configuration of a control device that drives a solenoid valve according to a sensory vibration of a driver.

FIG. 9 is a diagram for explaining the operation of the drive time setting means.

FIG. 10 is a flowchart showing the operation of the control device shown in FIG.

FIG. 11A is a diagram showing a traveling route of the combine at the time of turning and mowing, and FIG. 11B is a diagram for explaining a state at the time of turning.

[Explanation of symbols]

 1 Harvester (combine) 2, 2'Traveling device (crawler traveling device) 3 Traveling vehicle 4 Tilt control device 6 Pretreatment unit 16, 16 'Lifting device (hydraulic cylinder) 23 Switch 25 Handle depth sensor 26 Vibration sensor C1 discrimination Means C2 Lifting device driving means C3 Lifting device driving means C5 Driving time setting means U1 control unit U2 control unit

Claims (1)

[Scope of utility model registration request] 1. A tilt control device for a harvester, wherein an elevating device is interposed between a traveling machine body and a pair of left and right traveling devices, and automatic control is performed so that an inclination angle of the traveling machine body becomes an initial set value. Discriminating means for discriminating that the harvesting machine is harvesting and turning, and an elevating device driving means for driving the elevating device based on a signal from the discriminating device to incline the traveling machine body inward. , And the lifting / lowering device driving means temporarily suspends the automatic control when the signal is sent from the determining means even during the automatic control of the inclination angle, and the traveling machine body is turned inside. A tilt control device for a harvester, comprising forcibly tilting and restarting the automatic control after completion of the tilting operation.